Container wharf with storage yard operation interaction area and scheduling control method of container wharf

Abstract

The invention provides a container wharf provided with a storage yard operation interaction area, which is provided with a seaside shore bridge operation area, an inner storage yard and an interaction area operation storage yard which are longitudinally and sequentially arranged from near to far away from a coastline, the third-level gate is close to the interaction area operation storage yard, and the outer container truck buffer area is located on the side of a transverse lateral area of the interaction area operation storage yard and located on the side of the third-level gate. The inner storage yard comprises at least two sub inner storage yards which are longitudinally arranged at intervals; rail-mounted cranes are arranged on the sub inner storage yards and the interaction area operation storage yards; the equipment management system ECS is used for managing each rail-mounted gantry crane and each IGV; the invention further provides a dispatching control method of the container terminal provided with the storage yard operation interaction area, and the dispatching control method is applied to the container terminal. According to the method, the efficiency of receiving / boxing collaborative operation of the outer container truck and the IGV in the storage yard operation interaction area of the container terminal is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of container terminal design and dispatching control thereof, and in particular to a container terminal provided with a yard operation interaction area and a dispatching control method thereof. Background Art

[0002] At present, automated container terminals around the world are gradually becoming a development trend in the port industry, and the connection between the internal and external transportation environments of automated terminals has become a research focus that affects the efficiency of terminal operations. The current horizontally arranged automated terminals all adopt the same container collection mode as traditional automated terminals, that is, overall planning is carried out based on the container owner, container type, and collection and return status. However, this operation mode requires the equipment in the yard to be shifted for a long time to store different containers, and also participates in the dispatch of internal container trucks (i.e. container trucks in the terminal), resulting in a long waiting time for external container trucks (i.e. container trucks outside the terminal).

[0003] The solution adopted by Guangzhou Nansha Phase IV Terminal (hereinafter referred to as Nansha Phase IV) is to establish a separate yard operation space (hereinafter referred to as the interactive area) for interaction between internal and external areas, and to place a sufficient number of double-cantilever rail cranes (hereinafter referred to as rail cranes) in the interactive area; one side of the interactive area (hereinafter referred to as the external container truck side) is used for receiving / pickup operations for external container trucks; the other side of the interactive area (hereinafter referred to as the IGV side) is used to interact with the internal horizontal transport device (which can be an IGV), so that the containers inside the automated terminal can be sorted to the interactive area, which is convenient for subsequent external vehicles to pick up goods. The interactive area operation process currently adopted by Nansha Phase IV Terminal is for classified stacking management of containers, mainly based on the empty weight of the containers and the classified stacking of different cargo owners. This operation process is easy to manage the containers in the yard, thereby reducing the difficulty of turning over the containers when picking up containers on external container trucks. However, it will cause the double-cantilever rail crane to increase the horizontal movement distance in either the IGV side or the external container truck side, which is not conducive to improving the overall container circulation efficiency. If there is no relatively fixed location for centralized loading and unloading, the double-cantilever rail crane will take a long time to move in the direction of the large vehicle, and the operation logic also requires the vehicles to be parked in a dispersed manner. When the arrival order of the vehicles is inconsistent with the plan, it is easy to fail to interact with external container trucks, which will result in low operating efficiency of external container trucks and IGVs in the port area. Summary of the invention

[0004] In view of this, it is necessary to propose a container terminal with a yard operation interaction area and its scheduling control method to address the above-mentioned problems, so as to overcome several shortcomings in the above-mentioned background technology, thereby solving the technical problem of how to improve the efficiency of the collaborative operation of receiving / loading containers between external container trucks and IGVs in the yard operation interaction area of ​​the container terminal.

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

[0006] The present invention proposes a container terminal with a yard operation interactive area, the container terminal is dispatched and managed by a terminal operation system TOS and an equipment management system ECS, the terminal operation system TOS communicates with the equipment management system ECS, the container terminal includes a plurality of IGV vehicles, the container terminal is provided with a sea-side quay crane operation area, an inner yard and an interactive area operation yard which are longitudinally arranged in sequence from near to far from the coastline, the container terminal is also provided with a three-level gate close to the interactive area operation yard and an outer container truck buffer area located beside a transverse side area of ​​the interactive area operation yard and beside the three-level gate; the inner yard includes at least two sub-inner yards arranged longitudinally apart; each sub-inner yard and the interactive area operation yard is provided with a rail crane; the equipment management system ECS is used to manage each rail crane and each IGV vehicle;

[0007] The transverse lane on the land side of the interactive area operation yard is the first external container truck driving lane for external container trucks; the lane under the quay crane in the sea side quay crane operation area is the first IGV transverse transport lane; the lanes on the land side of the inner yard are all the second IGV transverse transport lanes; a third IGV transverse transport lane is set between two adjacent sub-inner yards; the area where the rail crane on the land side of the interactive area operation yard interacts with the external container truck operation is the yard operation interactive area;

[0008] The first IGV transverse transport lane, the first outer container truck driving lane and the side road of the yard are connected to form a first circular IGV travel route; the second IGV transverse transport lane, the first outer container truck driving lane and the side road of the yard are connected to form a second circular IGV travel route; the third IGV transverse transport lane, the first outer container truck driving lane and the side road of the yard are connected to form a third circular IGV travel route.

[0009] Furthermore, the yard operation interaction area is divided into N exclusive container collection areas, where N is greater than three, and the interval between each exclusive container collection area is a number of bays, among which the exclusive container collection area in the middle of the yard operation interaction area is defined as a common operation area.

[0010] Furthermore, the yard operation interaction area includes several 20-foot container receiving areas and several 40-foot container receiving areas.

[0011] Furthermore, containers in the common operation area of ​​the interactive operation yard close to the yard operation interactive area are arranged according to a random distribution method, that is, a storage position of each container is determined by generating a random number.

[0012] The present invention further proposes a dispatching control method for a container terminal provided with a yard operation interaction area, which is applied to the container terminal provided with a yard operation interaction area as described above. The dispatching control method comprises the following steps S1-S2:

[0013] Step S1, the external container truck enters the second level gate of the third level gate of the automated terminal; then executes step S2;

[0014] Step S2, when the foreign container truck needs to pick up the container, the terminal operating system TOS executes a first control process by controlling the equipment management system ECS. The first control process is: the terminal operating system TOS determines whether the container that the foreign container truck needs to pick up is stored in the yard operation interaction area. If it is determined to be yes, a first operation process is executed, and if it is determined not to be, a second operation process is executed; when the foreign container truck needs to collect the container, the terminal operating system TOS executes a second control process by controlling the equipment management system ECS;

[0015] The first operation process includes the following steps S101-S107:

[0016] Step S101, the control equipment management system ECS controls the designated IGV vehicle to go to the corresponding internal yard to load the containers required by the external container truck; then execute step S102;

[0017] Step S102, control the designated IGV vehicle to start entering the inner yard to load containers, and allow the designated external container truck to enter the third-level gate of the three-level gate of the automated terminal; then execute step S103;

[0018] Step S103, notifying the designated external container truck to wait for the rail crane at the corresponding position in the general operation area according to the container number of the automated terminal; then executing step S104;

[0019] Step S104, the equipment management system ECS controls the designated IGV vehicle to drive into the yard operation interaction area; then executes step S105;

[0020] Step S105, after the rail crane receives the external container truck pick-up instruction issued by the equipment management system ECS, the equipment management system ECS controls the trolley mechanism of the rail crane to move and align with the external container truck; then execute step S106;

[0021] Step S106, the equipment management system ECS controls the IGV vehicle locked in the general operation area to move to the sea measurement position in the general operation area at the same position as the designated external container truck to wait; then execute step S107;

[0022] Step S107, the equipment management system ECS controls the rail crane to put the container directly from the IGV vehicle to the external container truck according to the instruction sent by the terminal operating system TOS, thereby completing the container pick-up process;

[0023] The second operation process includes the following steps S10-S30:

[0024] Step S10, the external container truck waits for the double-cantilever rail crane at the corresponding position in the general operation area according to the terminal container number; then execute step S20;

[0025] Step S20, the double-cantilever rail crane receives the instruction of the external container truck to pick up the container and moves to the working position; then executes step S30;

[0026] Step S30, picking up the external container trucks at the waiting position in order, thereby completing the picking up process;

[0027] The second control process includes the following steps S100 to S700:

[0028] Step S100, the terminal operating system TOS determines whether the container of the foreign container truck entering the second-level gate of the third-level gate of the container terminal is a storage box, and if it is determined to be yes, step S200 is executed; if it is determined to be no, the terminal operating system TOS notifies the foreign container truck to enter the buffer zone, and then step S400 is executed;

[0029] Step S200, the terminal operating system TOS notifies the external container truck to enter the lower part of the double-cantilever rail crane in the general operation area according to the terminal container receiving number, and then executes step S300;

[0030] Step S300, the double-cantilever rail crane receives the external container truck receiving instruction from the terminal operating system TOS, and sequentially receives the external container trucks at the waiting position, thereby completing the container receiving process;

[0031] Step S400, determining whether the exclusive container receiving area is full, if so, prompting the external container truck to enter the general operation area, and then executing S200; if not, the terminal operating system TOS notifies the external container truck to enter the third level gate of the third level gate of the automated terminal, and then executing step S500;

[0032] Step S500, determining whether the container of the external container truck is a 20-foot container, if it is determined to be yes, executing S600; if it is determined to be no, the terminal operating system TOS notifies the external container truck to queue up under the double-cantilever rail crane in the 40-foot container receiving area, and then executing step S700;

[0033] Step S600, the terminal operating system TOS notifies the external container trucks to queue up and enter under the double cantilever rail crane in the 20-foot container receiving area, and then executes step S700;

[0034] Step S700, the equipment management system ECS determines whether there are sufficient IGVs serving the double-cantilever rail crane and in the yard operation interaction area. If it is judged to be sufficient, it executes the instruction issued by the terminal operating system TOS to transfer the container directly from the external container truck to the internal yard or onto the ship through the double-cantilever rail crane, thereby completing the container collection process; if it is judged to be insufficient, the double-cantilever rail crane will collect the container from the external container truck into the exclusive container collection area, thereby completing the container collection process.

[0035] Further, in step S600, the exclusive container receiving areas, whose number is N minus one, only perform container receiving operations and do not receive containers picked up from the temporary storage interaction area operation yard; at least one of the two groups of exclusive container receiving areas is activated in the same time period, and each group of exclusive container receiving areas includes two exclusive container receiving areas.

[0036] Furthermore, in step S600, multiple IGVs belonging to the same fleet are locked and interacted with the rail crane in the exclusive container collection area, and the direct interaction between the land-side operation of the rail crane and the inner yard or the shore crane is realized through the horizontal transportation of the IGV. If the IGV is out of gear, the rail crane will place the containers in the operation yard of the interactive area after receiving them; after the IGV has loaded the containers in the operation yard of the interactive area, it will be unlocked and enter the inner yard.

[0037] Furthermore, in step S600, the total number of real-time tasks of the rail crane is set to G, G∈[1,+∞], the real-time number of unlocked IGV fleets is set to H, H∈[1,+∞], and the weight Step S600 includes the following steps performed in sequence:

[0038] Step S6001, when W>2, the IGV is locked with the rail crane according to the principle of proximity. After locking, the IGV moves with the rail crane so that the IGV, the rail crane and the external container truck are in the same position. After the external container truck is in place, there is no need to wait for the IGV;

[0039] Step S6002, when 0.75<W<2, implement the scoring rule;

[0040] Step S6003, when W<0.75, if there is no IGV vehicle interacting with the rail crane, the rail crane will receive the box and place it in the interactive area operation yard. If there is an unlocked IGV, the IGV will enter the operation condition of step S6001 according to the proximity principle.

[0041] Furthermore, each exclusive area has a capacity S n ∈[0,1250], the maximum capacity is I max , step S600 further includes the following steps:

[0042] Step S6004 is executed after step S6003. (n) ≤0.6I maxWhen the receiving area receives the boxes normally, then execute step S6005;

[0043] Step S6005, when S (n) >0.6I max When the receiving area is locked, the receiving area is suspended, and another receiving area of ​​the same type is opened; then step S6006 is executed;

[0044] Step S6006: When the current capacity of the area where the receiving box is suspended meets S (n) ≤0.2I max When the container yard capacity is reduced to 0.2I, the system will restart and enter step S6004 and meet the normal container receiving operation conditions in the container receiving area. max It was then reopened.

[0045] The present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the dispatching control method for a container terminal with a yard operation interaction area as described in any one of the above items.

[0046] The beneficial effects of the present invention are:

[0047] The present invention improves the automatic operation efficiency and automation level of the container terminal for external container trucks, and also improves the efficiency of the external container trucks and IGVs in the container terminal's yard operation interaction area for collecting / packing collaborative operations, further improves the water-to-land logistics speed of the container terminal, reduces the travel distance of the rail crane in the track direction for each container lift, and keeps the loading and unloading operations in the same relatively concentrated area, thereby improving the operating capacity of the rail crane, that is, the number of lifts per hour; the present invention reduces the time that the container is in the interactive area operation yard, or passes through the interactive area operation yard, reduces the number of lifts in the yard operation interactive area, and increases the direct loading and unloading ratio of containers on the IGV side and the external container truck side, that is, directly putting the container from the external container truck side to the IGV side without passing through the interactive area operation yard. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The accompanying drawings are included to provide a further understanding of the present invention, and are incorporated into and constitute a part of this specification. The accompanying drawings illustrate exemplary embodiments of the present invention and, together with the description, are used to explain the principles of the present invention. These drawings are for illustration only and are not intended to limit the present invention.

[0049] Figure 1 This is a top-down working scene diagram of a container terminal provided with a yard operation interaction area according to the present invention;

[0050] Figure 2 A top-down working scene diagram of the storage yard operation interaction area involved in the present invention;

[0051] Figure 3 A top-down working scene diagram of the container terminal according to the present invention in step S101;

[0052] Figure 4 A top-down working scene diagram of the container terminal according to the present invention in step S102;

[0053] Figure 5 A top-down working scene diagram of the container terminal according to the present invention in step S103;

[0054] Figure 6 A top-down working scene diagram of the container terminal according to the present invention in step S104;

[0055] Figure 7 A top-down working scene diagram of the container terminal according to the present invention in step S105;

[0056] Figure 8 A top-down working scene diagram of the container terminal according to the present invention in step S106;

[0057] Fig. 9 A top-down working scene diagram of the container terminal according to the present invention in step S107;

[0058] Fig.10 A top-down working scene diagram of the container terminal according to the present invention in step S200;

[0059] Fig.11 It is a top-down working scene diagram of the container terminal according to the present invention when prompting the external container truck to enter the general working area in step S400;

[0060] Fig.12 It is a top-down working scene diagram of the container terminal involved in the present invention when the terminal operating system TOS notifies the external container trucks to queue up and enter under the double-cantilever rail crane in the 40-foot container receiving area in step S500;

[0061] Fig.13 It is a top-down working scene diagram of the container terminal involved in the present invention when the double-cantilever rail crane is collected from the external container truck into the exclusive container collection area in step S700;

[0062] Fig.14 This is a top-down working scene diagram of the container terminal involved in the present invention when transferring containers directly from an external container truck to an internal yard or onto a ship in step S700;

[0063] Fig.15 It is a work flow chart of a dispatching control method of a container terminal provided with a yard operation interaction area according to the present invention;

[0064] Fig.16 It is a workflow diagram of a first operation process of a dispatching control method for a container terminal provided with a yard operation interaction area according to the present invention;

[0065] Fig.17 It is a workflow diagram of a second operation process of a dispatching control method for a container terminal provided with a yard operation interaction area according to the present invention;

[0066] Fig.18 The present invention relates to a workflow diagram of a second control process of a dispatching control method for a container terminal provided with a yard operation interaction area;

[0067] Description of reference numerals:

[0068] Quay crane 100; ship 200; first external container truck driving lane 300; IGV vehicle 8; external container truck 9; sea side quay crane operation area 1; inner yard 2; interactive area operation yard 3; third-level gate 4; first-level gate 41; second-level gate 42; third-level gate 43; external container truck buffer area 5; rail crane 6; first IGV transverse transport lane 11; second IGV transverse transport lane 23; yard operation interactive area 32. DETAILED DESCRIPTION

[0069] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be further clearly and completely described in combination with the embodiments of the present invention. It should be noted that the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0070] The terms "first", "second", "third", "fourth", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the definition of "first", "second", "third", "fourth" features may explicitly or implicitly include one or more of the features.

[0071] The following is a detailed description of an embodiment of the invention depicted in the accompanying drawings. The embodiments are detailed in order to clearly convey the invention. However, the number of details provided is not intended to limit the intended variations of the embodiments; on the contrary, the intention is to cover all modifications, equivalents, and substitutes that fall within the spirit and scope of the invention as defined by the appended claims.

[0072] In the following description, numerous specific details are set forth in order to provide a thorough understanding of embodiments of the present invention. It will be apparent to one skilled in the art that embodiments of the present invention may be practiced without some of these specific details.

[0073] Embodiments of the present invention include various steps, which are described below. These steps can be performed by hardware components, or can be contained in machine executable instructions, which can be used for general or special purpose processors programmed with instructions to perform these steps. Alternatively, the steps can be performed by a combination of hardware, software and firmware and / or a human operator.

[0074] The various methods described herein can be practiced by combining one or more machine-readable storage media containing codes according to the present invention with appropriate standard computer hardware to execute the codes contained therein. Apparatus for implementing various embodiments of the present invention may include one or more computers (or one or more processors within a single computer) and a storage system containing or having network access to computer programs encoded according to the various methods described herein, and the method steps of the present invention may be completed by modules, routines, subroutines or sub-parts of a computer program product.

[0075] If the specification states that a component or feature "may," "could," "might," or "might" include or have a feature, that particular component or feature is not required to be included or have that feature.

[0076] As used in the specification herein and the claims that follow, the meanings of “a”, “an”, and “the” include plural references unless the context clearly dictates otherwise. Also, as used in the description herein, the meaning of “in” includes “in” and “on” unless the context clearly dictates otherwise.

[0077] Exemplary embodiments will now be described more fully below with reference to the accompanying drawings, in which exemplary embodiments are shown. These exemplary embodiments are provided for illustrative purposes only, and so that the present invention is thorough and complete, and the scope of the present invention is fully conveyed to those of ordinary skill in the art. However, the disclosed invention can be implemented in many different forms and should not be interpreted as being limited to the embodiments set forth herein. Various modifications are apparent to those skilled in the art. Without departing from the spirit and scope of the present invention, the general principles defined herein can be applied to other embodiments and applications. In addition, all statements of the embodiments of the present invention and their specific examples described herein are intended to cover their structural and functional equivalents. In addition, these equivalents are intended to include currently known equivalents and equivalents developed in the future (i.e., any element developed to perform the same function, regardless of the structure). Moreover, the terms and wording used are for the purpose of describing exemplary embodiments and should not be considered restrictive. Therefore, the present invention will be given the widest scope, including multiple replacements, modifications and equivalents consistent with the disclosed principles and features. For the sake of clarity, the details of the technical materials known in the technical field related to the present invention are not described in detail, so as not to unnecessarily obscure the present invention.

[0078] Therefore, for example, it will be understood by those of ordinary skill in the art that schematic diagrams, schematic diagrams, diagrams, etc. represent conceptual views or processes that embody the systems and methods of the present invention. The functions of the various elements shown in the figures can be provided by using dedicated hardware and hardware capable of executing related software. Similarly, any switches shown in the figures are only conceptual. Their functions can be performed by the operation of program logic, by dedicated logic, by the interaction of program control and dedicated logic, or even manually, and specific techniques can be selected by the entity that implements the present invention. It will be further understood by those of ordinary skill in the art that the exemplary hardware, software, processes, methods and / or operating systems described herein are for illustrative purposes and are therefore not intended to be limited to any specific named elements.

[0079] Embodiments of the present invention may be provided as a computer program product, which may include a machine-readable storage medium on which instructions are tangibly implemented, which may be used to program a computer (or other electronic device) to perform a process. The term "machine-readable storage medium" or "computer-readable storage medium" includes, but is not limited to, fixed (hardware) drives, tapes, floppy disks, optical disks, optical disk read-only memories (CD-ROMs)) and magneto-optical disks, semiconductor memories such as ROMs, PROMs, random access memories (RAMs), programmable read-only memories (PROMs), erasable PROMs (EPROMs), electrically erasable PROMs (EEPROMs), flash memory, magnetic or optical cards, or other types of media / machine-readable media suitable for storing electronic instructions (e.g., computer programming code, such as software or firmware). Machine-readable media may include non-transitory media in which data may be stored and does not include carrier waves and / or transient electronic signals propagated by wireless or wired connections. Examples of non-transitory media may include, but are not limited to, disks or tapes, optical storage media such as compact disks (CDs) or digital versatile disks (DVDs), flash memory, memory or memory devices. A computer program product may include code and / or machine executable instructions, which may represent any combination of a process, function, subprogram, program, routine, subroutine, module, software package, class, or instruction, data structure, or program statement. A code segment may be coupled to another code segment or a hardware circuit by passing and / or receiving information, data, variables, parameters, or memory contents. Information, variables, parameters, data, etc. may be passed, forwarded, or transmitted by any suitable means, including memory sharing, message passing, token passing, network transmission, etc.

[0080] In addition, the embodiments may be implemented by hardware, software, firmware, middleware, microcode, hardware description language, or any combination thereof. When implemented in software, firmware, middleware, or microcode, the program code or code segments (e.g., computer program products) that perform the necessary tasks may be stored in a machine-readable medium. A processor may perform the necessary tasks.

[0081] The systems depicted in some of the figures may be provided in various configurations. In some embodiments, the system may be configured as a distributed system, where one or more components of the system are distributed over one or more networks in a cloud computing system.

[0082] Each of the appended claims defines a separate invention, which for infringement purposes is recognized as including equivalents to the various elements or limitations specified in the claims. Depending on the context, all references below to the "invention" may in some cases refer only to certain specific embodiments. In other cases, it should be recognized that references to the "invention" will refer to the subject matter recited in one or more, but not necessarily all, of the claims.

[0083] Unless otherwise specified herein or the context is clearly contradictory, all methods described herein can be performed in any suitable order. The use of any and all examples or exemplary language (e.g., "such as") provided with respect to certain embodiments herein is intended only to better illustrate the present invention, rather than to limit the scope of the claimed invention. Any language in the specification should not be interpreted as indicating any unclaimed element essential to the implementation of the present invention.

[0084] Various terms used herein are listed below. To the extent a term used in a claim is not defined below, it should be given the broadest definition persons in the relevant art have given that term as reflected in printed publications and issued patents at the time of filing the application.

[0085] Example 1

[0086] like Figure 1 , Figure 2 As shown:

[0087] This embodiment proposes a container terminal with a yard operation interactive area, the container terminal is dispatched and managed by a terminal operating system TOS and an equipment management system ECS, the terminal operating system TOS communicates with the equipment management system ECS, the container terminal includes a plurality of IGV vehicles 8, the container terminal is provided with a sea-side quay crane operation area 1, an inner yard 2 and an interactive area operation yard 3 which are arranged longitudinally in sequence from near to far from the coastline, the container terminal is also provided with a third-level gate 4 close to the interactive area operation yard 3 and an outer container truck buffer area 5 located beside a lateral side area of ​​the interactive area operation yard 3 and beside the third-level gate 4; the inner yard 2 includes at least two sub-inner yards spaced apart longitudinally; each sub-inner yard and the interactive area operation yard 3 are provided with a track crane 6; the equipment management system ECS is used to manage each track crane 6 and each IGV vehicle 8;

[0088] The transverse lane on the land side of the interactive area operation yard 3 is the first external container truck driving lane 300 for the external container truck 9 to drive; the lane under the quay crane of the sea side quay crane operation area 1 is the first IGV transverse transport lane 11; the lanes on the land side of the inner yard 2 are all the second IGV transverse transport lanes 23; a third IGV transverse transport lane is provided between two adjacent sub-inner yards; the area where the rail crane 6 on the land side of the interactive area operation yard 3 interacts with the external container truck 9 is the yard operation interactive area 32;

[0089] The first IGV transverse transport lane 11 and the first outer container truck driving lane 300 are connected to the side road of the yard to form a first circular IGV running route; the second IGV transverse transport lane 23 and the first outer container truck driving lane 300 are connected to the side road of the yard to form a second circular IGV running route; the third IGV transverse transport lane and the first outer container truck driving lane 300 are connected to the side road of the yard to form a third circular IGV running route.

[0090] Optimally, the yard operation interaction area 32 is divided into N exclusive container collection areas, where the number N is greater than three, and the interval between each exclusive container collection area is a number of bays, among which the exclusive container collection area in the middle of the yard operation interaction area 32 is defined as a general operation area.

[0091] Optimally, the yard operation interaction area 32 includes a plurality of 20-foot container receiving areas and a plurality of 40-foot container receiving areas.

[0092] Specifically, the yard operation interactive area 32 is divided into five areas A / B / C / D / E, and the interval between each area is 2 bays. The area in the middle of the yard operation interactive area 32 is defined as the general operation area, which occupies 100 bays; the areas on both sides (this area has relatively little impact on other areas) are defined as exclusive container receiving areas A / B / C / D, which respectively operate 20-foot containers / 40-foot containers / 40-foot containers / 20-foot containers; 1 40-foot container spans 3 bays. In order to ensure that the maximum capacity of each exclusive container receiving area is the same, the interactive area operation yard 3 is evenly divided into x parts, and 1 20-foot container spans 2 bays, so each 20-foot exclusive container receiving area occupies The bays are 3x, and a 40-foot container spans 3 bays, so each 40-foot container receiving area occupies 3x bays. Considering that intervals need to be reserved between areas to ensure that the rail crane 6 can operate at the boundary of the area, the bays occupied by the intervals do not contain containers. The safe bay between two rail cranes 6 is 5 bays, so each interval is 5 bays. There are 5 areas, 4 intervals in total, and the intervals occupy 20 bays in total. There are 373 bays in total in the interactive area. Therefore, by calculating 2x*2+3x*2+100+4*5=373, x=25.3 is obtained. After rounding, x=25, so each 20-foot container receiving area (A / D) occupies 50 bays, each The 40-foot container receiving area (B / C) occupies 75 bays, with the range of area A: 1-50 bays, area B: 56-130 bays, area C: 241-315 bays, area D: 321-370 bays, and area E: 136-235 bays; the maximum capacity of each exclusive container receiving area in the corresponding bay = 25*10*5=1250 (one bay has 10 rows, and each row can stack 5 layers of containers); the length of each bay is 3m, and the length of each external container truck 9 is 18m. In order to avoid traffic jams in the interactive area, the number of external container trucks 9 that can exist at the same time is set according to the length of each exclusive area as follows: each 20-foot exclusive container receiving area occupies 50 bays, with a length of The length of the container is 150m, which can accommodate six foreign container trucks 9 at the same time. Each 40-foot exclusive container receiving area occupies 75 bays and is 225m long, which can accommodate 8 foreign container trucks 9 at the same time. The general operation area occupies 100 bays, with a total length of 300m, which can accommodate ten foreign container trucks 9 at the same time; the bay range of the general operation area is 136-235 bays. The distribution of containers is based on the random distribution method. The storage position of each container can be determined by generating random numbers; for each container, two random numbers α and β can be generated, representing the bay number and column position respectively; if the position is occupied, it is repeated until a free position is found; the formula is as follows:

[0093] α=rand(136,235), β=rand(1,10)

[0094] The A / B / C / D areas are only for receiving containers, and do not receive containers picked up from the temporary storage yard operation interaction area 32; at least one container receiving area in A / C and B / D is enabled in the same time period; each container receiving area uses a single container position squatting operation by a rail crane 6, and no trucks are used if the container position is not full; the external container trucks 9 queue up directly to enter the guidance area below the rail crane 6 on a first-come-first-served basis, and the order in which the external container trucks 9 arrive is not counted; after the rail crane 6 completes the guidance, the cabinets on the external container trucks 9 are directly lifted to a position in the yard operation interaction area 32, the operation yard 3, the inner yard 2, and the shore equipment operation area; Area A and Area B, Area C and Area D can be used alternately to ensure that there is an exclusive container receiving area available when sorting the yard operation interaction area 32.

[0095] Optimally, the containers in the common operation area of ​​the interactive area operation yard 3 near the yard operation interactive area 32 are arranged according to a random distribution method, that is, by generating random numbers to determine the storage position of each container.

[0096] Specifically, the containers picked up by the external container trucks 9 in the ordinary operation area are randomly distributed and the containers are dispersed. When multiple external container trucks 9 are waiting to pick up containers in the ordinary operation area, the terminal operating system TOS deploys multiple rail cranes 6 to perform one-to-one operations on the queued external container trucks 9, thereby avoiding the concentration of container positions. Multiple external container trucks 9 can only be operated by one rail crane 6, thereby alleviating congestion in the interactive area.

[0097] Example 2

[0098] like Figure 1 , Fig.15 As shown:

[0099] This embodiment further proposes a dispatching control method for a container terminal with a yard operation interaction area, which is applied to a container terminal with a yard operation interaction area as described in any technical solution of Embodiment 1. The dispatching control method includes the following steps S1-S2:

[0100] Step S1, the external container truck 9 enters the second-level gate 42 of the third-level gate 4 of the automated terminal; then executes step S2;

[0101] Step S2, when the foreign container truck 9 needs to carry out the container pick-up, the terminal operating system TOS executes a first control process by controlling the equipment management system ECS, and the first control process is: the terminal operating system TOS determines whether the container to be carried away by the foreign container truck 9 is stored in the yard operation interaction area 32, and if it is determined to be yes, a first operation process is executed, and if it is determined not to be, a second operation process is executed; when the foreign container truck 9 needs to collect the container, the terminal operating system TOS executes a second control process by controlling the equipment management system ECS;

[0102] like Figure 1 , Figure 3-Figure 9 and Fig.16 As shown, the first operation process includes the following steps S101-S107:

[0103] Step S101, the control equipment management system ECS controls the designated IGV vehicle 8 to preferentially go to the corresponding inner yard 2 to load the containers required by the outer container truck 9; then execute step S102;

[0104] Step S102, control the designated IGV vehicle 8 to start entering the inner yard 2 to load containers, and allow the designated external container truck 9 to enter the third-level gate 43 of the third-level gate 4 of the automated terminal; then execute step S103;

[0105] Step S103, notifying the designated external container truck 9 to wait for the rail crane 6 at the corresponding position in the general operation area according to the container number of the automated terminal; then executing step S104;

[0106] Step S104, the equipment management system ECS controls the designated IGV vehicle 8 to drive into the yard operation interaction area 32; then executes step S105;

[0107] Step S105, after the rail crane 6 receives the instruction of the external container truck 9 to pick up the container issued by the equipment management system ECS, the equipment management system ECS controls the trolley mechanism of the rail crane 6 to move and align with the external container truck 9; then execute step S106;

[0108] Step S106, the equipment management system ECS controls the IGV vehicle 8 locked in the general operation area to move to the sea measurement position in the general operation area at the same position as the designated external container truck 9 to wait; then execute step S107;

[0109] Step S107, the equipment management system ECS controls the rail crane 6 to put the container directly from the IGV vehicle 8 to the external container truck 9 according to the instruction sent by the terminal operating system TOS, thereby completing the container pick-up process;

[0110] like Figure 1 , Fig.17 As shown, the second operation process includes the following steps S10-S30:

[0111] Step S10, the external container truck 9 waits for the double-cantilever rail crane 6 at the corresponding position in the general operation area according to the container pick-up number of the terminal; then execute step S20;

[0112] Step S20, the double-cantilever rail crane 6 receives the instruction from the external container truck 9 to lift the container and moves to the operating position; then executes step S30;

[0113] Step S30, picking up the external container truck 9 at the waiting position in order, thereby completing the picking up process;

[0114] like Figure 1 and Fig.18 As shown, the second control process includes the following steps S100-S700:

[0115] Step S100, the terminal operating system TOS determines whether the container of the foreign container truck 9 entering the second-level gate 42 of the third-level gate 4 of the container terminal is a storage box, and if it is determined to be yes, step S200 is executed; if it is determined to be no, the terminal operating system TOS notifies the foreign container truck 9 to enter the buffer zone, and then step S400 is executed;

[0116] Step S200, as Fig.10 As shown, the terminal operating system TOS notifies the external container truck 9 to enter the lower part of the double-cantilever rail crane 6 in the general operation area according to the terminal container receiving number, and then executes step S300;

[0117] Step S300, the double-cantilever rail crane 6 receives the container collection instruction of the external container truck 9 from the terminal operating system TOS, and collects the containers from the external container truck 9 at the waiting position in order, thereby completing the container collection process;

[0118] Step S400, determine whether the exclusive container receiving area is full, if it is determined that the external container truck 9 is prompted to enter the general operation area (such as Fig.11 If it is determined that the terminal operating system TOS notifies the external container card 9 to enter the third-level gate 43 of the third-level gate 4 of the automated terminal, then executes step S500;

[0119] Step S500, determine whether the container of the external container truck 9 is a 20-foot container. If it is determined to be yes, execute S600; if it is determined to be no, the terminal operating system TOS notifies the external container truck 9 to queue up and enter the lower part of the double cantilever rail crane 6 in the 40-foot container receiving area (such as Fig.12 As shown), then execute step S700;

[0120] Step S600, the terminal operating system TOS notifies the external container truck 9 to queue up and enter under the double cantilever rail crane 6 in the 20-foot container receiving area, and then executes step S700;

[0121] Step S700, the equipment management system ECS determines whether there are sufficient IGV vehicles 8 serving under the double cantilever rail crane 6 and in the yard operation interaction area 32. If it is determined to be sufficient, the terminal operation system TOS executes the instruction issued by the terminal operation system TOS to transfer the container directly from the external container truck 9 to the internal yard 2 or onto the ship (such as Fig.14 If it is determined otherwise, the double cantilever rail crane 6 is collected from the external container truck 9 into the exclusive container collection area (such as Fig.13 As shown), thus completing the cabinet collection process.

[0122] Specifically, in step S1, the external container truck 9 enters the second-level gate 42, the second-level gate 42 collects the driver's identity information, the driver receives a positioning card, the location information of the external container truck 9 is transmitted to the terminal operating system TOS, the terminal operating system TOS generates a task instruction and transmits the target location to the external container truck 9.

[0123] Optimally, in step S600, the exclusive container receiving areas, which number is N minus one, only perform container receiving operations and do not receive containers picked up from the temporary storage interaction area operation yard 3; at least one of the two groups of exclusive container receiving areas is enabled in the same time period, and each group of exclusive container receiving areas includes two exclusive container receiving areas.

[0124] Specifically, the outer container truck 9 returning the container is equipped with a designated container collection area and does not need to queue up with the outer container truck 9 picking up the container (for example, six rail cranes in the container collection area need to perform the container collection task), which can shorten the operation time of the outer container truck 9 in the yard operation interaction area 32.

[0125] Optimally, in step S600, multiple IGV vehicles 8 belonging to the same fleet are locked and interacted with the rail crane 6 in the exclusive container receiving area (for example, direct loading and unloading or direct loading to the inner yard 2), and the direct interaction between the land-side operation of the rail crane 6 and the inner yard 2 or the shore crane is realized through the horizontal transportation of the IGV vehicle 8 (the direct interaction process includes two methods: direct loading and unloading and direct loading to the inner yard 2). If the IGV vehicle 8 is out of gear, the rail crane 6 will receive the containers and place them in the operation yard 3 of the interactive area; after the IGV vehicle 8 has loaded the containers in the operation yard 3 of the interactive area, it will be unlocked and enter the inner yard 2.

[0126] Optimally, in step S600, the total number of real-time tasks of the rail crane 6 is set to G, G∈[1,+∞], the real-time number of unlocked IGV fleets is set to H, H∈[1,+∞], and the weight Step S600 includes the following steps performed in sequence:

[0127] Step S6001, when W>2, the IGV vehicle 8 is locked with the rail crane 6 according to the principle of proximity. After locking, the IGV vehicle 8 moves together with the rail crane 6, so that the IGV vehicle 8, the rail crane 6, and the external container truck 9 are in the same position. After the external container truck 9 is in place, there is no need to wait for the IGV vehicle 8; this can reduce the rail crane 6 putting the container into the interactive area operation yard 3, and then putting it from the interactive area operation yard 3 to the IGV vehicle 8. These two steps can shorten the operation time of the rail crane 6 and reduce the residence time of the external container truck 9, thereby improving the operation efficiency;

[0128] Step S6002: When 0.75<W<2, implement the scoring rules; the specific rules are as follows:

[0129] The initial score of the exclusive fleet IGV is 100 points; the task score of the rail crane 6 is set to Y, and 40 points are added for the task of delivering containers from the exclusive container receiving area with a capacity not exceeding 20% ​​to the inner yard 2; 45 points are added for the task of delivering containers from the exclusive container receiving area with a capacity of 21%-59% to the inner yard 2; 50 points are added for the task of receiving containers directly from the external container truck 9 on the IGV side of the interactive area; 55 points are added for the task of clearing the locked exclusive container receiving area; the number of IGV vehicles 8 queuing under the rail crane 6 in the exclusive area is N, and 2 points are subtracted for each additional IGV vehicle 8; then I The total score formula of the GV exclusive small fleet is: W = Y-2N; IGV vehicle 8 is locked with the rail crane 6 with a higher score first according to the scoring result, and the score of IGV vehicle 8 is reset to the initial score of 100 points after each task is completed; according to this scheme, the existing IGV vehicle 8 is used to release the locked container receiving area first, and after the release, the external container truck 9 has the choice to go to the vacant container receiving area, so that there will be no traffic jam in a certain container receiving area. Secondly, IGV vehicle 8 completes the task of receiving the container from the external container truck 9 and then loading it on board, reducing the step of storing it in the inner yard 2 and improving efficiency;

[0130] Step S6003, when W<0.75, if there is no IGV vehicle 8 interacting with the rail crane 6, the rail crane 6 will place the container in the interactive area operation yard 3 after receiving it. If there is an unlocked IGV vehicle 8, the IGV vehicle 8 will enter the operation condition of step S6001 according to the principle of proximity; specifically, in step S6003, when there is no IGV vehicle 8 matching the rail crane 6, the container will be placed in the interactive area operation yard 3 first to avoid too many external container trucks 9 and queues and traffic jams. At the same time, if there is an idle IGV vehicle 8, it will be matched according to the principle of proximity to shorten the driving path of the IGV vehicle 8, so that the IGV vehicle 8 can complete more tasks in the same time and improve efficiency.

[0131] Optimally, each exclusive area has a capacity of S n ∈[0,1250], the maximum capacity is I max , step S600 further includes the following steps:

[0132] Step S6004, when S (n) ≤0.6I max Under this condition, even if the number of IGV vehicles 8 is insufficient, the containers can be temporarily placed in the interactive area operation yard 3 to reduce the waiting time of the external container truck 9 under the track crane 6; at the same time, if there are containers that need to be temporarily loaded on the ship, this capacity can be quickly loaded on the ship by overturning;

[0133] Step S6005, when S (n) >0.6I maxWhen the container receiving area is locked, the container receiving area is suspended, and another container receiving area of ​​the same type is opened; this allows the external tug to have a place to receive the containers without waiting for the dredging of the container receiving area to be completed, thus reducing the waiting time of the external tug; at the same time, if a container in this area needs to be temporarily loaded on the ship under this capacity, the container can also be loaded on the ship by simply overturning it, thus reducing the time for the rail crane 6 to overturn the container;

[0134] Step S6006: When the current capacity of the area where the receiving box is suspended meets S (n) ≤0.2I max When the container yard capacity is reduced to 0.2I, the system will restart and enter step S6004 and meet the normal container receiving operation conditions in the container receiving area. max so that more external container trucks 9 can be accommodated, and the external container trucks 9 can be prevented from queuing in the same container receiving area and causing traffic jams, thereby reducing the queuing time of the external container trucks 9 and improving the efficiency of the yard operation interactive area 32.

[0135] Further optimized, after the IGV vehicle 8 delivers the container to the inner yard 2, it returns to the yard operation interaction area 32 to bring back the container that has entered the secondary gate (or the external container truck 9 that has entered the external container truck buffer area 5) to be picked up. When the rail crane 6 in the inner yard 2 starts to load the container onto the IGV vehicle 8, the external container truck 9 is released to enter a certain position in the ordinary area of ​​the yard operation interaction area 32; when the IGV vehicle 8 returns to the yard operation interaction area 32 after loading the container, the task of the rail crane 6 to operate the external container truck 9 is triggered, and the rail crane 6 starts to walk to the position of the external container truck 9 The external container truck 9 is guided by the device (not the rail crane 6 at this time), but the rail crane 6 aligns with the external container truck 9 and scans whether the external container truck 9 has the operating conditions. If the external container truck 9 has the operating conditions, the rail crane 6 directly operates. If the external container truck 9 body does not have the operating conditions, the external container truck 9 is guided; after the IGV vehicle 8 arrives at the position where the external container truck 9 picks up the container, it waits on the sea side of the same position. After the rail crane 6 grabs the container, the IGV vehicle 8 enters the "IGV fleet and the rail crane 6 in the exclusive container collection area lock and interact" operating condition.

[0136] This embodiment provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the steps of the dispatching control method for a container terminal with a yard operation interaction area as described in any one of the above items are implemented.

[0137] The present invention belongs to a new type of fixed-point operation mode of designated areas for receiving and picking up containers in the yard operation interactive area 32, which can greatly improve the operation efficiency. In the fixed-point operation process of the new fixed-point operation mode, the IGV vehicle 8 directly operates with the external container truck 9, and the flow direction of the traditional "external container truck 9-interactive area yard-IGV vehicle 8-inner yard 2 or ship" containers can be optimized to "external container truck 9-IGV vehicle 8-inner yard 2 or ship", thereby reducing the number of operation cranes in the yard operation interactive area 32 and improving production efficiency; the present invention performs locking operation with the track crane 6 when there is no box, and the vehicle operation mode and the yard operation interactive area 3 provided with the interactive locking are 2 is: a fixed exclusive container collection area + container unloading area + IGV without container locking + IGV vehicle 8 carrying containers from the inner yard 2 into the yard operation interactive area 32; the present invention adopts a fixed container collection and unloading area, which reduces the horizontal distance of the rail crane 6 in the yard operation interactive area 32; the interactively locked IGV vehicle 8 of the present invention ensures a smooth operation cycle between the interactive area operation yard 3 and the external container truck 9; the present invention can effectively reduce the trolley running distance of the rail crane 6 during operation in the yard operation interactive area 32, reduce the waiting time of the automated rail crane 6 tasks, and greatly improve the operation capacity of the yard operation interactive area 32.

[0138] Example 3

[0139] Example 3 is a further optimization scheme of Example 1; Figure 1 As shown: the external container truck 9 entering the general area to pick up containers can be equipped with an auxiliary positioning system when entering the secondary gate to inform the terminal operating system TOS that the external container truck 9 is in place; while the external container truck 9 delivering containers does not need to be equipped with a positioning system.

[0140] Example 4

[0141] like Figure 1 As shown: the IGV vehicle 8 in embodiment 1 or embodiment 2 can be replaced by an internal container truck.

[0142] The track crane 6 in Example 1 or Example 2 is specifically a double-cantilever track crane 6; the present invention takes advantage of the structure of the double-cantilever track crane 6 to achieve direct installation and removal of the cantilevers on both sides of the double-cantilever track crane 6.

[0143] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A container terminal with a yard operation interaction area, the container terminal is dispatched and managed by a terminal operation system TOS and an equipment management system ECS, the terminal operation system TOS communicates with the equipment management system ECS, the container terminal includes a plurality of IGV vehicles (8), characterized in that: The container terminal is provided with a seaside quay crane operation area (1), an inner yard (2) and an interactive area operation yard (3) which are arranged longitudinally in order from near to far from the coastline. The container terminal is also provided with a third-level gate (4) close to the interactive area operation yard (3) and an outer container truck buffer area (5) located beside a transverse side area of ​​the interactive area operation yard (3) and beside the third-level gate (4); the inner yard (2) includes at least two longitudinally spaced sub-inner yards; each sub-inner yard and the interactive area operation yard (3) are provided with a rail crane (6); an equipment management system ECS is used to manage each rail crane (6) and each IGV vehicle (8); The transverse lane on the land side of the interactive area operation yard (3) is a first external container truck driving lane (300) for external container trucks (9) to travel; the lane under the quay crane of the sea side quay crane operation area (1) is a first IGV transverse transport lane (11); the lanes on the land side of the inner yard (2) are all second IGV transverse transport lanes (23); a third IGV transverse transport lane is provided between two adjacent sub-inner yards; the area where the rail crane (6) on the land side of the interactive area operation yard (3) interacts with the external container truck (9) is the yard operation interactive area (32); The first IGV transverse transport lane (11) and the first outer container truck driving lane (300) are connected to the side road of the yard to form a first circular IGV running route; the second IGV transverse transport lane (23) and the first outer container truck driving lane (300) are connected to the side road of the yard to form a second circular IGV running route; the third IGV transverse transport lane and the first outer container truck driving lane (300) are connected to the side road of the yard to form a third circular IGV running route.

2. The container terminal with a yard operation interaction area according to claim 1, characterized in that: The yard operation interaction area (32) is divided into N exclusive container collection areas, where N is greater than three, and the interval between each exclusive container collection area is a number of bays, among which the exclusive container collection area near the middle of the yard operation interaction area (32) is defined as a common operation area.

3. The container terminal with a yard operation interaction area according to claim 2, characterized in that: The yard operation interaction area (32) includes a plurality of 20-foot container receiving areas and a plurality of 40-foot container receiving areas.

4. The container terminal with a yard operation interaction area according to claim 3, characterized in that: The containers in the common operation area of ​​the interactive area operation yard (3) near the yard operation interactive area (32) are arranged according to a random distribution method, that is, the storage position of each container is determined by generating a random number.

5. A dispatching control method for a container terminal with a yard operation interaction area, applied to a container terminal with a yard operation interaction area as claimed in claim 4, characterized in that: The dispatching control method includes the following steps S1-S2: Step S1, the external container truck (9) enters the second-level gate (42) of the third-level gate (4) of the automated terminal; then executes step S2; Step S2, when the external container truck (9) needs to pick up the container, the terminal operating system TOS executes a first control process by controlling the equipment management system ECS, and the first control process is: the terminal operating system TOS determines whether the container that the external container truck (9) needs to pick up is stored in the yard operation interaction area (32), and if it is determined to be yes, it executes a first operation process, and if it is determined not to be, it executes a second operation process; when the external container truck (9) needs to collect the container, the terminal operating system TOS executes a second control process by controlling the equipment management system ECS; The first operation process includes the following steps S101-S107: Step S101, the control equipment management system ECS controls the designated IGV vehicle (8) to preferentially go to the corresponding inner yard (2) to load the containers required by the outer container truck (9); then execute step S102; Step S102, control the designated IGV vehicle (8) to start entering the inner yard (2) to load containers, and allow the designated external container truck (9) to enter the third-level gate (43) of the third-level gate (4) of the automated terminal; then execute step S103; Step S103, notifying the designated external container truck (9) to wait for the rail crane (6) at the corresponding position in the general operation area according to the container number of the automated terminal; then executing step S104; Step S104, the equipment management system ECS controls the designated IGV vehicle (8) to drive into the yard operation interaction area (32); then executes step S105; Step S105, after the rail crane (6) receives the instruction of the external container truck (9) to pick up the container issued by the equipment management system ECS, the equipment management system ECS controls the trolley mechanism of the rail crane (6) to move and align with the external container truck (9); then execute step S106; Step S106, the equipment management system ECS controls the IGV vehicle (8) locked in the general operation area to move to the sea measurement position in the general operation area at the same position as the designated external container truck (9) to wait; then execute step S107; Step S107, the equipment management system ECS controls the rail crane (6) to put the container directly from the IGV vehicle (8) to the external container truck (9) according to the instruction sent by the terminal operating system TOS, thereby completing the container pick-up process; The second operation process includes the following steps S10-S30: Step S10, the external container truck (9) waits for the double-cantilever rail crane (6) at the corresponding position in the general operation area according to the container pick-up number of the terminal; then executes step S20; Step S20, the double-cantilever rail crane (6) receives the container-lifting instruction from the external container truck (9) and moves to the operating position; then executes step S30; Step S30, picking up the external container truck (9) at the waiting position in order, thereby completing the picking up process; The second control process includes the following steps S100 to S700: Step S100, the terminal operating system TOS determines whether the container of the external container truck (9) entering the second-level gate (42) of the third-level gate (4) of the container terminal is a storage box, and if it is determined to be yes, step S200 is executed; if it is determined to be no, the terminal operating system TOS notifies the external container truck (9) to enter the buffer zone, and then step S400 is executed; Step S200, the terminal operating system TOS notifies the external container truck (9) to enter the lower part of the double-cantilever rail crane (6) in the general operation area according to the terminal container receiving number, and then executes step S300; Step S300, the double-cantilever rail crane (6) receives the external container truck (9) container collection instruction from the terminal operating system TOS, and collects the containers from the external container truck (9) at the waiting position in order, thereby completing the container collection process; Step S400, determining whether the exclusive container receiving area is full, if so, prompting the external container truck (9) to enter the general operation area, and then executing S200; if not, the terminal operating system TOS notifies the external container truck (9) to enter the third-level gate (43) of the third-level gate (4) of the automated terminal, and then executing step S500; Step S500, determining whether the container of the external container truck (9) is a 20-foot container, if it is determined to be yes, executing S600; if it is determined to be no, the terminal operating system TOS notifies the external container truck (9) to queue up under the double-cantilever rail crane (6) in the 40-foot container receiving area, and then executing step S700; Step S600, the terminal operating system TOS notifies the external container truck (9) to queue up and enter under the double cantilever rail crane (6) in the 20-foot container receiving area, and then executes step S700; In step S700, the equipment management system ECS determines whether there are sufficient IGV vehicles (8) serving the double-cantilever rail crane (6) and in the yard operation interaction area (32). If it is determined to be sufficient, the command issued by the terminal operation system TOS is executed to transfer the container directly from the external container truck (9) to the internal yard (2) or onto the ship through the double-cantilever rail crane (6), thereby completing the container collection process; if it is determined not to be sufficient, the double-cantilever rail crane (6) is collected from the external container truck (9) into the exclusive container collection area, thereby completing the container collection process.

6. The dispatching control method for a container terminal with a yard operation interaction area according to claim 5 is characterized in that: In step S600, the exclusive container receiving areas, which are N minus one in number, only perform container receiving operations and do not receive containers picked up from the temporary storage interaction area operation yard (3); at least one of the two groups of exclusive container receiving areas is activated in the same time period, and each group of exclusive container receiving areas includes two exclusive container receiving areas.

7. The dispatching control method for a container terminal with a yard operation interaction area according to claim 5, characterized in that: In step S600, a plurality of IGV vehicles (8) belonging to the same fleet are locked and interacted with the rail crane (6) in the exclusive container receiving area. The horizontal transportation of the IGV vehicle (8) realizes the direct interaction between the land-side operation of the rail crane (6) and the inner yard (2) or the shore crane. If the IGV vehicle (8) is out of service, the rail crane (6) receives the containers and places them in the interactive area operation yard (3); after the IGV vehicle (8) has finished loading the containers in the interactive area operation yard (3), it is unlocked and enters the inner yard (2).

8. The dispatching control method for a container terminal with a yard operation interaction area according to claim 7, characterized in that: In step S600, the total number of real-time tasks of the rail crane (6) is set to G, G∈[1,+∞], the real-time number of unlocked IGV fleets is set to H, H∈[1,+∞], and the weight Step S600 includes the following steps performed in sequence: Step S6001, when W>2, the IGV vehicle (8) is locked with the rail crane (6) according to the principle of proximity. After locking, the IGV vehicle (8) and the rail crane (6) move together, so that the IGV vehicle (8), the rail crane (6) and the external container truck (9) are in the same position. After the external container truck (9) is in place, there is no need to wait for the IGV vehicle (8); Step S6002, when 0.75<W<2, implement the scoring rule; Step S6003, when W<0.75, if there is no IGV car (8) interacting with the rail crane (6), the rail crane (6) will place the box in the interactive area operation yard (3) after receiving it; if there is an unlocked IGV car (8), the IGV car (8) will enter the operation condition of step S6001 according to the principle of proximity.

9. The dispatching control method for a container terminal with a yard operation interaction area according to claim 8, characterized in that: Each exclusive area has a current capacity of S n ∈[0,1250], the maximum capacity is I max , step S600 further includes the following steps: Step S6004, when S (n) ≤0.6I max When the box receiving area receives boxes normally; Step S6005, when S (n) >0.6I max When the receiving area is locked, the receiving area is suspended, and another receiving area of ​​the same type is opened; Step S6006: When the current capacity of the area where the receiving box is suspended meets S (n) ≤0.2I max When the container yard capacity is reduced to 0.2I, the system will restart and enter step S6004 and meet the normal container receiving operation conditions in the container receiving area. max The yard capacity will then be reopened.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the dispatching control method for a container terminal provided with a yard operation interaction area as described in any one of claims 5 to 9 are implemented.

Images