Empty container operation method for automatic container terminal storage yard

Abstract

The invention discloses an empty container operation method for an automatic container terminal storage yard, and relates to the technical field of automation, and the method comprises the steps: presetting the verification content of a container, filtering the unloaded and loaded container, and carrying out the operation judgment of the filtered container; according to the storage yard information, the container type and the manually set stacking shape in each shellfish, the storage yard position of the container is determined, and all the positions are matched and combined into a plurality of double-container operation positions; the operation mark of the loaded container is modified, if the ship unloading instruction has the operation mark, after the vehicle is transported to the target position of the storage yard, the lifting appliance automatically runs to the position above the container, alignment and automatic container grabbing are carried out, and the container is transported to the position above the target position of the storage yard; and the containers are selected after leaving, the double-container operation marks of the empty containers in the field are verified, and double-container binding is carried out before the containers leave the field. The utilization rate of the automatic empty container storage yard and the container collecting and discharging efficiency of the storage yard are improved while the safety of empty container stockpiling is guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of automation technology, and in particular to an empty container operation method in an automated container terminal yard. Background Art

[0002] Container yards play an important role in the port logistics system. They play a key supporting and promoting role in the distribution, storage, loading and unloading, stowage, transshipment, transit, custody, management and information tracking of containers. They are of great significance to improving port logistics efficiency, reducing logistics costs and enhancing logistics service capabilities.

[0003] At present, empty containers and loaded containers are generally stacked in separate areas in traditional domestic container terminals. The operating machinery for empty containers is mainly forklifts and empty container rail cranes, and a dense stacking method is adopted. The gaps between containers are very small, which improves the utilization rate of the yard while ensuring the stacking safety of empty containers. Among them, the operating efficiency of forklifts is very impressive, but it is difficult to apply to a fully automated operating environment. Therefore, the automation of the operation of empty container rail cranes is the main optimization direction. However, it is found in the actual production process that the operating efficiency of empty container rail cranes is often unsatisfactory. In order to meet the demand, empty containers can only occupy the yard operating machinery of heavy containers. At the same time, the stacking method of empty containers in the yard is also the same as that of heavy containers. The gaps between containers are relatively large, which poses a safety hazard to the stacking of containers in the yard. Summary of the invention

[0004] In view of this, the present invention provides an empty container operation method in an automated container terminal yard to solve the above technical problems.

[0005] To achieve the above object, the present invention provides the following technical solution, comprising the following steps:

[0006] Preset container verification content, filter containers after unloading and reloading according to the container verification content, and make operation judgments for the filtered containers;

[0007] Determine the container yard position according to the yard information, container type and manually set stacking shape of each container, and combine all the yard positions into several double container operation positions;

[0008] Modify the operation mark of the container after the container is reloaded. If there is an operation mark in the unloading instruction, when the vehicle is transported to the destination location of the yard, the operating mechanical spreader automatically moves to the top of the container and automatically grabs the container in position. After the container is transported to the top of the target location of the yard, manual remote control is taken over to release the container;

[0009] Select boxes at the exit and check the double box operation mark of the empty boxes on site. If there is a double box operation mark, double box operation will be adopted when the boxes are shipped out. Manual selection or cancellation of the double box operation mark is supported.

[0010] Furthermore, after the containers after unloading from the ship and reloading are positioned in sequence, the following steps are also included:

[0011] Containers include front boxes and rear boxes. When finding the location of containers, the front boxes and rear boxes are respectively checked. After the front box is successfully found, the operation position of the rear box is generated in the high or low direction of the front box yard, and the physical dependency check is performed on the operation position of the rear box. It is forbidden to leave the destination position vacant.

[0012] If the verification is successful, the dual-box positioning is successful. If the verification fails, it is determined that the operating position of the rear box does not meet the rear box assignment requirements, and the position is re-found or the error is reported and handled manually.

[0013] Furthermore, the operation mark of the container is modified after the container is reloaded, and specifically the following steps are further included:

[0014] Modify the operation mark of the unloading instruction corresponding to the container. If the operation mark is manually cancelled, the unloading task will be changed to a single container task, and the target location information will be retained;

[0015] For containers whose container operation mark has been cancelled, the target position can be modified or relocated with one click;

[0016] Recheck and locate the position according to the unloading process. If the position is successfully located, add the operation mark again.

[0017] Furthermore, when the operation is determined for the filtered containers, the priority of the containers for double 20-foot operation in each container collection range in the yard is determined;

[0018] Determine whether the container unloaded from the ship can be operated with double 20 feet;

[0019] If there are multiple container collection areas in the yard, the priority of the container collection locations is determined according to the priority level of each container collection area;

[0020] If the priority levels of the receiving box ranges are consistent, the priority level of the receiving box range used by the previous task will be automatically adjusted to the order of the last task.

[0021] Furthermore, the machinery for container yard operations is an automated single-arm empty container rail crane. If the unloading instruction contains a double 20-foot operation mark, the automated single-arm empty container rail crane will run above the target container and automatically grab the container using a double 20-foot alignment to transport the target container to the target position in the yard.

[0022] Furthermore, if during the automatic container grabbing process of the automated single-cantilever empty-container rail crane, it is found that the container is not suitable for double 20-foot operation, it will switch to single-container operation and perform fully automatic operation during the container grabbing and releasing process on the side of the horizontal transport vehicle.

[0023] Furthermore, the location of the container is named as the yard area code + the yard area shell number + the yard area row number + the floor height. The operation mode of the container is determined according to the naming of the location. If the naming corresponds to the location of the yard as a double-container operation, two locations must be found at one time when looking for a location, and the two locations must be adjacent.

[0024] Furthermore, the container is a 20-foot container.

[0025] Furthermore, after the double-box operation mark is cancelled for the eligible empty boxes on site, if the double-box operation mark still exists when on the vehicle, the target position is defined to support the double-box operation.

[0026] Furthermore, the double-container operation is a double 20-foot container operation.

[0027] The beneficial effects produced by the technical solution of the present invention are as follows:

[0028] The present invention is designed for multiple aspects involved in the double 20-foot operation process in the empty container yard of the container terminal, including unloading container filtering, unloading container positioning, unloading instruction control, unloading yard operation, exit selection of double 20-foot empty containers in the yard, and maintenance and management of double 20-foot empty containers in the yard. The operation is implemented by an automated single cantilever empty container rail crane (ESCRMG), which ensures the safety of empty container storage while improving the utilization rate of the automated container empty container yard and the efficiency of receiving and unloading containers in the yard. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0030] Figure 1 This is a flowchart of the overall steps of an empty container operation method in an automated container terminal yard in an embodiment of the present invention;

[0031] Figure 2 This is a specific step flow chart of step S1 in an embodiment of the present invention;

[0032] Figure 3 This is a flowchart of the specific steps of step S2 in an embodiment of the present invention;

[0033] Figure 4 This is a flowchart of the specific steps of step S3 in an embodiment of the present invention;

[0034] Figure 5This is a flow chart of a method for filtering unloading containers in an embodiment of the present invention;

[0035] Figure 6 This is a flow chart of a method for finding a location for unloading containers in an embodiment of the present invention;

[0036] Figure 7 This is a flow chart of the exit selection of double 20-foot empty containers in an embodiment of the present invention;

[0037] Figure 8 This is a flow chart of the maintenance and management of double 20-foot empty containers in a yard in an embodiment of the present invention;

[0038] Fig. 9 This is a schematic diagram of naming the areas in the empty container yard of an automated container terminal in an embodiment of the present invention. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] like Figure 1 As shown, the present invention discloses an empty container operation method of an automated container terminal yard, comprising the following steps:

[0041] Step S1, presetting container verification content, filtering containers after unloading and reloading according to the container verification content, and making operation determination for the filtered containers;

[0042] Specifically, in the preferred embodiment of the present application, the verification content is configured by the terminal operator, including basic information related to the container business, such as container size, container type, empty weight, container company, destination port, container classification, damage type, bill of lading number, etc. The filtered containers are subjected to double 20-foot operation judgment. In the process of filtering the containers after unloading and reloading, the filtering is mainly based on the information such as container size, container type, empty weight, etc. For example, the terminal operator can configure the filter of "20 / GP / E" to filter out empty containers of 20 feet and GP type.

[0043] In a specific embodiment of the present application, the filtering process of the container is as follows: Figure 5As shown, during the operation of receiving containers into the yard, double 20-foot operations are performed. Often, double 20-foot operations are also required when containers are unloaded from the yard. This requires that the two containers in the double 20-foot operation must have the same attributes to meet the requirement that they can be unloaded at the same time later. Therefore, selection is required before the containers enter the yard. After the containers are unloaded and loaded, the terminal operating system performs double 20-foot operation filtering. The verification content is configured by the terminal operator, including basic information related to the container business, such as container size, container type, empty weight, container company, destination port, container classification, damage type, bill of lading number, etc. The filtered containers are judged for double 20-foot operations. Because there may be a requirement that the door orientation must be consistent when the containers leave the yard, there will be three configuration options: the vehicle door orientation must be consistent, there is no requirement for the vehicle door orientation, and double 20-foot operations are prohibited. If the two containers in the vehicle meet the filtering requirements and the configuration requirements at the same time, it is preliminarily judged that double 20-foot operations can be performed.

[0044] Step S2: Determine the container yard position according to the yard information, container type and manually set stacking shape of each container, and combine all the yard positions into a plurality of double container operation positions;

[0045] In a specific embodiment of the present application, the container unloading and positioning process is as follows: Figure 6 As shown, before the unloading operation, the terminal operator shall demarcate the area range where double 20-foot operations can be performed, including the yard area code, the shell number range and layer height range in each area, and the stacking shape of the containers in each shell of the yard. The positions of two adjacent shells with the same ranking and layer height are paired to form a double 20-foot operation position. The two containers of the unloading heavy truck are randomly divided into the front box and the rear box, and the positions are searched in turn. After the front box is successfully located, the corresponding double 20-foot operation position in the yard is locked, and the rear box is designated to perform the physical dependency verification of the operation position at this position, that is, the two positions must be the first untasked positions in the two adjacent shells of the yard according to the layer height operation sequence. If the verification is successful, the double box is successfully located and the double 20-foot operation mark is marked. If the verification fails, the position does not meet the rear box assignment requirements, and the double box does not perform double 20-foot operations, and is relocated according to the general operation method.

[0046] Step S3: modify the operation mark of the container after the container is reloaded. If the unloading instruction has an operation mark, when the vehicle is transported to the destination location of the yard, the operating mechanical spreader automatically moves to the top of the container and automatically grabs the container in position. After the container is transported to the top of the destination location of the yard, the manual remote control is switched to release the container.

[0047] In a specific embodiment of the present application, after two containers are loaded, the terminal operator can modify the double 20-foot operation marks of the two unloading instructions corresponding to the two containers. After canceling the mark, the double 20-foot operation is canceled but the previous destination position information is retained. General operations such as modifying the destination position can be performed subsequently, and re-positioning can be performed with one click. In this case, the unloading process will be re-checked and re-positioned. If the positioning is successful, the double 20-foot operation mark will be re-marked.

[0048] Step S4, selecting boxes at the exit, checking the double operation mark of the empty boxes on site, if there is a mark, double box operation is adopted when the boxes are shipped out, and manual selection or cancellation of this mark is supported.

[0049] In a specific embodiment of the present application, the specific process of selecting boxes at the exit is as follows: Figure 7 As shown, no matter it is outbound loading or outbound transfer, it is necessary to select containers first. The following logical judgments are required during the container selection process: First, to ensure that the operation sequence set by the yard is followed, the bays where the containers to be selected and their double 20-foot paired containers are located, the containers at the front of the operation sequence need to have double 20-foot operation marks, otherwise double 20-foot container selection is not allowed; secondly, the transfer destination of the two 20-foot containers and the destination on the ship selected for stowage must allow double 20-foot operations and meet physical dependencies and stowage requirements, otherwise a prompt will be given and the double 20-foot operation mark will be cleared after the containers are unloaded and loaded on the vehicle at the yard.

[0050] More specifically, the present application also discloses a maintenance and management process for empty boxes, such as Figure 8 As shown, in order to flexibly control the double 20-foot operation, the double 20-foot operation mark can be checked or cancelled for the empty containers that meet the conditions. After checking the double 20-foot operation mark, the newly added pair of double 20-foot empty containers can perform double 20-foot empty container related operations; after canceling the double 20-foot operation mark, the original pair of double 20-foot empty containers becomes two ordinary separate empty containers. When performing operations, they are no longer associated with each other. When modifying such information, the physical positions of the two containers will be verified. If they do not meet the pairing requirements, they cannot be bound as double 20-foot operations.

[0051] Further, in a preferred embodiment of the present application, Figure 3 As shown, in step S2, after the containers after unloading from the ship and reloading are positioned in sequence, the following steps are also included:

[0052] Step S201: The container includes a front box and a rear box. When the container is located, the front box and the rear box are located separately. After the front box is located successfully, the operation position of the rear box is generated in the high bay or low bay direction of the front box yard, and the physical dependency check is performed on the rear box at the specified operation position, and the destination position is prohibited from being left hanging;

[0053] Step S202: If the verification is successful, the dual-box positioning is successful. If the verification fails, it is determined that the operating position of the rear box does not meet the rear box assignment requirements, and the position is re-found or an error is reported for manual processing.

[0054] Further, in a preferred embodiment of the present application, Figure 4 As shown, in step S3, the operation mark of the container is modified after the container is reloaded, and specifically the following steps are also included:

[0055] Step S301, modifying the operation mark of the unloading instruction corresponding to the container. If the operation mark is manually cancelled, the unloading task is changed to a single container operation, and the target location information is retained;

[0056] Step S302: for the container whose container operation mark is cancelled, modify the target position or re-position it with one key;

[0057] Step S303: recheck and locate according to the unloading process, and if the location is successfully located, add the operation mark again.

[0058] Further, in a preferred embodiment of the present application, Figure 2 As shown, in step S1, when the operation is determined for the filtered containers, the priority of the containers for double 20-foot operation in each container receiving range in the yard is determined;

[0059] Step S101, determining whether the container unloaded from the ship on the vehicle can be operated with double 20 feet;

[0060] Step S102: if there are multiple container receiving ranges in the container yard, the priority order of the container receiving positions is determined according to the priority level of each container receiving range;

[0061] Step S103: If the priority weights of the receiving box ranges are consistent, the priority of the receiving box range used by the previous task is automatically adjusted to the last order.

[0062] Specifically, when the double 20-foot operation judgment is turned on in the system, the priority of finding boxes within the double 20-foot operation range is the highest, and priority is given to determining whether double 20-foot operations can be performed. At the same time, for multiple operation ranges applicable to double 20 feet, the priority order can be determined according to the priority of the ranges. If the priorities are the same, decisions are made in turn, and the priority of the previous search range will be automatically adjusted to a relatively low order.

[0063] Specifically, for example: 6 unloading tasks are assigned to 3 vehicles, with 2 tasks for each vehicle, that is, each vehicle has the task of unloading 2 20-foot containers. The containers have been loaded onto the vehicles and both meet the requirements of double 20-foot operations (the 2 containers on one vehicle have the same attributes except for the container number, and the containers are in good condition without damage). At this time, there are 3 container collection ranges A, B, and C with the same priority in the yard. The first vehicle uses range A, and then the priority of A is automatically adjusted to the last, then the next range to be used is B, thereby achieving the purpose of evenly arranging tasks for the three ranges.

[0064] Furthermore, in a preferred embodiment of the present application, the machinery for container yard operations is an automated single-arm empty container rail crane. If the unloading instruction contains a double 20-foot operation mark, the automated single-arm empty container rail crane will run above the target container and automatically grab the container using a double 20-foot alignment to transport the target container to the target position in the yard.

[0065] Furthermore, in a preferred embodiment of the present application, if during the automatic container grabbing process of the automated single-cantilever empty-container rail crane, it is found that the container is not suitable for double 20-foot operation, the remote-controlled driver manually switches to single-container operation, and the container grabbing and releasing process on the horizontal transport vehicle side is fully automatic.

[0066] Specifically, due to the small gap between container stacking and the possibility of container shifting within the yard, although there are double 20-foot operation marks, the actual requirements for double 20-size operations are not met, and the risk of fully automated operations is high. Therefore, remote manual operations are required for the spreader to grab and place containers on the yard side. During manual remote operations, if it is found that the container is not suitable for double 20-foot operations, it can be switched to single-box operations, and the grabbing and placing of containers on the side of horizontal transport vehicles can be fully automated.

[0067] Further, in a preferred embodiment of the present application, Fig. 9 As shown, the container location is named as yard area code + yard area shell number + yard area row number + floor height. The operation mode of the container is determined according to the naming of the location. If the naming corresponds to the yard location of double 20-foot operation, two locations must be found at one time when looking for a location, and the two locations must be adjacent.

[0068] Specifically, the naming method of the container location is as follows: Fig. 9 As shown, there will be a direction when the range is defined, and this direction determines whether the corresponding matching position of a position is in the direction of high Bay number or low Bay number.

[0069] Furthermore, in a preferred embodiment of the present application, the container is a 20-foot container.

[0070] Furthermore, in a preferred embodiment of the present application, after the double-box operation mark is cancelled for the eligible empty boxes on site, if the double-box operation mark still exists when on the vehicle, the target position is defined to support the double-box operation.

[0071] Furthermore, in a preferred embodiment of the present application, the double-container operation is a double 20-foot container operation.

[0072] The present invention discloses an empty container double 20-foot operation method in an automated container terminal yard. The method designs and optimizes multiple aspects of the double 20-foot operation process in an automated container terminal empty container yard, including unloading container filtering, unloading container location, unloading instruction control, unloading yard operation, exit selection of double 20-foot empty containers in the yard, and maintenance and management of double 20-foot empty containers in the yard. The operation is performed by an automated single-cantilever empty container rail crane, thereby ensuring the safety of empty container storage while improving the utilization rate of the automated container empty container yard and the efficiency of receiving and unloading containers in the yard.

[0073] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0074] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0075] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0076] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0077] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, read-on l ymemory), random access memory (RAM, random access memory), disk or optical disk and other media that can store program codes.

[0078] In the description of the specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0079] The above contents are merely examples and explanations of the structure of the present invention. The technicians in this technical field may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the structure of the invention or exceed the scope defined by the claims, they should all fall within the protection scope of the present invention.

Claims

1. An empty container operation method in an automated container terminal yard, characterized in that: The following steps are involved: Preset container verification content, filter containers after unloading and reloading according to the container verification content, and make operation judgments for the filtered containers; Determine the container yard position according to the yard information, container type and manually set stacking shape of each container, and combine all the yard positions into several double container operation positions; Modify the operation mark of the container after the container is reloaded. If there is an operation mark in the unloading instruction, when the vehicle is transported to the destination location of the yard, the operating mechanical spreader automatically moves to the top of the container and automatically grabs the container in position. After the container is transported to the top of the target location of the yard, manual remote control is taken over to release the container; Select boxes at the exit and check the double box operation mark of the empty boxes on site. If there is a double box operation mark, double box operation will be used when the boxes are shipped out. Manual selection or cancellation of this mark is supported.

2. The method for handling empty containers in an automated container terminal yard according to claim 1, characterized in that: After the containers unloaded from the ship and loaded onto the truck are positioned in sequence, the following steps are also included: Containers include front boxes and rear boxes. When finding the location of containers, the front boxes and rear boxes are respectively checked. After the front box is successfully found, the operation position of the rear box is generated in the high or low direction of the front box yard, and the physical dependency check is performed on the operation position of the rear box. It is forbidden to leave the destination position vacant. If the verification is successful, the dual-box positioning is successful. If the verification fails, it is determined that the operating position of the rear box does not meet the rear box assignment requirements, and the position is re-found or the error is reported and handled manually.

3. The method for handling empty containers in an automated container terminal yard according to claim 1, characterized in that: The process of modifying the operation mark of the container after the container is reloaded further comprises the following steps: Modify the operation mark of the unloading instruction corresponding to the container. If the operation mark is manually cancelled, the unloading task will be changed to a single container operation, and the target location information will be retained; For containers whose container operation mark has been cancelled, the target position can be modified or relocated with one click; Recheck and locate the container again according to the unloading process. If the container is successfully located, add the container operation mark again.

4. The method for handling empty containers in an automated container terminal yard according to claim 1, characterized in that: When the operation is determined for the filtered containers, the priority of the containers for double 20-foot operation in each container collection range in the yard is determined; Determine whether the container unloaded from the ship can be operated with double 20 feet; If there are multiple container collection areas in the yard, the priority of the container collection locations is determined according to the priority level of each container collection area; If the priority weights of the receiving box ranges are consistent, the priority of the receiving box range used by the previous task will be automatically adjusted to the last order.

5. The method for handling empty containers in an automated container terminal yard according to claim 4, characterized in that: The machinery for container yard operations is an automated single-arm empty container rail crane. If the unloading instruction contains a double 20-foot operation mark, the automated single-arm empty container rail crane will run above the target container and automatically grab the container using the double 20-foot alignment to transport the target container to the target location in the yard.

6. The method for handling empty containers in an automated container terminal yard according to claim 5, characterized in that: If during the automatic container grabbing process of the automated single-cantilever empty container rail crane, it is found that the container is not suitable for double 20-foot operation, the crane will switch to single-container operation and automatically operate during the container grabbing and placing process on the horizontal transport vehicle side.

7. The method for handling empty containers in an automated container terminal yard according to claim 1, characterized in that: The location of the container is named as the yard area code + the yard shell number + the yard row number + the floor height. The operation mode of the container is determined according to the naming of the location. If the naming corresponds to the location of the yard as a double-container operation, two locations must be found at one time when looking for a location, and the two locations must be adjacent.

8. The method for handling empty containers in an automated container terminal yard according to any one of claims 1 to 7, characterized in that: The container is a 20-foot container.

9. The method for handling empty containers in an automated container terminal yard according to claim 7, characterized in that: After the double-box operation mark is canceled for the eligible empty boxes on site, if the double-box operation mark still exists when on the vehicle, the target position is defined to support double-box operation.

10. The method for handling empty containers in an automated container terminal yard according to claim 9, characterized in that: The double container operation refers to double 20-foot container operation.

Images