Automatic container yard mixed loading and unloading system and operation method

Abstract

The invention discloses an automatic mixed loading and unloading system for a container yard, which allocates and transports containers through an automatic container truck in a port and a manual container truck outside the port, completes loading and unloading of the containers between a ship and a wharf, and comprises the wharf, the container ship, a leading-edge yard loading and unloading system and a container yard loading and unloading system. The invention further discloses an operation method of the automatic container yard mixed loading and unloading system, the moving lines of the automatic container trucks in the port and the manual container trucks outside the port in the automatic container yard mixed loading and unloading system are simple, clear and clear, no matter the manual container trucks outside the port or the automatic container trucks in the port, the steering frequency of a single vehicle in a single task is small, and the operation efficiency is high. And the meeting process of the two vehicles does not influence the loading and unloading work, so that the problem of complex lines caused by shunting in a conventional wharf loading and unloading system is solved, the overall loading and unloading efficiency of the wharf is greatly improved, and huge economic benefits and social benefits are achieved.

Description

Technical Field

[0001] The present invention relates to the field of terminal container transportation, and more specifically, to an automated container yard mixed loading and unloading system and an operation method thereof. Background Art

[0002] With the vigorous development of water and land transportation, container terminals, as important transit stations for water and land transportation, have become increasingly prominent in the shipping market. The automation and intelligence of container terminals have become an important development trend.

[0003] In recent years, more and more automated container terminals similar to the traditional container terminal yard layout have been put into operation at home and abroad. The technology of "parallel layout of yard + double-cantilever automated rail-mounted container gantry crane + side loading and unloading" can not only be used as the overall design plan for newly built automated terminals, but also provides the possibility for the transformation of traditional container terminals to automation. The Chinese patent with authorization announcement number CN110395586B discloses a wedge-shaped automated container terminal loading and unloading system and method, which realizes the direct arrival of port external container trucks at the yard operation position, eliminates the secondary transportation problem caused by the setting of interactive areas in conventional automated terminals, and improves the loading and unloading operation and collection and distribution efficiency. The Chinese patent with authorization announcement number CN114455339B discloses a double-comb-structured automated container yard side loading and unloading system and method, which realizes the direct entry of port internal and external container horizontal transport vehicles into the yard for loading and unloading by setting the port external container truck operation area in the track and the turning area at the sea side end of the yard, and effectively breaks through the turning radius limit of the turning area set at the sea side end of the yard for external container trucks and improves the turning efficiency of port external container trucks.

[0004] However, these models also have some problems: First, due to the establishment of a dedicated transit exchange yard or a dedicated internal and external container truck isolation road, a lot of land is occupied, making the effective use area of ​​the yard low; second, due to the establishment of a dedicated transit exchange yard, the number of horizontal transportation interactions in the yard increases, and the energy consumption of horizontal transportation increases; third, there are many special isolation facilities, and the horizontal transportation equipment is blocked by the isolation facilities, which makes it difficult to transfer between yards; fourth, whether it is an automatic container truck in the port or a manual container truck outside the port, a single loading and unloading operation requires multiple turns and intersections, and the overall operation efficiency of the system is difficult to achieve the expected effect.

[0005] Therefore, there is an urgent need for a new automated container yard system to achieve automation of mixed horizontal transport in lanes within container terminals with horizontally arranged yards and to improve loading and unloading efficiency. Summary of the invention

[0006] An object of the present invention is to provide an automated container yard mixed loading and unloading system to achieve mixed and efficient loading and unloading of automatic container trucks in a container terminal port with a horizontally arranged yard and manual container trucks outside the port.

[0007] In order to achieve these purposes and other advantages according to the present invention, in the first aspect, the present invention provides an automated container yard mixed-traffic loading and unloading system, which transports containers by automatic container trucks in the port and manual container trucks outside the port, including: a wharf, which is arranged along the shore and is used to berth container ships; a front yard loading and unloading module, which includes a front automated loading and unloading area, in which an automated enclosed road is arranged, and the automated enclosed road is parallel to the wharf shoreline; a container yard loading and unloading module, which includes a plurality of spaced and parallel strip container stacking areas, on which automated rail gantry cranes are arranged, and a non-mixed traffic one-way lane is arranged between any two strip container stacking areas, and the The lifting range at both ends of the automated rail gantry crane covers the corresponding non-mixed one-way lanes on both sides; a semi-circular two-way lane is arranged at the periphery of all strip container stacking areas, and the two ends are not connected to each other, the semi-circular two-way lane forms an intersection connection with the two ends of all non-mixed one-way lanes, the semi-circular two-way lane includes a parallel outer ring lane and an inner ring lane, the two ends of the inner ring lane are connected to the automated closed road, and the outer ring lane is connected to the traffic road outside the port; a traffic signal device is installed at the intersection of the semi-circular two-way lane and the non-mixed one-way lane; wherein, the non-mixed one-way lane is divided into an automatic container truck one-way lane and a manual container truck one-way lane, and the automatic container truck one-way lane and the manual container truck one-way lane are distributed at intervals.

[0008] Preferably, the strip container stacking area and the non-mixed one-way lane are parallel to the wharf shoreline.

[0009] Preferably, a plurality of shore container loading and unloading bridges are arranged at intervals along the wharf shoreline.

[0010] Preferably, the frontier yard loading and unloading module also includes a special container loading and unloading area, which is located between the frontier automated loading and unloading area and the wharf shoreline. The special container loading and unloading area is provided with a port external truck lane, and its two ends are connected to the two ends of the outer ring lane.

[0011] Preferably, the container yard loading and unloading module also includes one or more automatic container truck longitudinal lanes, one end of which is connected to the middle of the section of the automated closed road, each automatic container truck longitudinal lane is intersected and connected with all non-mixed one-way lanes, the automatic container truck longitudinal lane divides each strip container stacking area into a number of strip container stacking partitions, each strip container stacking partition is equipped with an automated rail gantry crane, and a traffic signal device is provided at the intersection of the automatic container truck longitudinal lane and the non-mixed one-way lane.

[0012] Preferably, the automatic container truck longitudinal road is perpendicular to the wharf shoreline.

[0013] Preferably, the automated rail gantry crane is a double-cantilever automated rail gantry crane.

[0014] Preferably, the traffic signal device includes a traffic control light, a wireless communication device module, and a perception system module that are signal-connected to each other, wherein the wireless communication device module is communication-connected to all automatic container trucks in the port, and receives the position information of the automatic container trucks in the port in real time, and after receiving the signal from the wireless communication device module, the perception system module calculates the time information corresponding to the automatic container truck in the port that is about to pass the intersection, and feeds it back to the traffic control light, wherein the manual container truck outside the port turns or goes straight according to the instructions of the traffic control light.

[0015] In a second aspect, the present invention provides an operation method of an automated container yard mixed loading and unloading system, including a conventional container loading and unloading method and a special container loading and unloading method, wherein the conventional container loading and unloading method comprises the following steps: In the unloading operation, the shore container loading and unloading bridge lifts the containers on the container ship to the automatic container truck on standby in the port. The automatic container truck in the port drives from the one-way automatic closed road into the inner ring lane or the nearest automatic container truck longitudinal lane. Then the automatic container truck in the port drives into the corresponding automatic container truck one-way lane. The waiting automatic rail gantry crane lifts the container and unloads it to the strip container stacking area. The empty automatic container truck in the port drives from the automatic container truck one-way lane into the nearest automatic container truck longitudinal lane or inner ring lane, cuts into the automatic closed road and enters the next working cycle. During port clearance operation, an empty port truck drives from the port traffic road into the outer ring lane and then into the corresponding one-way lane for trucks. The waiting automated rail gantry crane lifts the container onto the port truck. The loaded port truck drives straight to the outer ring lane and then drives back to the port traffic road on the outer ring lane. For port collection operations, loaded manual container trucks outside the port drive from the traffic road outside the port into the outer ring lane, and then drive into the corresponding manual container truck one-way lane. The waiting automated rail gantry crane will lift the container to the strip container stacking area. The empty manual container trucks outside the port will drive straight to the outer ring lane and drive back to the traffic road outside the port on the outer ring lane. During loading operations, the automatic container trucks in the port drive into the corresponding automatic container truck one-way lanes, and the waiting automated rail gantry cranes lift the containers onto the automatic container trucks in the port. The loaded automatic container trucks in the port drive from the automatic container truck one-way lanes into the nearest automatic container truck longitudinal lanes or inner ring lanes, and then cut into the automated closed lanes. The shore container loading and unloading bridges () lift the containers onto the container ship, and enter the next work cycle.

[0016] Preferably, the special container loading and unloading method comprises the following steps: S1. Port-external trucks with special containers or empty containers drive into the outer ring lane from the port-external traffic road and drive into the port-external truck lane from one end; S2, the shore container loading and unloading bridge completes the lifting of special containers; S3. The manual container truck outside the port that has completed loading and unloading drives from the container truck lane outside the port into the other end of the outer ring lane and returns to the traffic road outside the port.

[0017] The present invention has at least the following beneficial effects: First, the automated container yard mixed loading and unloading system of the present invention only requires the re-isolation and layout of the roads in the port area of ​​the traditional container terminal with fences and the automation upgrade and transformation of the relevant loading and unloading equipment, without the need for large-scale transformation of civil facilities, which greatly reduces the automation transformation cost of traditional container terminals and reduces the transformation time. Therefore, it is suitable for the automation upgrade and transformation of traditional container terminals.

[0018] Secondly, in the automated container yard mixed loading and unloading system of the present invention, the movement lines of the automatic container trucks in the port and the manual container trucks outside the port are simple and clear. No matter it is a manual container truck outside the port or an automatic container truck in the port, the number of turns and meeting times for a single task is small. The manual container trucks outside the port do not need to turn around, and there is no need to set up a special U-turn area. The meeting process of the manual container trucks outside the port and the automatic container trucks in the port does not affect the loading and unloading work, which solves the problem of complex lines caused by the diversion of automated and non-automated horizontal transportation equipment in conventional terminal loading and unloading systems, greatly improves the overall loading and unloading efficiency of the terminal, and has huge economic and social benefits.

[0019] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of an automated container yard mixed loading and unloading system in a technical solution of the present invention; Figure 2 A schematic diagram of lanes and traffic flow in a technical solution of the present invention; Figure 3 A schematic diagram of lane distribution in a technical solution of the present invention; Figure 4 This is a schematic diagram of node A in a technical solution of the present invention; Figure 5 A schematic diagram of a node B in a technical solution of the present invention; Figure 6This is a schematic diagram of node C in a technical solution of the present invention.

[0021] Legend: 1- container ship, 10- wharf, 100- frontier automated loading and unloading area, 2- shore container loading and unloading bridge, 3- strip container stacking area, 30- strip container stacking partition, 4- automated rail gantry crane, 5- semi-circular two-way lane, 51- outer ring lane, 52- inner ring lane, 6- non-mixed one-way lane, 61- automatic container truck one-way lane, 62- manual container truck one-way lane, 7- automated closed lane, 8- automatic container truck longitudinal lane, 9- container truck lane outside the port, 90- special container loading and unloading area, 11- traffic control lights, 12- automatic container truck inside the port, 13- manual container truck outside the port, 14- turning waiting area, 15- straight waiting area. DETAILED DESCRIPTION

[0022] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can implement the invention with reference to the description.

[0023] It should be understood that the terms such as “having”, “including” and “comprising” used herein do not exclude the existence or addition of one or more other elements or combinations thereof.

[0024] It should be noted that the experimental methods described in the following embodiments are conventional methods unless otherwise specified, and the reagents and materials can be obtained from commercial sources unless otherwise specified; in the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "set" should be understood in a broad sense, for example, they can be fixedly connected, set, or detachably connected, set, or connected and set in one piece. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood in specific circumstances. The orientation or position relationship indicated by the terms "lateral", "longitudinal", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

[0025] like Figures 1 to 6As shown, the technical solution of the present application provides an automated container yard mixed-traffic loading and unloading system, which transports containers through automatic container trucks 12 in the port and manual container trucks 13 outside the port, including: a wharf 10, which is arranged along the shore and is used to berth container ships 1; a front yard loading and unloading module, which includes a front automated loading and unloading area 100, in which an automated enclosed road 7 is arranged, and the automated enclosed road 7 is parallel to the shoreline of the wharf 10; a container yard loading and unloading module, which includes a plurality of spaced and parallel strip container stacking areas 3, on which automated rail gantry cranes 4 are arranged, and a non-mixed traffic one-way lane 6 is arranged between any two strip container stacking areas 3, and the automated rail gantry cranes 4 are arranged The lifting range at both ends covers the corresponding non-mixed one-way lanes 6 on both sides; the semi-circular two-way lane 5 is arranged at the periphery of all strip container stacking areas 3, and the two ends are not connected to each other, the semi-circular two-way lane 5 forms an intersection connection with the two ends of all non-mixed one-way lanes 6, the semi-circular two-way lane 5 includes a parallel outer ring lane 51 and an inner ring lane 52, the two ends of the inner ring lane 52 are connected to the automated closed road 7, and the outer ring lane 51 is connected to the traffic road outside the port; the traffic signal device is installed at the intersection of the semi-circular two-way lane 5 and the non-mixed one-way lane 6; wherein, the non-mixed one-way lane 6 is divided into an automatic container truck one-way lane 61 and a manual container truck one-way lane 62, and the automatic container truck one-way lane 61 and the manual container truck one-way lane 62 are distributed at intervals.

[0026] In the present technical solution, a closed fence is provided on the outside of the wharf body 10, and a semi-circular two-way lane 5 is connected to the traffic road outside the port outside the closed fence. The container is a standardized large-capacity box in international cargo transportation or sea transportation, and can also be other standardized or at least standardized load units. The automatic container truck 12 in the port has a suitable vehicle control system, so that automatic control or navigation is performed thereby. The automated rail gantry crane 4 is composed of a main beam, rigid and flexible door legs, a running trolley, a lifting mechanism, a trolley running mechanism, an electrical system, etc. that are easily available or easy to process in the market. The automated rail gantry crane 4 can select multiple groups of double-cantilever models or multiple groups of paired single-cantilever models. The automated rail gantry crane 4 has the function of lifting containers from the non-mixed single-lane lanes 6 on both sides of the strip container stacking area 3. The automatic closed lane 7 can only pass the automatic container truck 12 in the port, and the container exchange between the automatic container truck 12 in the port and the container ship 1 is realized by means of the automatic system in the port and manual assistance. The non-mixed one-way lane 6 has at least two driving lanes, or a parking and lifting space is added on the roadside, so that when there are vehicles occupying the road for loading and unloading, the subsequent vehicles can overtake and drive forward. The single non-mixed one-way lane (6) serves as a common container loading or unloading area for the strip container stacking areas (3) on both sides. The automated rail gantry crane 4 can complete the unloading and loading operations from the automatic container truck 12 in the port on one side of the non-mixed one-way lane 6, and can complete the port collection and port clearance operations from the manual container truck 13 outside the port on the other side of the non-mixed one-way lane 6.

[0027] In the present technical solution, the number of lanes in the semi-circular two-way lane 5 is determined according to the traffic volume in the port, and the total number of lanes is generally more than 6. The center of the semi-circular two-way lane 5 is divided into an outer ring lane 51 and an inner ring lane 52 by a separation belt or a separation fence, wherein the inner ring lane 52 is connected to the automated closed road 7. Since the outer ring lane 52 is directly connected to the traffic road outside the port, the manual container trucks 13 outside the port travel on the outer ring lane 52, wherein the automated container trucks 12 in the port always travel in the same clockwise direction on the inner ring lane 52, the automated container truck one-way road 61, the inner ring lane 52 and the automated closed road 7 in sequence, and the manual container trucks 13 outside the port enter the outer ring lane 51 from the traffic road outside the port, and travel on the outer ring lane 51, the manual container truck one-way road 62, the outer ring lane 51, the port The ports on the outer ring lane 52 always travel in the same clockwise direction. Except for the intersection of the semi-circular two-way lane 5 and the non-mixed one-way lane 6, where they need to consider the problem of passing each other, the rest of the time they always keep separate driving and do not affect each other. Optionally, the lanes on the outer ring lane 52 can correspond one-to-one with the non-mixed one-way lane 6 on which only the port-side manual container trucks 13 can travel. The non-mixed one-way lane 6 on the sea side corresponds to the outermost lane on the outer ring lane 52, and so on. In this way, the port-side manual container trucks 13 entering the outer ring lane 52 from the non-mixed one-way lane 6 only need to follow the route, and there is no need to consider the passing factor during the turning process. The port-side manual container trucks 13 that are already traveling on the outer ring lane 52 do not need to slow down and give way, thereby minimizing the passing time.

[0028] In this technical solution, a traffic signal device is provided at each intersection of the non-mixed one-way lane 6 and the semi-circular two-way lane 5, such as Figure 4~Figure 6 As shown, the traffic signal device can be a traffic light 11 to indicate when the manual container truck 13 outside the port can turn or move forward. At the intersection of each automatic container truck longitudinal lane 8 and the non-mixed one-way lane 6, it is necessary to mark a straight waiting area 15 on each lane. At the intersection of the semi-circular two-way lane 5 and the non-mixed one-way lane 6, it is necessary to mark a turning waiting area 14 on each lane. The traffic signal device includes but is not limited to various types of road signs, road guidance equipment, ground line marking guidance, ground markings, steering auxiliary mirrors and other traffic equipment.

[0029] In the present technical scheme, the automatic container truck 12 in the port and the manual container truck 13 outside the port always only perform a single clockwise cycle. Optionally, the automatic container truck 12 in the port travels clockwise on the inner ring lane 52, and there is no need to consider the problem of meeting when turning during driving. The manual container truck 13 outside the port travels counterclockwise on the outer ring lane 51. There are only two turning and meeting situations in the whole process, and because the only vehicle on the meeting road is the automatic container truck 12 in the port, the meeting situation is easy to control, and the traffic instructions are clear and controllable. Compared with the port terminal loading and unloading system with more turns, multiple roads or special U-turn areas, the operation of the entire system is smoother, and the efficiency is significantly improved.

[0030] In another technical solution, the strip container stacking area 3 and the non-mixed one-way lane 6 are parallel to the shoreline of the wharf 10 to shorten the horizontal transportation distance of the waterway transshipment containers.

[0031] In another technical solution, a number of shore container loading and unloading bridges 2 are arranged at intervals along the shoreline of the wharf 10. The shore container loading and unloading bridges 2 are lifting equipment that are easily purchased on the market or processed through conventional components. They are composed of a lifting machinery system, a trolley traveling system, a trolley lifting mechanism, an outrigger traveling system and an electrical system, and are used for loading and unloading containers and other goods between the frontier automated loading and unloading area 100 and the container ship 1.

[0032] In another technical solution, the front yard loading and unloading module also includes a special container loading and unloading area 90, which is located between the front automated loading and unloading area 100 and the shoreline of the wharf 10. The special container loading and unloading area 90 is provided with a port truck lane 9, both ends of which are connected to the two ends of the outer ring lane 5. In this technical solution, for containers or transport objects that exceed international sea and road transport standards and require special port trucks 13 to be directly loaded and shipped out of the port, it is necessary to plan a special container loading and unloading area 90. The port trucks 13 first drive on the semi-circular two-way lane 51 from the port traffic road, and then always drive on the outermost side and enter the port truck lane. 9, the container is directly lifted from the container ship 1 by the shore container loading and unloading bridge 2 and loaded onto the port-outside manual container truck 13, or temporarily placed in the special container loading and unloading area 90 and loaded after the vehicle arrives. The loaded port-outside manual container truck 13 directly enters the outer ring lane 51 from the other end of the port-outside container lane 9, and because the entry point is the end point of the outer ring lane 51, there is no need to consider the problem of entering the lane and meeting other vehicles. In the process of the port-outside manual container truck 13 driving to the port-outside traffic road according to the specified clockwise, the port-outside manual container truck 13 loaded with special containers has a smooth movement line, does not involve the problem of meeting other vehicles, and the efficiency of special container loading and unloading is greatly improved.

[0033] In another technical solution, the container yard loading and unloading module further includes one or more automatic container truck longitudinal lanes 8, one end of which is connected to the middle of the section of the automated closed lane 7, each automatic container truck longitudinal lane 8 intersects and connects with all non-mixed one-way lanes 6, and the automatic container truck longitudinal lane 8 divides each strip container stacking area 3 into a plurality of strip container stacking partitions 30, each strip container stacking partition 30 is provided with an automated rail gantry crane 4, and a traffic signal device is provided at the intersection of the automatic container truck longitudinal lane 8 and the non-mixed one-way lane 6, such as Figure 1~Figure 2 As shown, for a larger terminal 10, a single strip container stacking area 1 is longer. If the automatic container truck 12 in the port needs to travel a complete non-mixed one-way lane 6 for each transportation operation, the fuel or electricity consumption is large and the system operation efficiency is also low. Therefore, one or more automatic container truck longitudinal roads 8 are set, and each strip container stacking area 3 is divided into several strip container stacking partitions 30 by the automatic container truck longitudinal roads 8. In this technical solution, the automatic container truck longitudinal road 8 is set perpendicular to the coastline, and it is in a perpendicular intersection relationship with the non-mixed one-way lane 6. The end of the automatic container truck longitudinal road 8 far from the coastline forms a T-shaped intersection with an automatic container truck one-way lane 6 farthest from the coastline of the terminal 10. The automatic container truck longitudinal road 8 can only be used for two-way travel of the automatic container truck 12 in the port. In the unloading operation, the automatic container truck 12 in the port selects the nearest automated closed road 7 and the semi-circular two-way lane 5 or the semi-circular two-way lane 5 on a clockwise route after loading the container. The unloaded automatic container truck 12 in the port turns right into the nearest automatic container truck longitudinal road 8 or semi-circular two-way lane 5 and directly enters the automated closed lane 7 to continue the next cycle. The loading operation process is the same. The manual container truck 13 outside the port waits and moves forward according to the traffic indication device at the intersection of the corresponding non-mixed one-way lane 6 and the automatic container truck longitudinal road 8, which will not affect the system operation efficiency.

[0034] In another technical solution, the automatic container truck longitudinal road 8 is perpendicular to the shoreline of the dock 10, and the automatic container truck 12 in the port can complete a single task cycle with the highest efficiency.

[0035] In another technical solution, the automated rail gantry crane 4 is a double-cantilever automated rail gantry crane, such as Figure 3 As shown, the automated rail gantry crane 4 adopts a single double cantilever, which can maximize the container carrying capacity of the strip container stacking area 3 below. The single automated rail gantry crane 4 has the ability to lift and lower from the non-mixed one-way lanes 6 on both sides.

[0036] In another technical solution, the traffic signal device includes a traffic control light 11, a wireless communication device module, and a perception system module that are signal-connected to each other, wherein the wireless communication device module is in communication connection with all the automatic container trucks 12 in the port, and receives the position information of the automatic container trucks 12 in the port in real time, and after receiving the signal of the wireless communication device module, the perception system module calculates the time information corresponding to the automatic container truck 12 in the port that is about to pass through the intersection, and feeds it back to the traffic control light 11, wherein the manual container truck 13 outside the port turns or goes straight according to the instructions of the traffic control light 11. In this technical solution, the time of the automatic container truck 12 in the port is controllable and can be accurately calculated. Since the manual container truck 13 outside the port only involves the meeting with the automatic container truck 12 in the port when entering the non-mixed one-way lane 6 on the semi-circular two-way road 5 and passing the automatic container truck longitudinal lane 8 in this system, it is only necessary to turn on the traffic signal device at the above-mentioned intersection to ensure the smooth operation of the entire loading and unloading system.

[0037] In another technical solution, the operation method of the above-mentioned automated container yard mixed loading and unloading system includes a conventional container loading and unloading method and a special container loading and unloading method, and the conventional container loading and unloading method includes the following steps: In the unloading operation, the shore container loading and unloading bridge 2 lifts the container on the container ship 1 to the automatic container truck 12 on standby in the port. The automatic container truck 12 in the port drives one-way from the automated closed road 7 into the inner ring lane 52 or the nearest automatic container truck longitudinal lane 8. Then the automatic container truck 12 in the port drives into the corresponding automatic container truck one-way lane 61. The waiting automated rail gantry crane 4 lifts the container and unloads it to the strip container stacking area 1. The empty automatic container truck 12 in the port drives from the automated container truck one-way lane 61 into the nearest automated container truck longitudinal lane 8 or the inner ring lane 52, and cuts into the automated closed road 7 to enter the next working cycle.

[0038] During port clearance operation, an empty port-external manual container truck 13 drives from the port-external traffic road into the outer ring lane 51, and then drives into the corresponding manual container truck one-way lane 62. The waiting automated rail gantry crane 4 lifts the container onto the port-external manual container truck 13. The loaded port-external manual container truck 13 drives straight to the outer ring lane 51 and then drives back to the port-external traffic road on the outer ring lane 51.

[0039] In the port collection operation, the loaded port-outside manual container truck 13 drives from the port-outside traffic road into the outer ring lane 51, and drives into the corresponding manual container truck one-way lane 62, and the waiting automated rail gantry crane 4 lifts the container to the strip container stacking area 3, and the empty port-outside manual container truck 13 drives straight to the outer ring lane 51 and drives back to the port-outside traffic road on the outer ring lane 51.

[0040] During the loading operation, the automatic container truck 13 in the port drives into the corresponding automatic container truck one-way lane 61, and the waiting automated rail gantry crane 4 lifts the container onto the automatic container truck 13 in the port. The loaded automatic container truck 12 in the port drives from the automatic container truck one-way lane 61 into the nearest automatic container truck longitudinal lane 8 or inner ring lane 52, and then cuts into the automated closed lane 7. The shore container loading and unloading bridge 2 lifts the container onto the container ship 1, and enters the next working cycle.

[0041] In this technical solution, since the port traffic road is directly connected to the outer side of the semi-circular two-way lane 5, in order to avoid additional passing operations, the port manual container truck 13 is set to only travel on the outer ring lane 51. Figure 2 As shown, the outer ring lane 51 and the inner ring lane 52 are for driving in opposite directions. The outer ring lane 51 and the inner ring lane 52 are divided by a separation fence manually or mechanically on site. Optionally, the number of roads can be allocated according to the specific traffic volume. During the peak operation period of the automatic container truck 12 in the port, more lanes in the semi-circular two-way lane 5 can be appropriately assigned to the inner ring lane 52. During the peak operation period of the manual container truck 13 outside the port, more lanes can be appropriately assigned to the outer ring lane 51. Optionally, during the peak of a specific operation, in order to better operate the system, the non-mixed single-way lane 6 can also be adjusted in classification of the automatic container truck one-way lane 61 and the manual container truck one-way lane 62 according to the specific situation instead of a strict interval setting.

[0042] In another technical solution, the special container loading and unloading method comprises the following steps: S1, the port-outside manual container truck 13 with special containers or empty load enters the outer ring lane 51 from the port-outside traffic road, and enters the port-outside container truck lane 9 from one end; S2, the shore container loading and unloading bridge 2 completes the lifting of special containers; S3. The port-outside manual container truck 13 that has completed loading and unloading drives from the port-outside container truck lane 9 into the other end of the outer ring lane 51 and returns to the port-outside traffic road.

[0043] In the present technical scheme, the loading or unloading operation of special containers does not require the participation of the automatic container truck 12 in the port. The manual container truck 13 outside the port carrying the special containers first drives on the semi-circular two-way lane 51 from the traffic road outside the port, and then always drives on the outermost side and enters the container lane 9 outside the port. The container is directly lifted from the container ship 1 by the shore container loading and unloading bridge 2 and loaded onto the manual container truck 13 outside the port, or is temporarily placed in the special container loading and unloading area 90, and loading is carried out after the vehicle is in place. The loaded manual container truck 13 outside the port directly drives from the other end of the container lane 9 outside the port into the outermost lane of the semi-circular two-way lane 5, and drives to the traffic road outside the port according to the specified clockwise. During the whole process, the manual container truck 13 outside the port loaded with special containers has a smooth movement line, does not involve the problem of meeting any other vehicles, and the efficiency of special container loading and unloading is greatly improved.

[0044] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes, and they can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. An automated container yard mixed loading and unloading system, which uses automatic container trucks (12) in the port and manual container trucks (13) outside the port to transport containers, characterized in that: include: A wharf (10) arranged along the shore for berthing container ships (1); A front yard loading and unloading module, comprising a front automated loading and unloading area (100), wherein an automated enclosed road (7) is arranged in the front automated loading and unloading area (100), and the automated enclosed road (7) is parallel to the shoreline of the wharf (10); A container yard loading and unloading module, comprising a plurality of spaced and parallel strip container stacking areas (3), wherein an automated rail gantry crane (4) is provided on the strip container stacking areas (3), and a non-mixed one-way lane (6) is provided between any two strip container stacking areas (3), and the lifting range of both ends of the automated rail gantry crane (4) covers the non-mixed one-way lanes (6) corresponding to the two sides thereof; A semi-circular two-way lane (5) is arranged at the periphery of all the strip container stacking areas (3) and the two ends of the semi-circular two-way lane (5) are not connected to each other. The semi-circular two-way lane (5) is connected to the two ends of all the non-mixed one-way lanes (6). The semi-circular two-way lane (5) includes an outer ring lane (51) and an inner ring lane (52) which are parallel to each other. The two ends of the inner ring lane (52) are connected to the automated closed lane (7), and the outer ring lane (51) is connected to the traffic road outside the port. A traffic signal device installed at the intersection of a semi-circular two-way lane (5) and a non-mixed one-way lane (6); The non-mixed one-way lane (6) is divided into an automatic container truck one-way lane (61) and a manual container truck one-way lane (62), and the automatic container truck one-way lane (61) and the manual container truck one-way lane (62) are arranged at intervals.

2. The automated container yard mixed loading and unloading system according to claim 1, characterized in that: The strip container stacking area (3) and the non-mixed one-way lane (6) are parallel to the shoreline of the wharf (10).

3. The automated container yard mixed loading and unloading system according to claim 1, characterized in that: A plurality of shore container loading and unloading bridges (2) are arranged at intervals along the shoreline of the wharf (10).

4. The automated container yard mixed loading and unloading system according to claim 1, characterized in that: The front yard loading and unloading module also includes a special container loading and unloading area (90), which is located between the front automated loading and unloading area (100) and the shoreline of the wharf (10). The special container loading and unloading area (90) is provided with a port external truck lane (9), the two ends of which are connected to the two ends of the outer ring lane (5).

5. The automated container yard mixed loading and unloading system according to claim 1, characterized in that: The container yard loading and unloading module further comprises one or more automatic container truck longitudinal roads (8), one end of which is connected to the middle of the road section of the automated closed road (7), each automatic container truck longitudinal road (8) intersects and connects with all non-mixed one-way lanes (6), the automatic container truck longitudinal road (8) divides each strip container stacking area (3) into a plurality of strip container stacking partitions (30), each strip container stacking partition (30) is provided with an automated rail gantry crane (4), and a traffic signal device is provided at the intersection and connection of the automatic container truck longitudinal road (8) and the non-mixed one-way lane (6).

6. The automated container yard mixed loading and unloading system according to claim 5, characterized in that: The automatic container truck longitudinal road (8) is perpendicular to the shoreline of the wharf (10).

7. The automated container yard mixed loading and unloading system according to claim 5, characterized in that: The automated rail gantry crane (4) is a double-cantilever automated rail gantry crane.

8. The automated container yard mixed loading and unloading system according to claim 5, characterized in that: The traffic signal device comprises a traffic control light (11) connected to each other by signals, a wireless communication device module, and a perception system module, wherein the wireless communication device module is connected to all automatic container trucks (12) in the port by communication, and receives the position information of the automatic container trucks (12) in the port in real time, and after receiving the signal from the wireless communication device module, the perception system module calculates the time information corresponding to the automatic container truck (12) in the port that will pass the intersection, and feeds it back to the traffic control light (11), wherein the manual container truck (13) outside the port turns or goes straight according to the instruction of the traffic control light (11).

9. The operating method of the automated container yard mixed loading and unloading system according to any one of claims 1 to 8, characterized in that: The invention comprises a conventional container loading and unloading method and a special container loading and unloading method, wherein the conventional container loading and unloading method comprises the following steps: In the unloading operation, the shore container loading and unloading bridge (2) lifts the container on the container ship (1) to the automatic container truck (12) on standby in the port, and the automatic container truck (12) in the port drives from the automatic closed road (7) into the inner ring lane (52) or the nearest automatic container truck longitudinal lane (8), and then the automatic container truck (12) in the port drives into the corresponding automatic container truck one-way lane (61), and the waiting automatic rail gantry crane (4) lifts the container and unloads it to the strip container stacking area (1), and the empty automatic container truck (12) in the port drives from the automatic container truck one-way lane (61) into the nearest automatic container truck longitudinal lane (8) or inner ring lane (52), cuts into the automatic closed road (7) and enters the next working cycle; In the port clearance operation, an empty port-external manual container truck (13) drives from the port-external traffic road into the outer ring lane (51), and turns to drive into the corresponding manual container truck one-way lane (62). The waiting automated rail gantry crane (4) lifts the container onto the port-external manual container truck (13), and the loaded port-external manual container truck (13) drives straight to the outer ring lane (51) and drives back to the port-external traffic road on the outer ring lane (51); In the port collection operation, the loaded port-side manual container truck (13) drives from the port-side traffic road into the outer ring lane (51), and then drives into the corresponding manual container truck one-way lane (62). The waiting automated rail gantry crane (4) lifts the container to the strip container stacking area (3). The unloaded port-side manual container truck (13) drives straight to the outer ring lane (51) and then drives back to the port-side traffic road on the outer ring lane (51); During the loading operation, the port automatic container truck (13) drives into the corresponding automatic container truck one-way lane (61), and the waiting automated rail gantry crane (4) lifts the container onto the port automatic container truck (13). The loaded port automatic container truck (12) drives from the automatic container truck one-way lane (61) into the nearest automatic container truck longitudinal lane (8) or inner ring lane (52), and then cuts into the automated closed lane (7). The shore container loading and unloading bridge (2) lifts the container onto the container ship (1), and enters the next working cycle.

10. The operating method of the automated container yard mixed loading and unloading system according to claim 9, characterized in that: The special container loading and unloading method comprises the following steps: S1. A port-external manual container truck (13) with a special container or an empty container enters the outer ring lane (51) from the port-external traffic road and enters the port-external container lane (9) from one end; S2, the shore container loading and unloading bridge (2) completes the lifting of special containers; S3. The port-outside manual container truck (13) that has completed loading and unloading drives from the port-outside container truck lane (9) into the other end of the outer ring lane (51) and returns to the port-outside traffic road.

Images