Automated mixed-traffic container yard loading and unloading system and operation method

Abstract

The application discloses an automatic container yard mixed operation loading and unloading system, which is used for the transportation of containers through automatic trucks in a port and manual trucks outside the port, and is used for the loading and unloading of containers between a ship and a wharf, and comprises the wharf, the container ship, a front yard loading and unloading system and a container yard loading and unloading system. The application further discloses a running method of the automatic container yard mixed operation loading and unloading system. In the automatic container yard mixed operation loading and unloading system, the moving lines of the automatic trucks in the port and the manual trucks outside the port are simple and clear, the number of steering times of a single task of the automatic trucks in the port and the manual trucks outside the port is small, and the meeting process of the automatic trucks in the port and the manual trucks outside the port does not affect the loading and unloading work. The application solves the problem of complex lines caused by shunting in a conventional wharf loading and unloading system, greatly improves the overall loading and unloading efficiency of the wharf, and has great economic and social benefits.

Description

Technical Field

[0001] The present invention relates to the field of container transportation at a terminal, and more particularly to an automated container yard mixed loading and unloading system and an operating 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, an increasing number of automated container terminals with yard layouts similar to those of traditional container terminals have been put into operation both domestically and internationally. This "parallel yard layout + dual-cantilever automated rail-mounted container gantry cranes + side-loading and unloading" process not only serves as an overall design solution for new automated terminals but also offers the potential for retrofitting traditional container terminals to automation. Chinese Patent Publication No. CN110395586B discloses a wedge-shaped automated container terminal loading and unloading system and method. This system enables direct access of trucks from outside the port to the yard for operation, eliminating the secondary transport issues associated with the interaction zones in conventional automated terminals and improving loading and unloading operations and collection and distribution efficiency. Chinese Patent Publication No. CN114455339B discloses a dual-comb-structured automated container yard-side loading and unloading system and method. By providing an operating area for trucks from outside the port within the rails and a turning area at the seaside end of the yard, this system enables horizontal container transport vehicles from inside and outside the port to directly enter the yard for loading and unloading. This system effectively overcomes the turning radius restrictions imposed by the turning area at the seaside end of the yard and improves the efficiency of turning passage for trucks from outside the port.

[0004] However, these models also have some problems: First, due to the establishment of dedicated transit and interaction yards or dedicated internal and external container truck isolation roads, they occupy a lot of land, making the effective use area of ​​the yard low; second, due to the establishment of dedicated transit and interaction yards, 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 automatic container trucks in the port or manual container trucks outside the port, a single loading and unloading operation requires multiple turns and intersections, and the overall operating efficiency of the system is difficult to achieve the expected results.

[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 and ports with horizontally arranged yards and improve loading and unloading efficiency. Summary of the Invention

[0006] One 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 horizontally arranged container terminal port 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, comprising: a wharf arranged along the shore for berthing container ships; a front yard loading and unloading module, which comprises a front automated loading and unloading area, wherein an automated closed road is provided in the front automated loading and unloading area, and the automated closed road is parallel to the wharf shoreline; a container yard loading and unloading module, which comprises a plurality of spaced and parallel strip container stacking areas, wherein the strip container stacking areas are provided with automated rail gantry cranes, and a non-mixed traffic one-way lane is provided between any two strip container stacking areas, wherein the The lifting range at both ends of the automated rail gantry crane covers the corresponding non-mixed one-way lanes on both sides; the 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 and 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; the traffic signal device is installed at the intersection of the semi-circular two-way lane and the non-mixed one-way lane; among them, the non-mixed one-way lane is divided into automatic container truck one-way lane and 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 traffic 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 dock 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 lane, each automatic container truck longitudinal lane is intersected and connected with all non-mixed one-way lanes, and the automatic container truck longitudinal lanes divide each strip container stacking area into several 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 dock 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 with all automatic container trucks in the port and receives the position information of the automatic container trucks in the port in real time; 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 through the intersection, and feeds it back to the traffic control light, wherein the manual container trucks outside the port turn or go straight according to the instructions of the traffic control light.

[0015] In a second aspect, the present invention provides an operating method for an automated container yard mixed-row 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:

[0016] During unloading operations, the shore-side container loading and unloading bridge lifts the containers from the container ship onto the waiting automated container truck in the port. The automated container truck in the port drives from the one-way automated closed lane into the inner ring lane or the nearest automated container truck longitudinal lane. The automated container truck then drives into the corresponding automated container truck one-way lane. The waiting automated rail gantry crane lifts the container and unloads it into the strip container stacking area. The empty automated container truck in the port drives from the one-way automated container truck into the nearest automated container truck longitudinal lane or inner ring lane, and then enters the automated closed lane to enter the next work cycle.

[0017] During port handling operations, empty container trucks from outside the port drive onto the outer ring lane from the port's traffic road, and then drive onto the corresponding one-way lane for container trucks. The waiting automated rail gantry cranes lift the containers onto the container trucks from outside the port. The loaded container trucks drive straight to the outer ring lane and then drive back to the traffic road from outside the port.

[0018] During port container handling operations, loaded container trucks from outside the port drive from the port's traffic road into the outer ring lane and then into the corresponding one-way lane for container trucks. Automated rail gantry cranes on standby will lift the containers to the strip container stacking area. Empty container trucks from outside the port drive straight to the outer ring lane and then drive back to the port's traffic road on the outer ring lane.

[0019] The ship loading operation is performed, the automatic container truck drives into the corresponding automatic container truck single lane in the port, the container is hoisted to the automatic container truck by the waiting automatic rail-mounted gantry crane, the loaded automatic container truck drives into the nearest automatic container truck longitudinal lane or inner ring lane from the automatic container truck single lane, and then cuts into the automatic closed lane, the container is hoisted to the container ship by the shore-based container loading and unloading bridge, and the next working cycle is entered.

[0020] Preferably, the special container loading and unloading method comprises the following steps:

[0021] S1, the port outside manual container truck with special containers or empty load drives into the outer ring lane from the port outside traffic road, and drives into the port outside container truck lane from one end;

[0022] S2, the shore-based container loading and unloading bridge completes the hoisting work of the special container;

[0023] S3, the port outside manual container truck after completing the loading and unloading drives into the other end of the outer ring lane from the port outside container truck lane and returns to the port outside traffic road.

[0024] The present application at least includes the following beneficial effects:

[0025] Firstly, the automatic container yard mixed loading and unloading system of the present application only needs to re-isolate the layout of the traditional container terminal port area road with a net and automatically upgrade the related loading and unloading equipment, without large-scale reconstruction of the soil structure, greatly reducing the cost of automatic upgrading of the traditional container terminal, and reducing the reconstruction time, so it is suitable for the automatic upgrading of the traditional container terminal.

[0026] Secondly, the automatic container yard mixed loading and unloading system of the present application has simple and clear dynamic lines of the port inside automatic container truck and the port outside manual container truck, whether it is the port outside manual container truck or the port inside automatic container truck, the number of single task turning and meeting is small, the port outside manual container truck does not need to turn around, a special turning area is not needed, the meeting process of the port outside manual container truck and the port inside automatic container truck does not affect the loading and unloading work, solves the complex line problem caused by the separation of automatic and non-automatic horizontal transportation equipment in the conventional terminal loading and unloading system, greatly improves the overall loading and unloading efficiency of the terminal, and has great economic and social benefits.

[0027] Other advantages, objects and features of the present application will be partly embodied in the following description, and partly understood by those skilled in the art through research and practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0028] Fig. 1 The structure diagram of the automatic container yard mixed loading and unloading system in one technical solution of the present application;

[0029] Fig. 2 A schematic diagram of lanes and traffic flow in a technical solution of the present invention;

[0030] Fig. 3 A schematic diagram of lane distribution in a technical solution of the present invention;

[0031] Fig. 4 This is a schematic diagram of node A in a technical solution of the present invention;

[0032] Fig. 5 A schematic diagram of a node B in a technical solution of the present invention;

[0033] Fig. 6 This is a schematic diagram of node C in a technical solution of the present invention.

[0034] Legend: 1- container ship, 10- wharf, 100- frontier automated loading and unloading area, 2- shore container loading and unloading bridge, 3- linear container stacking area, 30- linear 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 light, 12- automatic container truck inside the port, 13- manual container truck outside the port, 14- turning waiting area, 15- straight waiting area. DETAILED DESCRIPTION

[0035] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments so that those skilled in the art can implement the invention with reference to the description.

[0036] It should be understood that terms such as “having”, “including” and “comprising” used herein do not preclude the existence or addition of one or more other elements or combinations thereof.

[0037] It should be noted that the experimental methods described in the following embodiments are conventional methods, and the reagents and materials are commercially available unless otherwise specified. In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "arrangement" should be understood broadly, for example, can be fixedly connected, arranged, or can be detachably connected, arranged, or integrally connected, arranged. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances. The orientations or positional relationships indicated by the terms "transverse", "longitudinal", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0038] As shown in Figs. 1-6 The technical scheme of the present application provides an automatic container yard mixed loading and unloading system, which adjusts and transports containers through automatic trucks 12 inside the port and manual trucks 13 outside the port, comprising: a wharf 10 arranged along the shore line for berthing container ships 1; a front yard loading and unloading module comprising a front automatic loading and unloading area 100, an automatic closed lane 7 is arranged in the front automatic loading and unloading area 100, and the automatic closed lane 7 is parallel to the wharf 10 shore line; a container yard loading and unloading module comprising a plurality of spaced and parallel strip-shaped container stacking areas 3, an automatic rail gantry crane 4 is arranged on the strip-shaped container stacking area 3, one non-mixed one-way lane 6 is arranged in the interval between any two strip-shaped container stacking areas 3, and the hoisting range of both ends of the automatic rail gantry crane 4 covers the corresponding non-mixed one-way lanes 6 on both sides; a semi-ring type two-way lane 5 is arranged on the periphery of all strip-shaped container stacking areas 3, and the two ends are not connected to each other, the semi-ring type two-way lane 5 forms an intersection with both ends of all non-mixed one-way lanes 6, the semi-ring type two-way lane 5 comprises a parallel outer ring lane 51 and an inner ring lane 52, both ends of the inner ring lane 52 are connected with the automatic closed lane 7, and the outer ring lane 51 is connected with the traffic road outside the port; a traffic signal device is installed at the intersection of the semi-ring type 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 truck single lane 61 and a manual truck single lane 62, and the automatic truck single lane 61 and the manual truck single lane 62 are distributed at intervals.

[0039] 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 and other components that are easily available or easy to process on the market. The automated rail gantry crane 4 can choose 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 automated 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 automated system in the port and manual assistance. The non-mixed one-way lane 6 has at least two driving lanes, or parking and lifting spaces are added on the roadside so that when there are vehicles occupying the road for loading and unloading, subsequent vehicles can overtake and move 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 unloading operations from the manual container truck 13 outside the port on the other side of the non-mixed one-way lane 6.

[0040] 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 dividing strip or a dividing fence, wherein the inner ring lane 52 is connected to the automated closed lane 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. Among them, the automatic container trucks 12 inside the port always travel in the same clockwise direction on the inner ring lane 52, the automatic container truck one-way lane 61, the inner ring lane 52 and the automated closed lane 7 in sequence. The manual container trucks 13 outside the port enter the outer ring lane 51 from the traffic road outside the port, and travel in the outer ring lane 51, the manual container truck one-way lane 62, the outer ring lane 51, the port The outer traffic road always travels in the same clockwise direction. The port's manual container trucks 13 outside the port and the port's automatic container trucks 12 inside the port always drive separately and do not affect each other except for the intersection of the semi-circular two-way lane 5 and the non-mixed one-way lane 6, which requires consideration of the problem of passing. Optionally, the lanes on the outer ring lane 52 can correspond one-to-one to the non-mixed one-way lane 6 that is only for the port's manual container trucks 13 outside the port. The non-mixed one-way lane 6 closest to the sea side corresponds to the outermost lane on the outer ring lane 52, and so on. In this way, the port's manual container trucks 13 outside the port that enter the outer ring lane 52 from the non-mixed one-way lane 6 only need to follow the route and do not need to consider the factor of passing during the turning process. The port's manual container trucks 13 outside the port that are already driving on the outer ring lane 52 do not need to slow down and give way, thereby minimizing the passing time.

[0041] 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 Figs. 4-6 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, a straight waiting area 15 needs to be marked on each lane. At the intersection of the semi-circular two-way lane 5 and the non-mixed one-way lane 6, a turning waiting area 14 needs to be marked on each lane. The traffic signal device includes but is not limited to various types of road signs, road guidance equipment, ground marking guidance, ground markers, steering assist mirrors and other traffic equipment.

[0042] In this technical solution, the automatic container truck 12 in the port and the manual container truck 13 outside the port always only work in 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 passing 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 passing situations in the whole process. Since the only vehicle on the passing road is the automatic container truck 12 in the port, the passing situation is easy to control, and the traffic instructions are clear and controllable. The operation of the entire system is smoother than the port terminal loading and unloading system with multiple turns, multiple roads or special U-turn areas, and the efficiency is significantly improved.

[0043] 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.

[0044] In another technical solution, a number of shore-side container loading and unloading bridges 2 are arranged at intervals along the shoreline of the terminal 10. The shore-side 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, a leg 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.

[0045] In another technical solution, the frontier yard loading and unloading module also includes a special container loading and unloading area 90, which is located between the frontier automated loading and unloading area 100 and the shoreline of the terminal 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 transported goods that exceed international sea and road transport standards and require special port trucks 13 for direct loading and unloading 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-side 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-side manual container truck 13 directly drives into the outer ring lane 51 from the other end of the port-side 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-side manual container truck 13 driving to the port-side traffic road according to the specified clockwise direction, the port-side manual container truck 13 loaded with special containers has a smooth movement line and does not involve the problem of meeting other vehicles. The efficiency of special container loading and unloading is greatly improved.

[0046] 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 lanes 8 divide 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 Figs. 1-2 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 the entire non-mixed one-way lane 6 for each transportation operation, the fuel or electricity consumption will be large and the system operation efficiency will be low. Therefore, one or more automatic container truck longitudinal lanes 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 lanes 8. In this technical solution, the automatic container truck longitudinal lane 8 is set perpendicular to the shoreline, and it intersects with the non-mixed one-way lane 6 at a right angle. The end of the automatic container truck longitudinal lane 8 far from the shoreline forms a T-shaped intersection with an automatic container truck one-way lane 6 farthest from the shoreline of the terminal 10. The automatic container truck longitudinal lane 8 can only allow the automatic container truck 12 in the port to travel in both directions. During the unloading operation, after loading the container, the automatic container truck 12 in the port selects the nearest automated closed lane 7 and the semi-circular two-way lane 5 or the semi-circular two-way lane 5 in a clockwise route. The unloaded automatic container truck 12 in the port turns right and enters the intersection of the automatic container truck longitudinal lane 8, then turns right into the corresponding non-mixed one-way lane 6 and performs lifting operations. The empty automatic container truck 12 in the port turns right and enters the nearest automatic container truck longitudinal lane 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 lane 8, which will not affect the system operation efficiency.

[0047] In another technical solution, the longitudinal road 8 of the automatic container truck is perpendicular to the shoreline of the wharf 10, and the automatic container truck 12 in the port can complete a single task cycle with the highest efficiency.

[0048] In another technical solution, the automated rail gantry crane 4 is a double-cantilever automated rail gantry crane, such as Fig. 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.

[0049] In another technical solution, the traffic signal device includes a traffic control light 11, a wireless communication device module, and a perception system module, which are signal-connected to each other. The wireless communication device module is in communication with all the automated container trucks 12 in the port and receives the position information of the automated container trucks 12 in the port in real time. After receiving the signal from the wireless communication device module, the perception system module calculates the time information corresponding to the automated container truck 12 in the port that is about to pass through the intersection and feeds it back to the traffic control light 11. The manual container trucks 13 outside the port turn or go straight according to the instructions of the traffic control light 11. In this technical solution, the time of the automated container trucks 12 in the port is controllable and can be accurately calculated. Since the manual container trucks 13 outside the port only encounter the automated container trucks 12 in the port when entering the non-mixed one-way lane 6 on the semi-circular two-way road 5 and passing the automated container truck longitudinal lane 8 in this system, it is only necessary to activate the traffic signal device at the above-mentioned intersection to ensure the smooth operation of the entire loading and unloading system.

[0050] In another technical solution, the operating 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:

[0051] During the unloading operation, the shore container loading and unloading bridge 2 lifts the container on the container ship 1 onto the automatic container truck 12 on standby in the port. The automatic container truck 12 in the port travels from the one-way automated closed lane 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 travels 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 travels from the one-way automated container truck 61 into the nearest automatic container truck longitudinal lane 8 or the inner ring lane 52, and cuts into the automated closed lane 7 to enter the next working cycle.

[0052] During port clearance operations, an empty port-side manual container truck 13 drives from the port-side traffic road into the outer ring lane 51 and then into the corresponding manual container truck one-way lane 62. The waiting automated rail gantry crane 4 lifts the container onto the port-side manual container truck 13. The loaded 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.

[0053] During the port collection operation, the loaded manual container truck 13 outside the port drives from the traffic road outside the port 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 empty manual container truck 13 outside the port drives straight to the outer ring lane 51 and then drives back to the traffic road outside the port on the outer ring lane 51.

[0054] The ship loading operation, the automatic truck 13 in the port drives into the corresponding automatic truck single lane 61, the container is hoisted to the automatic truck 13 in the port by the waiting automatic rail gantry crane 4, the automatic truck 12 loaded in the port drives into the nearest automatic truck longitudinal lane 8 or inner ring lane 52 from the automatic truck single lane 61, and then cuts into the automatic closed lane 7, the container is hoisted to the container ship 1 by the shore-based container loading and unloading bridge 2, and enters the next working cycle.

[0055] In the technical solution, since the port outside traffic road is directly connected to the outer side of the semi-ring type bidirectional lane 5, in order to avoid additional meeting operations, the port outside manual truck 13 is set to only drive on the outer ring lane 51, in order to facilitate the meeting, as shown in Fig. 2 The outer ring lane 51 and the inner ring lane 52 are opposite driving, and the outer ring lane 51 and the inner ring lane 52 are divided by a barrier for road division, and optionally, the number of roads can be distributed according to the specific traffic flow, more lanes in the semi-ring type bidirectional lane 5 can be appropriately assigned to the inner ring lane 52 during the operation peak of the automatic truck 12 in the port, and more lanes can be appropriately assigned to the outer ring lane 51 during the operation peak of the port outside manual truck 13, and optionally, during the peak of a specific operation, the non-mixed single lane 6 can also be adjusted according to the classification of the automatic truck single lane 61 and the manual truck single lane 62, instead of strictly interval setting.

[0056] In another technical solution, the special container loading and unloading method comprises the following steps:

[0057] S1, the port outside manual truck 13 with a special container or empty load drives into the outer ring lane 51 from the port outside traffic road, and drives into the port outside truck lane 9 from one end;

[0058] S2, the shore-based container loading and unloading bridge 2 completes the hoisting work of the special container;

[0059] S3, the port outside manual truck 13 after completing the loading and unloading drives into the other end of the outer ring lane 51 from the port outside truck lane 9 and returns to the port outside traffic road.

[0060] The loaded container truck 13 outside the port directly drives from the other end of the container lane 9 outside the port into the outer lane of the semi-circular two-way lane 5 and drives to the traffic road outside the port according to the specified clockwise direction. During the whole process, the movement line of the manual container truck 13 outside the port loaded with special containers is smooth, and there is no problem of meeting any other vehicles. The efficiency of loading and unloading special containers is greatly improved.

[0061] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the description and implementation methods. 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 illustrations shown and described herein.

Claims

1. An automated container yard mixed loading and unloading system, which uses automatic container trucks (12) within the port and manual container trucks (13) outside the port to transport containers, is characterized by: include: a pier (10) arranged along the shore for berthing container ships (1); A front yard loading and unloading module comprises a front automated loading and unloading area (100), wherein an automated enclosed road (7) is provided 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 comprises a plurality of spaced and parallel strip container stacking areas (3), wherein the strip container stacking areas (3) are provided with automated rail gantry cranes (4), and a non-mixed one-way lane (6) is provided between any two strip container stacking areas (3), and the lifting ranges of the automated rail gantry cranes (4) at both ends cover the corresponding non-mixed one-way lanes (6) on both sides thereof; A semi-circular two-way lane (5) is arranged outside all strip container stacking areas (3) and has two ends that are not connected to each other. The semi-circular two-way lane (5) is connected to both 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). Both 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 is 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; 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 of the automatic container truck longitudinal road (8) and the non-mixed one-way lane (6); The traffic signal device includes 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 the automatic container trucks (12) in the port for communication and receives the position information of the automatic container trucks (12) in the port in real time. 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).

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 dock (10) shoreline. The special container loading and unloading area (90) is provided with an off-port truck lane (9), the two ends of which are connected to the two ends of the outer ring lane (51).

5. The automated container yard mixed loading and unloading system according to claim 1, characterized in that: The automatic container truck longitudinal road (8) is perpendicular to the shoreline of the wharf (10).

6. The automated container yard mixed loading and unloading system according to claim 1, characterized in that: The automated rail gantry crane (4) is a double-cantilever automated rail gantry crane.

7. The method for operating an automated container yard mixed loading and unloading system according to any one of claims 1 to 6, characterized in that: The method 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 waiting port automatic container truck (12), and the port automatic container truck (12) travels from the automated closed lane (7) in one direction to the inner ring lane (52) or the nearest automated container truck longitudinal lane (8), and then the port automatic container truck (12) travels to the corresponding automated container truck one-way lane (61), and the waiting automated rail gantry crane (4) lifts the container and unloads it to the strip container stacking area (3), and the empty port automatic container truck (12) travels from the automated container truck one-way lane (61) to the nearest automated container truck longitudinal lane (8) or the inner ring lane (52), and cuts into the automated closed lane (7) to enter the next working cycle; During the port clearance operation, an empty off-port manual container truck (13) drives from the off-port traffic road into the outer ring lane (51), and then 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 off-port manual container truck (13), and the loaded off-port manual container truck (13) drives straight to the outer ring lane (51) and drives back to the off-port traffic road on the outer ring lane (51); In the port collection operation, the loaded manual container truck (13) from the port traffic road enters the outer ring lane (51) and then enters 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 empty manual container truck (13) from the port travels straight to the outer ring lane (51) and then travels back to the port traffic road on the outer ring lane (51). During the loading operation, the port automatic container truck (12) 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 (12). 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.

8. The method for operating the automated container yard mixed loading and unloading system according to claim 7, characterized in that: The special container loading and unloading method comprises the following steps: S1. A manned container truck (13) carrying a special container or empty cargo enters the outer ring lane (51) from the outer traffic road and enters the outer container lane (9) from one end. S2, the shore container loading and unloading bridge (2) completes the lifting work of special containers; S3. The off-port manual container truck (13) that has completed loading and unloading drives from the off-port container truck lane (9) into the other end of the outer ring lane (51) and returns to the off-port traffic road.

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