A stacking device and method for a three-dimensional container terminal yard
By dividing the empty container yard area in the container three-dimensional container yard and using automated transportation tools, the problem of mixing empty containers and non-empty containers is solved, space utilization and operating efficiency are improved, costs are reduced, and dock operation process is optimized.
Patent Information
- Application Number
- CN202510017450.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-06
- Publication Date
- 2025-04-04
AI Technical Summary
The existing three-dimensional container yards have the problem of mixing empty containers and non-empty containers, resulting in low space utilization and low operating efficiency, and traditional reliance on manual operations leads to high costs.
A separate empty container yard area is divided into a three-dimensional yard, a container shelf is used to store non-empty containers, and automated transportation is achieved through horizontal transportation tools. At the same time, the seaside operation operation area and the landside operation exchange area are divided to ensure that the loading and unloading ship operations and the mailbox operations do not interfere with each other.
The space utilization and operating efficiency of the three-dimensional yard are improved, the costs are reduced, the container flow efficiency is ensured, and the dock operation process is optimized.
Smart Images
Figure CN119750236A_ABST
Abstract
Description
Technical Field
[0001] The invention belongs to the field of container terminal yard stacking, and in particular relates to a stacking device and method for a three-dimensional container terminal yard. Background Art
[0002] The container three-dimensional yard is an indispensable and important part of the modern logistics system. It undertakes important functions such as storage, transshipment, loading and unloading of containers. At present, the demand for container transportation is growing day by day. However, the traditional container stacking and management mainly rely on the flat yard. The yard has problems such as large area, low space utilization, low operating efficiency and poor safety. In recent years, in order to solve the above problems of the flat yard, the three-dimensional yard came into being. The three-dimensional yard has realized the high-level stacking of containers through three-dimensional and modular design, greatly improving the space utilization. However, the existing three-dimensional yard has the problem of mixed loading of non-empty containers and empty containers, resulting in empty containers occupying the position of non-empty containers, reducing the utilization rate of the three-dimensional yard, and the stacking and management of empty containers and non-empty containers also lack unified planning, which limits the circulation efficiency of containers. At the same time, the stacking and management of traditional containers mainly rely on manual operation, resulting in low operating efficiency and high cost. In addition, in the traditional container terminal operations, the loading and unloading operations and the receiving and sending operations often interfere with each other, resulting in complex operation processes and difficulties in optimization. Summary of the invention
[0003] In order to solve the above problems, the present invention provides a stacking device and method for a three-dimensional yard of a container terminal, which divides the empty container yard into separate areas, improves the utilization rate of the three-dimensional yard, facilitates the management of empty containers and non-empty containers, uses horizontal transportation tools to realize automated transportation, improves the degree of automation, and at the same time divides the sea side operation area and the land side operation exchange area to ensure that the ship loading and unloading operations and the box receiving and sending operations do not interfere with each other, thereby improving the operation efficiency.
[0004] In the first aspect, the technical solution of the present invention provides a stacking device for a three-dimensional yard of a container terminal, comprising a plurality of container racks arranged in the three-dimensional yard, the plurality of container racks being arranged in rows and columns, the container racks being used to store non-empty containers; an empty container yard area being arranged in the three-dimensional yard, the empty container yard area being used to stack empty containers; the land side of the three-dimensional yard being a land side operation exchange area, the sea side of the three-dimensional yard being a terminal front loading and unloading operation area, the three-dimensional yard being provided with a sea side operation operation area for horizontal transport vehicles to perform ship loading and unloading operations, and a land side operation operation area for performing receiving and sending container operations.
[0005] In an optional embodiment, the container rack is a steel frame structure.
[0006] In an optional embodiment, a passage for horizontal transportation vehicles is provided at the bottom of the steel frame structure.
[0007] In an optional embodiment, the horizontal transport vehicle is an autonomous vehicle.
[0008] In an optional embodiment, the autonomous driving vehicles include autonomous driving vehicles for ship loading and unloading operations and autonomous driving vehicles for box receiving and sending operations.
[0009] In a second aspect, the technical solution of the present invention provides a stacking method for a three-dimensional container terminal yard, comprising the following steps: The self-driving vehicle for ship loading and unloading operations receives the ship loading and unloading tasks and performs the ship loading and unloading operations according to the preset route in the seaside operation area; The autonomous driving vehicle for receiving and sending box operations receives the task of receiving and sending box, and performs the operation of receiving and sending box according to the preset route in the landside operation area.
[0010] In an optional embodiment, the ship loading and unloading operation automatic driving vehicle receives the ship loading and unloading task, and performs the ship loading and unloading operation according to a preset route in the sea side operation operation area, including the ship loading and unloading operation automatic driving vehicle receives the ship unloading task, and performs the ship unloading operation according to a preset route in the sea side operation operation area, specifically including the following steps: The terminal production system receives the unloading order; The terminal production system responds to the unloading order, selects the container racks for storing non-empty containers in the unloading order and / or the empty container yard area for storing empty containers, and selects the loading and unloading autonomous driving vehicle to perform the unloading task; Develop operation routes based on selected container racking locations and / or empty container yard areas; The terminal production system sends a start instruction for the unloading task to the target ship loading and unloading operation autonomous driving vehicle; When the target ship loading and unloading operation autonomous driving vehicle receives the ship unloading task start instruction, it reaches the designated location of the loading and unloading operation area at the front of the wharf according to the path parameters contained in the instruction; At the loading and unloading operation area at the front of the terminal, the crane places the container on the target loading and unloading ship operation automatic driving vehicle, and the terminal production system automatically confirms whether the current container is an empty container or a non-empty container, or the operator selects the current container as a non-empty container or an empty container on the control system of the target receiving and sending container operation automatic driving vehicle for manual confirmation, and the target loading and unloading ship operation automatic driving vehicle sends the manually selected container status information to the terminal production system; The terminal production system selects an operation route based on the container status information and sends the selected operation route to the target loading and unloading ship operation autonomous driving vehicle; The target loading and unloading ship operation automatic driving vehicle runs in the sea side operation area according to the received operation route to reach the designated position of the three-dimensional yard. If it is a non-empty container, the aisle stacker will stack the container on the target container shelf position. If it is an empty container, the empty container crane will stack the container to the target empty container yard area.
[0011] In an optional embodiment, the ship loading and unloading operation automatic driving vehicle receives the ship loading and unloading task, and performs the ship loading and unloading operation according to a preset route in the sea side operation operation area, including the ship loading and unloading operation automatic driving vehicle receives the ship loading task, and performs the ship loading operation according to a preset route in the sea side operation operation area, specifically including the following steps: The terminal production system receives the shipping order; The terminal production system responds to the shipping order, selects the container racks for storing non-empty containers in the shipping order and / or the empty container yard area for storing empty containers, and selects the loading and unloading autonomous driving vehicle to perform the unloading task; Develop operation routes based on selected container racking locations and / or empty container yard areas; The terminal production system sends a loading task start instruction to the target loading and unloading operation autonomous driving vehicle; When the ship loading and unloading autonomous driving vehicle receives the ship unloading task start instruction, it reaches the designated position of the three-dimensional storage yard according to the path parameters contained in the instruction; In the three-dimensional yard, the aisle stacker takes the container from the target container rack and places it on the target ship loading and unloading operation automatic driving vehicle, and / or the empty container driving vehicle takes the container from the target empty container yard area and places it on the target ship loading and unloading operation automatic driving vehicle. The target ship loading and unloading operation automatic driving vehicle automatically confirms that the placement is completed, or the operator selects the placement completion on the control system of the target ship loading and unloading operation automatic driving vehicle for manual confirmation; The target loading and unloading ship operation autonomous driving vehicle responds to the placement completion and runs in the seaside operation area according to the path parameters to reach the designated position of the loading and unloading operation area at the front of the wharf; At the loading and unloading operation area at the front of the terminal, a crane removes containers from the target loading and unloading ship's autonomous driving vehicle and loads them onto the ship.
[0012] In an optional embodiment, the automatic driving vehicle for receiving and sending boxes receives the task of receiving and sending boxes, and performs the operation of receiving and sending boxes according to a preset route in the landside operation operation area, including the automatic driving vehicle for receiving and sending boxes receives the task of receiving and sending boxes, and performs the operation of receiving and sending boxes according to a preset route in the landside operation operation area, specifically including the following steps: The terminal production system receives the container collection order; The terminal production system responds to the ship collection order, selects the container racks for storing non-empty containers in the container collection order and / or the empty container yard area for storing empty containers, and selects the automatic driving vehicle for receiving and sending containers to perform the ship collection task; Develop operation routes based on selected container racking locations and / or empty container yard areas; The terminal production system sends a box collection task start instruction to the target box collection and delivery autonomous driving vehicle; When the autonomous vehicle for receiving and sending boxes receives the instruction to start the receiving and sending box task, it arrives at the designated location of the landside operation exchange area according to the path parameters contained in the instruction; In the landside operation exchange area, the landside transfer vehicle places the container on the target automatic delivery and receiving container operation vehicle, and the terminal production system automatically confirms whether the current container is an empty container or a non-empty container, or the operator selects the current container as a non-empty container or an empty container on the control system of the target automatic delivery and receiving container operation vehicle for manual confirmation, and the target automatic delivery and receiving container operation vehicle sends the manually selected container status information to the terminal production system; The terminal production system selects an operation route based on the container status information and sends the selected operation route to the target container receiving and sending operation autonomous driving vehicle; The target box receiving and sending operation autonomous driving vehicle runs in the landside operation area according to the received operation route to reach the designated position of the three-dimensional yard. If it is a non-empty container, the aisle stacker will stack the container on the target container shelf position. If it is an empty container, the empty container vehicle will stack the container to the target empty container yard area.
[0013] In an optional embodiment, the automatic driving vehicle for receiving and sending boxes receives a task of loading and unloading a ship, and performs the operation of receiving and sending boxes according to a preset route in the landside operation operation area, including the automatic driving vehicle for receiving and sending boxes receives a task of sending boxes, and performs the operation of sending boxes according to a preset route in the landside operation operation area, specifically including the following steps: The terminal production system receives the shipping order; The terminal production system responds to the shipping order, selects the container racks for storing non-empty containers in the shipping order and / or the empty container yard area for storing empty containers, and selects the automatic driving vehicle for receiving and sending containers to perform the shipping task; Develop operation routes based on selected container racking locations and / or empty container yard areas; The terminal production system sends a box delivery task start instruction to the target box delivery and receiving autonomous driving vehicle; When the target box receiving and sending operation autonomous driving vehicle receives the instruction to start the unloading task, it reaches the designated position of the three-dimensional storage yard according to the path parameters contained in the instruction; In the three-dimensional yard, the aisle stacker takes the container from the target container rack and places it on the target automatic vehicle for receiving and sending containers, and / or the empty container driving vehicle takes the container from the target empty container yard area and places it on the target automatic vehicle for receiving and sending containers. The target automatic vehicle for receiving and sending containers automatically confirms that the placement is completed, or the operator selects the placement completion on the control system of the target automatic vehicle for loading and unloading ships for manual confirmation; The target receiving and sending box operation autonomous driving vehicle responds to the completion of placement, and according to the path parameters, it runs in the landside operation operation area to the designated location in the landside operation exchange area; In the land-side operation exchange area, the land-side transfer vehicle takes the containers from the target receiving and sending box operation automatic driving vehicle and loads them onto the ship.
[0014] The stacking device and method of the three-dimensional yard of a container terminal provided by the present invention have the following beneficial effects compared with the prior art: an empty container yard area is set in the three-dimensional yard, non-empty containers are stored on container shelves, and empty containers are stacked in the empty container yard area, thereby improving the utilization rate of the three-dimensional yard and facilitating the management of empty containers and non-empty containers. Horizontal transport tools are used to realize automated transportation, and corresponding operating areas are configured at the same time. The horizontal transport tools operate in the operating areas, thereby improving the degree of automation and reducing costs. At the same time, the sea side of the three-dimensional yard is divided into a sea side operation operating area, and the land side is divided into a land side operation exchange area, to ensure that the ship loading and unloading operations and the box receiving and sending operations do not interfere with each other, thereby improving the operation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0016] Figure 1 The present invention is a schematic diagram of the structure of a stacking device for a three-dimensional container terminal yard provided by an embodiment of the present invention.
[0017] Figure 2 The present invention is a flowchart of a stacking method for a three-dimensional container terminal yard provided by an embodiment of the present invention.
[0018] In the figure, 1-three-dimensional yard, 2-land side operation exchange area, 3-sea side operation operation area, 4-dock front loading and unloading operation area, 5-container rack, 6-horizontal transportation tool, 7-empty container yard area. DETAILED DESCRIPTION
[0019] In order to enable those skilled in the art to better understand the scheme of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.
[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.
[0021] Figure 1 1 is a schematic diagram of a stacking device structure of a container terminal three-dimensional stacking yard 1 provided by an embodiment of the present invention, such as Figure 1 As shown, the device includes a three-dimensional yard 1, a land-side operation exchange area 2, a dock front loading and unloading operation area 4, a sea-side operation operation area 3 and a land-side operation operation area. The land side of the three-dimensional yard 1 is the land-side operation exchange area 2, the sea side of the three-dimensional yard 1 is the dock front loading and unloading operation area 4, and the three-dimensional yard 1 is provided with a sea-side operation operation area 3 for horizontal transport tools 6 to perform ship loading and unloading operations, and a land-side operation operation area for performing box receiving and sending operations.
[0022] The three-dimensional yard 1 is arranged parallel to the dock shoreline, and a plurality of container racks 5 are arranged on the ground part for storing non-empty containers. The container rack 5 adopts a steel frame structure, and a passage for horizontal transport tools 6 is arranged at the bottom of the steel frame structure. An elevated structure can be adopted, and the height is set in combination with the height of the horizontal transport tools 6 and the container. The heavy container is placed on the second floor and above of the container rack 5. Multiple container racks 5 are arranged in rows and columns, and a lane vehicle track is arranged between every two rows of steel frame structures. The lane vehicle can travel on the track to grab the containers on the steel frame structures on both sides.
[0023] Empty container yard area 7 (the blue part in the figure) is set in the three-dimensional yard 1. Empty container yard area 7 is used to stack empty containers, so that empty and heavy containers can be stacked separately. Empty containers are stacked on the ground, and empty container cranes are used to grab and place empty containers. Empty containers are placed perpendicular to the dock shoreline.
[0024] Terminal Front Loading and Unloading Area 4: This area is located at the front of the yard, close to the water, and is equipped with professional container loading and unloading equipment, namely bridge cranes. These cranes are responsible for loading and unloading containers from ships, ensuring the efficiency and safety of terminal operations.
[0025] Seaside operation area 3: Located behind the loading and unloading equipment at the front of the wharf is the operation area of the horizontal transport tool 6. This area is mainly used by horizontal transport equipment such as automatic guided vehicles (AGVs), intelligent guided vehicles (IGVs), and unmanned trailers. The main task of these equipment is to transport containers unloaded at the front of the wharf to the three-dimensional yard 1, or to transport containers from the yard to the front of the wharf for loading.
[0026] Three-dimensional yard 1: There is a stacker inside the yard, which is a crane specially used for stacking and extracting containers in the yard. The stacker is responsible for the transfer of containers with the horizontal transportation equipment to achieve rapid storage and retrieval of containers in the yard. Multiple stackers can be arranged in one lane, and each stacker can grab containers on both sides.
[0027] Landside Operation Exchange Area 2: Located on the land side of the yard, this area is where the transfer vehicle and horizontal transport equipment exchange containers. External container trucks (manned trucks) wait in this area to pick up or deliver containers without entering the yard. This layout design effectively separates internal and external container trucks, ensuring operational safety and achieving unified coordination of manned and unmanned operations.
[0028] In this embodiment, the three-dimensional yard 1 is provided with a landside operation area (blue part of the road) and a seaside operation area 3 (green part of the road) in the yard. The landside operation area is used for horizontal transportation tools 6 for receiving and sending boxes. Both ends of the landside operation area are open, but only the horizontal transportation tools 6 owned by the terminal are allowed to pass; the seaside operation area 3 is used for the horizontal transportation tools 6 for loading and unloading ships. The landside end of the seaside operation area 3 is the parking space for the outer container truck of the landside operation exchange area 2, which is closed on one side. The number and layout of the seaside operation area 3 and the landside operation area have different layout methods according to the different operation types of the terminal.
[0029] In this embodiment, the horizontal transport tool 6 is an automatic driving vehicle, including an automatic driving vehicle for ship loading and unloading operations and an automatic driving vehicle for receiving and sending boxes, which are used to perform ship loading and unloading operations and receiving and sending boxes operations respectively.
[0030] An embodiment of a stacking device for a three-dimensional container terminal yard 1 is described in detail above. Based on the stacking method of the three-dimensional container terminal yard 1 described in the above embodiment, an embodiment of the present invention also provides a stacking method for the three-dimensional container terminal yard 1 corresponding to the device.
[0031] Figure 2 FIG. 1 is a flow chart of a stacking method of a container terminal three-dimensional stacking yard 1 provided by an embodiment of the present invention, such as Figure 2 As shown, the method includes the following steps.
[0032] S1, the ship loading and unloading operation automatic driving vehicle receives the ship loading and unloading task, and performs the ship loading and unloading operation according to the preset route in the sea side operation area 3.
[0033] S2, the autonomous driving vehicle for receiving and sending boxes receives the task of receiving and sending boxes, and performs the operation of receiving and sending boxes according to the preset route in the landside operation area.
[0034] Step S1 implements the ship loading and unloading operation. The process of the ship unloading operation is as follows: First, the container is grabbed by a single-trolley bridge crane (referred to as bridge crane) at the front of the dock. The bridge crane accurately moves the container from the ship to the manual operation channel in the span of the dock, and hovers at the channel for the next step of manual unlocking. After the manual unlocking operation is completed, the operator confirms that the container is safe and correct, and the bridge crane then places the container on the horizontal transportation equipment in the span-the automatic guided vehicle (AGV). Then, the AGV carries the container and transports the container to the designated location of the stereoscopic warehouse yard according to the preset route. At this location, the aisle stacker or empty container crane will take over the container on the AGV and safely unload it to the designated storage location of the stereoscopic warehouse yard to complete the storage operation of the container.
[0035] In an optional embodiment, the ship loading and unloading autonomous driving vehicle receives the ship unloading task and performs the ship unloading operation according to a preset route in the sea side operation area 3, which specifically includes the following steps.
[0036] Step 1: The terminal production system receives the unloading order.
[0037] In this embodiment, the terminal production system performs unified management and route planning, etc., which can ensure the accuracy of operations and avoid misoperation.
[0038] Step 2, the terminal production system responds to the unloading order, selects the container rack 5 racks for storing non-empty containers in the unloading order and / or the empty container yard area 7 for storing empty containers, and selects the loading and unloading automatic driving vehicle to perform the unloading task.
[0039] In this embodiment, the terminal production system analyzes the unloading order, finds the container rack 5 racks that can store non-empty containers and / or the empty container yard area 7 for empty containers, and selects the automatic driving vehicles for loading and unloading operations.
[0040] Step 3, formulating an operation route according to the selected container rack 5 rack positions and / or empty container yard area 7.
[0041] In this embodiment, the terminal production system can pre-set the operation route, including configuring the path parameters of each route and establishing a mapping relationship with the corresponding tasks to facilitate subsequent execution and improve operation efficiency.
[0042] Step 4: The terminal production system sends a start instruction for the unloading task to the target loading and unloading ship autonomous driving vehicle.
[0043] When the unloading conditions are met, the terminal production system sends an unloading task start instruction to the screened target loading and unloading operation autonomous driving vehicle to control the target loading and unloading operation autonomous driving vehicle to perform the unloading operation.
[0044] Step 5, when the target ship loading and unloading operation automatic driving vehicle receives the ship unloading task start instruction, it arrives at the designated position of the loading and unloading operation area 4 at the front of the wharf according to the path parameters contained in the instruction.
[0045] It should be noted that the terminal production system can correct the path parameters according to the initial position of the target ship loading and unloading operation autonomous driving vehicle, and can also make the target ship loading and unloading operation autonomous driving vehicle parked in a certain area and pre-plan the path from this area to the designated location.
[0046] Step 6. In the loading and unloading operation area 4 at the front of the terminal, the crane places the container on the target loading and unloading ship operation automatic driving vehicle. The terminal production system automatically confirms whether the current container is an empty container or a non-empty container, or the operator selects the current container as a non-empty container or an empty container on the control system of the target receiving and sending container operation automatic driving vehicle for manual confirmation, and the target loading and unloading ship operation automatic driving vehicle sends the manually selected container status information to the terminal production system.
[0047] In this embodiment, a control system is provided on the autonomous driving vehicle for ship loading and unloading operations. After placing the container on the autonomous driving vehicle, under special circumstances, the operator can configure the current container status information on the control system to indicate whether it is a non-empty container or an empty container. After the configuration is completed, the autonomous driving vehicle will send the configuration information to the terminal production system.
[0048] Step 7: The terminal production system selects an operation route based on the container status information and sends the selected operation route to the target loading and unloading ship operation automatic driving vehicle.
[0049] In this embodiment, empty containers and non-empty containers are stored separately, and the terminal production system will select a corresponding route for the autonomous driving vehicle to operate after obtaining the container information configuration.
[0050] Step 8, the target loading and unloading ship operation automatic driving vehicle runs in the sea side operation area 3 according to the received operation route to reach the designated position of the three-dimensional yard 1. If it is a non-empty container, the aisle stacker will stack the container to the target container rack 5. If it is an empty container, the empty container crane will stack the container to the target empty container yard area 7.
[0051] The loading operation is the opposite of the unloading operation process. During loading, the aisle stacker or empty container crane will take out the container from the three-dimensional warehouse yard and place it on the AGV. The AGV then transports the container to the manual operation channel in the wharf span, and the bridge crane grabs the container from the AGV and moves it to the ship for loading. This series of operations ensures the efficient and safe flow of containers between the wharf and the yard.
[0052] In an optional embodiment, the ship loading and unloading operation autonomous driving vehicle receives the loading task and performs the loading operation according to a preset route in the sea side operation area 3, which specifically includes the following steps.
[0053] Step 1: The terminal production system receives the shipping order.
[0054] Step 2, the terminal production system responds to the shipping order, selects the container rack 5 racks for storing non-empty containers in the shipping order and / or the empty container yard area 7 for storing empty containers, and selects the automatic driving vehicle for loading and unloading operations to perform the unloading task.
[0055] Step 3, formulating an operation route according to the selected container rack 5 rack positions and / or empty container yard area 7.
[0056] Step 4: The terminal production system sends a loading task start instruction to the target loading and unloading ship operation autonomous driving vehicle.
[0057] Step 5, when the ship loading and unloading operation automatic driving vehicle receives the ship unloading task start instruction, it reaches the designated position of the three-dimensional storage yard 1 according to the path parameters contained in the instruction.
[0058] Step 6, in the stereoscopic yard 1, the aisle stacker takes the container from the target container rack 5 and places it on the target ship loading and unloading operation automatic driving vehicle, and / or the empty container driving vehicle takes the container from the target empty container yard area 7 and places it on the target ship loading and unloading operation automatic driving vehicle, and the target ship loading and unloading operation automatic driving vehicle automatically confirms that the placement is completed, or the operator selects the placement completion on the control system of the target ship loading and unloading operation automatic driving vehicle for manual confirmation.
[0059] It should be noted that under normal circumstances, the target loading and unloading ship operation autonomous driving vehicle automatically confirms that the placement is completed. In special circumstances, such as when the target loading and unloading ship operation autonomous driving vehicle has a detection failure and cannot confirm the placement information, the operator will then select placement completion on the control system of the target loading and unloading ship operation autonomous driving vehicle for manual confirmation.
[0060] Step 7, the target loading and unloading ship operation autonomous driving vehicle responds to the completion of placement, and runs in the sea side operation area 3 according to the path parameters to reach the designated position of the loading and unloading operation area 4 at the front of the wharf.
[0061] Step 8: At the loading and unloading operation area 4 at the front of the wharf, a crane is used to remove containers from the target loading and unloading ship operation automatic driving vehicle and load them onto the ship.
[0062] Similar to the unloading operation, the loading operation is uniformly managed by the terminal production system. After selecting the shelf and / or empty container yard area 7, the route is pre-planned and the operation instruction is sent to the selected autonomous driving vehicle. The autonomous driving vehicle runs to the designated location according to the route in the instruction to complete the unloading operation.
[0063] Step S2 implements the container receiving and sending operation. The process of the container receiving operation is as follows: (1) External container truck transportation: The container is loaded by an external container truck (external container truck) and transported to the container truck interaction area outside the three-dimensional warehouse yard through the gate. In this area, the external container truck transports the container to the designated unloading location according to the instructions. (2) Landside transfer vehicle unloading: In the container truck interaction area, the landside transfer vehicle (usually a straddle carrier or other type of crane) unloads the container from the external container truck and accurately places it on the waiting automatic guided vehicle (AGV). (3) AGV transportation: After the AGV carries the container, it transports the container to the designated storage location of the three-dimensional warehouse yard according to the route planned by the system. (4) Aisle stacker or empty container vehicle unloading: After arriving at the designated location, the aisle stacker or empty container vehicle takes over the container on the AGV and safely places it at the designated storage location of the three-dimensional warehouse yard, completing the container receiving and storage operation.
[0064] In an optional implementation, the autonomous driving vehicle for receiving and sending boxes receives the box receiving task and performs the box receiving operation according to a preset route in the land-side operation area, which specifically includes the following steps.
[0065] Step 1: The terminal production system receives the container collection order.
[0066] Step 2, the terminal production system responds to the ship collection order, selects the container rack 5 racks for storing non-empty containers in the container collection order and / or the empty container yard area 7 for storing empty containers, and selects the automatic driving vehicle for receiving and sending containers to perform this ship collection task.
[0067] Step 3, formulating an operation route according to the selected container rack 5 rack positions and / or empty container yard area 7.
[0068] Step 4: The terminal production system sends a box receiving task start instruction to the target box receiving and sending autonomous driving vehicle.
[0069] Step 5, when the automatic driving vehicle for receiving and sending boxes receives the box receiving task start instruction, it arrives at the designated location of the landside operation exchange area 2 according to the path parameters contained in the instruction.
[0070] Step 6. In the landside operation exchange area 2, the landside transfer vehicle places the container on the target automatic delivery and receiving box operation vehicle, and the production system automatically confirms whether the current container is an empty container or a non-empty container, or the operator selects the current container as a non-empty container or an empty container on the control system of the target automatic delivery and receiving box operation vehicle for manual confirmation, and the target automatic delivery and receiving box operation vehicle sends the manually selected container status information to the terminal production system.
[0071] Step 7: The terminal production system selects an operation route according to the container status information (non-empty container or empty container), and sends the selected operation route to the target receiving and sending container operation autonomous driving vehicle.
[0072] Step 8, the target box receiving and sending operation automatic driving vehicle runs in the land-side operation area according to the received operation route to reach the designated position of the three-dimensional yard 1. If it is a non-empty container, the aisle stacker will stack the container to the target container rack 5. If it is an empty container, the empty container vehicle will stack the container to the target empty container yard area 7.
[0073] The process of dispatching containers is as follows: (1) The aisle stacker or empty container truck takes out the container: When the container needs to be dispatched, the aisle stacker or empty container truck will take out the container from the designated location of the three-dimensional warehouse yard. (2) AGV transportation: The taken container is placed on the AGV, which then transports the container to the designated location of the truck interaction area. (3) Land-side transfer truck loading: In the truck interaction area, the land-side transfer truck unloads the container from the AGV and loads it onto the waiting external truck. (4) External truck transportation: The external truck loaded with the container leaves the three-dimensional warehouse yard through the gate and transports the container to the destination, completing the dispatching process.
[0074] In an optional embodiment, the autonomous driving vehicle for receiving and sending boxes receives a box sending task and performs the box sending operation according to a preset route in the land-side operation area, which specifically includes the following steps.
[0075] Step 1: The terminal production system receives the shipping order.
[0076] Step 2, the terminal production system responds to the shipping order, selects the container rack 5 racks for storing non-empty containers in the shipping order and / or the empty container yard area 7 for storing empty containers, and selects the automatic driving vehicle for receiving and sending containers to perform this shipping task.
[0077] Step 3, formulating an operation route according to the selected container rack 5 rack positions and / or empty container yard area 7.
[0078] Step 4: The terminal production system sends a box delivery task start instruction to the target box delivery and receiving autonomous driving vehicle.
[0079] Step 5, when the target box receiving and sending operation automatic driving vehicle receives the unloading task start instruction, it reaches the designated position of the three-dimensional storage yard 1 according to the path parameters contained in the instruction.
[0080] Step 6, in the stereoscopic yard 1, the aisle stacker takes the container from the target container rack 5 and places it on the target automatic delivery vehicle for receiving and sending boxes, and / or the empty container vehicle takes the container from the target empty container yard area 7 and places it on the target automatic delivery vehicle for receiving and sending boxes. The target automatic delivery vehicle for receiving and sending boxes automatically confirms that the placement is completed, or the operator selects the placement completion on the control system of the target automatic delivery vehicle for loading and unloading ships for manual confirmation.
[0081] It should be noted that under normal circumstances, the autonomous driving vehicle for the target delivery box operation automatically confirms that the placement is completed. In special circumstances, such as when the autonomous driving vehicle for the target delivery box operation has a detection failure and cannot confirm the placement information, the operator will then select placement completion on the control system of the autonomous driving vehicle for the target delivery box operation for manual confirmation.
[0082] Step 7: The target receiving / sending box operation automatic driving vehicle responds that placement is completed, and runs in the land-side operation operation area according to the path parameters to reach the designated position of the land-side operation exchange area 2.
[0083] Step 8: In the land-side operation exchange area 2, the land-side transfer vehicle takes the container from the target receiving and sending box operation automatic driving vehicle for loading onto the ship.
[0084] The container delivery and receiving process of this embodiment ensures smooth transfer of containers between the three-dimensional warehouse yard and the external container truck, while improving operation efficiency and safety.
[0085] This embodiment separates the ship loading and unloading operations and the box receiving and sending operations through the above operation process to avoid mutual interference, making the operation process clearer and more efficient. At the same time, task allocation and route planning through the terminal production system can further optimize the operation process and improve overall operation efficiency.
[0086] The above disclosure is only a preferred embodiment of the present invention, but the present invention is not limited thereto. Any non-creative changes that can be thought of by a person skilled in the art, as well as several improvements and modifications made without departing from the principle of the present invention, should fall within the protection scope of the present invention.
Claims
1. A stacking device for a three-dimensional container terminal yard, characterized in that: It includes multiple container racks set up in the three-dimensional yard, and the multiple container racks are placed in rows and columns. The container racks are used to store non-empty containers; an empty container yard area is set up in the three-dimensional yard, and the empty container yard area is used to stack empty containers; the land side of the three-dimensional yard is the land-side operation exchange area, and the sea side of the three-dimensional yard is the terminal front loading and unloading operation area. The three-dimensional yard is set up with a sea-side operation operation area for horizontal transportation vehicles to perform ship loading and unloading operations, and a land-side operation operation area for receiving and sending containers.
2. The stacking device for the three-dimensional container terminal yard according to claim 1, characterized in that: The container rack is a steel frame structure.
3. The stacking device for the three-dimensional container terminal yard according to claim 2, characterized in that: A passage for horizontal transportation vehicles is set at the bottom of the steel frame structure.
4. The stacking device for a three-dimensional container terminal yard according to any one of claims 1 to 3, characterized in that: The horizontal transport means are self-driving vehicles.
5. The stacking device for the three-dimensional container terminal yard according to claim 4, characterized in that: Autonomous driving vehicles include autonomous driving vehicles for ship loading and unloading operations and autonomous driving vehicles for box receiving and sending operations.
6. A stacking method for a three-dimensional container terminal yard, characterized in that: The following steps are involved: The self-driving vehicle for ship loading and unloading operations receives the ship loading and unloading tasks and performs the ship loading and unloading operations according to the preset route in the seaside operation area; The autonomous driving vehicle for receiving and sending box operations receives the task of receiving and sending box, and performs the operation of receiving and sending box according to the preset route in the landside operation area.
7. The stacking method of the three-dimensional container terminal yard according to claim 6, characterized in that: The ship loading and unloading operation automatic driving vehicle receives the ship loading and unloading task, and performs the ship loading and unloading operation according to the preset route in the sea side operation operation area, including the ship loading and unloading operation automatic driving vehicle receives the ship unloading task, and performs the ship unloading operation according to the preset route in the sea side operation operation area, specifically including the following steps: The terminal production system receives the unloading order; The terminal production system responds to the unloading order, selects the container racks for storing non-empty containers in the unloading order and / or the empty container yard area for storing empty containers, and selects the loading and unloading autonomous driving vehicle to perform the unloading task; Develop operation routes based on selected container racking locations and / or empty container yard areas; The terminal production system sends a start instruction for the unloading task to the target ship loading and unloading operation autonomous driving vehicle; When the target ship loading and unloading operation autonomous driving vehicle receives the ship unloading task start instruction, it reaches the designated location of the loading and unloading operation area at the front of the wharf according to the path parameters contained in the instruction; At the loading and unloading operation area at the front of the terminal, the crane places the container on the target loading and unloading ship operation automatic driving vehicle, and the terminal production system automatically confirms whether the current container is an empty container or a non-empty container, or the operator selects the current container as a non-empty container or an empty container on the control system of the target receiving and sending container operation automatic driving vehicle for manual confirmation, and the target loading and unloading ship operation automatic driving vehicle sends the manually selected container status information to the terminal production system; The terminal production system selects an operation route based on the container status information and sends the selected operation route to the target loading and unloading ship operation autonomous driving vehicle; The target loading and unloading ship operation automatic driving vehicle runs in the sea side operation area according to the received operation route to reach the designated position of the three-dimensional yard. If it is a non-empty container, the aisle stacker will stack the container on the target container shelf position. If it is an empty container, the empty container crane will stack the container to the target empty container yard area.
8. The stacking method of the three-dimensional container terminal yard according to claim 7, characterized in that: The ship loading and unloading operation automatic driving vehicle receives the ship loading and unloading task, and performs the ship loading and unloading operation according to the preset route in the sea side operation operation area, including the ship loading and unloading operation automatic driving vehicle receives the ship loading task, and performs the ship loading operation according to the preset route in the sea side operation operation area, specifically including the following steps: The terminal production system receives the shipping order; The terminal production system responds to the shipping order, selects the container racks for storing non-empty containers in the shipping order and / or the empty container yard area for storing empty containers, and selects the loading and unloading autonomous driving vehicle to perform the unloading task; Develop operation routes based on selected container racking locations and / or empty container yard areas; The terminal production system sends a loading task start instruction to the target loading and unloading operation autonomous driving vehicle; When the ship loading and unloading autonomous driving vehicle receives the ship unloading task start instruction, it reaches the designated position of the three-dimensional storage yard according to the path parameters contained in the instruction; In the three-dimensional yard, the aisle stacker takes the container from the target container rack and places it on the target ship loading and unloading operation automatic driving vehicle, and / or the empty container driving vehicle takes the container from the target empty container yard area and places it on the target ship loading and unloading operation automatic driving vehicle. The target ship loading and unloading operation automatic driving vehicle automatically confirms that the placement is completed, or the operator selects the placement completion on the control system of the target ship loading and unloading operation automatic driving vehicle for manual confirmation; The target loading and unloading ship operation autonomous driving vehicle responds to the placement completion and runs in the seaside operation area according to the path parameters to reach the designated position of the loading and unloading operation area at the front of the wharf; At the loading and unloading operation area at the front of the terminal, a crane removes containers from the target loading and unloading ship's autonomous driving vehicle and loads them onto the ship.
9. The stacking method of the three-dimensional container terminal yard according to claim 6, characterized in that: The automatic driving vehicle for receiving and sending box operation receives the task of receiving and sending box, and performs the operation of receiving and sending box according to the preset route in the landside operation operation area, including the automatic driving vehicle for receiving and sending box operation receives the task of receiving and sending box, and performs the operation of receiving and sending box according to the preset route in the landside operation operation area, which specifically includes the following steps: The terminal production system receives the container collection order; The terminal production system responds to the ship collection order, selects the container racks for storing non-empty containers in the container collection order and / or the empty container yard area for storing empty containers, and selects the automatic driving vehicle for receiving and sending containers to perform the ship collection task; Develop operation routes based on selected container racking locations and / or empty container yard areas; The terminal production system sends a box collection task start instruction to the target box collection and delivery autonomous driving vehicle; When the autonomous vehicle for receiving and sending boxes receives the instruction to start the receiving and sending box task, it arrives at the designated location of the landside operation exchange area according to the path parameters contained in the instruction; In the landside operation exchange area, the landside transfer vehicle places the container on the target automatic delivery and receiving container operation vehicle, and the terminal production system automatically confirms whether the current container is an empty container or a non-empty container, or the operator selects the current container as a non-empty container or an empty container on the control system of the target automatic delivery and receiving container operation vehicle for manual confirmation, and the target automatic delivery and receiving container operation vehicle sends the manually selected container status information to the terminal production system; The terminal production system selects an operation route based on the container status information and sends the selected operation route to the target container receiving and sending operation autonomous driving vehicle; The target box receiving and sending operation autonomous driving vehicle runs in the landside operation area according to the received operation route to reach the designated position of the three-dimensional yard. If it is a non-empty container, the aisle stacker will stack the container on the target container shelf position. If it is an empty container, the empty container vehicle will stack the container to the target empty container yard area.
10. The stacking method of the three-dimensional container terminal yard according to claim 9, characterized in that: The automatic driving vehicle for receiving and sending boxes receives the task of loading and unloading ships, and performs the operation of receiving and sending boxes according to the preset route in the landside operation area, including the automatic driving vehicle for receiving and sending boxes receives the task of sending boxes, and performs the operation of sending boxes according to the preset route in the landside operation area, which specifically includes the following steps: The terminal production system receives the shipping order; The terminal production system responds to the shipping order, selects the container racks for storing non-empty containers in the shipping order and / or the empty container yard area for storing empty containers, and selects the automatic driving vehicle for receiving and sending containers to perform the shipping task; Develop operation routes based on selected container racking locations and / or empty container yard areas; The terminal production system sends a box delivery task start instruction to the target box delivery and receiving autonomous driving vehicle; When the target box receiving and sending operation autonomous driving vehicle receives the instruction to start the unloading task, it reaches the designated position of the three-dimensional storage yard according to the path parameters contained in the instruction; In the three-dimensional yard, the aisle stacker takes the container from the target container rack and places it on the target automatic vehicle for receiving and sending containers, and / or the empty container driving vehicle takes the container from the target empty container yard area and places it on the target automatic vehicle for receiving and sending containers. The target automatic vehicle for receiving and sending containers automatically confirms that the placement is completed, or the operator selects the placement completion on the control system of the target automatic vehicle for loading and unloading ships for manual confirmation; The target receiving and sending box operation autonomous driving vehicle responds to the completion of placement, and according to the path parameters, it runs in the landside operation operation area to the designated location in the landside operation exchange area; In the land-side operation exchange area, the land-side transfer vehicle takes the containers from the target receiving and sending box operation automatic driving vehicle and loads them onto the ship.