A method for loading and unloading containers in a dense automated container yard

Abstract

The application discloses a kind of dense stacking type automated container yard loading and unloading operation method, and the lane of automated horizontal transport equipment, flow machine operation area, outside container truck lane and stacking area are arranged;Based on the above arrangement, realize the loading and unloading process of the container into the dense stacking type automated container yard, the loading and unloading process of the container out of the dense stacking type automated container yard, the direct interaction of the loading and unloading process of the container in the dense stacking type automated container yard in the lane of automated horizontal transport equipment, and the direct interaction of the loading and unloading process of the container outside the dense stacking type automated container yard in the outside container truck lane.The application overcomes the condition that unmanned automated horizontal transport equipment and manned container truck outside cannot safely and reliably, legally and regularly mix in the prior art, and eliminates the possible safety hazards in the interaction process.

Description

Technical Field

[0001] This invention relates to container yard loading and unloading technology, and more specifically, to a method for loading and unloading close-packed automated container yards. Background Technology

[0002] Commonly used loading and unloading equipment in container yards includes rubber-tired gantry cranes, rail-mounted gantry cranes, reach stackers, and empty container stackers. In this industry, rubber-tired gantry cranes and rail-mounted gantry cranes are referred to as "large machines," while reach stackers and empty container stackers are called "flow machines." With the development of container terminal automation technology, the automation technology of rail-mounted gantry cranes has matured, and rubber-tired gantry cranes are also becoming increasingly mature and are gradually being promoted and applied in fully automated container terminals. Container terminals using "large machines" for loading and unloading achieve full automation of the loading and unloading process by spatially separating the loading and unloading lanes of automated horizontal transport equipment (unmanned) within the port from those of container trucks (manned) outside the port.

[0003] Compared to container yards using large stacker cranes, those using mobile stacker cranes significantly reduce infrastructure and equipment costs. Furthermore, mobile stacker cranes offer high loading and unloading efficiency and flexible relocation capabilities, making them widely used in container terminals. In particular, empty container yards utilize dedicated empty container stacker cranes, which offer advantages such as high stacking height, large storage capacity, high loading and unloading efficiency, and significantly lower investment and operating costs compared to yards using large stacker cranes.

[0004] Currently, "flow cranes" are widely used in traditional container terminals with large import and export volumes and a high proportion of empty containers. When "flow cranes" are used in the yards of traditional container terminals, the loading and unloading lanes are located between the "flow cranes" and the container area. Container trucks from inside and outside the port share the loading and unloading lanes. Because it is impossible to spatially isolate the two, current technology cannot reliably and safely employ automated horizontal transport equipment within the port, meaning that fully automated loading and unloading processes cannot be achieved. Therefore, automated container terminals mainly use large cranes as automated loading and unloading equipment, while "flow cranes" serve as auxiliary, non-automated loading and unloading equipment. How to achieve fully automated operation of "flow cranes"—that is, efficient and safe loading and unloading operations between "flow cranes" and manned trucks and automated horizontal transport equipment—has always been a challenge for automated container loading and unloading systems. Summary of the Invention

[0005] In view of the deficiencies in the existing technology, the purpose of this invention is to provide a method for loading and unloading operations in a densely packed automated container yard, which overcomes the situation where unmanned automated horizontal transport equipment and manned out-of-port container trucks cannot safely, reliably, legally and compliantly coexist due to the existing technology, and eliminates potential safety hazards during the interaction process.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A method for loading and unloading operations in a densely packed automated container yard;

[0008] Arrange the lanes, machine operation areas, external container truck lanes, and storage areas for automated horizontal transport equipment;

[0009] Based on the above arrangements, the following processes will be implemented: loading and unloading of containers entering the densely packed automated container yard; loading and unloading of containers leaving the densely packed automated container yard; loading and unloading of containers within the port via direct interaction between automated horizontal transport equipment lanes in the densely packed automated container yard; and loading and unloading of containers outside the port via direct interaction between external container truck lanes in the densely packed automated container yard.

[0010] Preferably, the automated horizontal transport vehicle lane is located on the waterside of the wharf and is used for waiting operations or queuing of automated horizontal transport vehicles.

[0011] The machine operation area is located behind the automated horizontal transport equipment lane and is used for the machine's driving, turning, U-turn, and interactive mode switching operations.

[0012] The external truck lane is located behind the flow machine operation area and is used for the interactive operation of external trucks and the flow machine;

[0013] The stacking area is located behind the outer truck lane and is used to stack containers, and the container loading and unloading operations are carried out by the conveyor belt.

[0014] Preferably, the automated horizontal transport vehicle lane is also used for the interactive operation of the automated horizontal transport vehicle and the flow machine.

[0015] Preferably, the flow machine operation area is also used for the automated horizontal transport equipment to wait for the flow machine to operate, or to interact with the flow machine.

[0016] Preferably, the containers in the stacking area are stored using a dense stacking method.

[0017] Preferably, the loading and unloading process for containers entering the densely packed automated container yard within the port specifically includes:

[0018] The automated horizontal transport equipment carries the container to the lane of the automated horizontal transport equipment according to the operation task generated by the operation control system;

[0019] The operation control system sends instructions to the automated horizontal transport equipment based on the operation status of the flow machine: if the flow machine is in an idle waiting state, the automated horizontal transport equipment drives into the designated position of the flow machine's operation area and waits to interact with the flow machine; if the flow machine is performing a preceding task, the operation control system determines based on the flow machine's task path and assigns the automated horizontal transport equipment to wait in the automated horizontal transport equipment lane.

[0020] The flow machine interacts with the automated horizontal transport equipment according to the designated position and loading status of the automated horizontal transport equipment in the flow machine's operating area, that is, to complete the lifting of the container from the automated horizontal transport equipment;

[0021] After the unloading machine completes the automated unloading process, and the operation control system confirms that there are no external trucks parked or traveling in the machine's path planning lockout area on the external truck lane, it enters the stacking area to complete the stacking of containers.

[0022] After completing the automated loading and unloading process, the automated horizontal transport equipment returns to the lane of the automated horizontal transport equipment after the operation control system confirms that the task path of the flow machine is outside the safe range.

[0023] Preferably, the loading and unloading process for containers leaving the port's densely packed automated container yard specifically includes:

[0024] The automated horizontal transport equipment travels unloaded to the designated position in the flow machine operation area according to the work task generated by the operation control system, and waits for interactive operation;

[0025] The conveyor belt drives into the stacking area unloaded according to the work task generated by the work control system and completes the container retrieval; when the work control system confirms that there are no external trucks parked on the external truck lane or driving in the flow machine path planning lock area, the conveyor belt drives to the flow machine operation area with the container.

[0026] The flow machine interacts with the automated horizontal transport equipment according to the designated location and loading status of the automated horizontal transport equipment in the flow machine's operating area, thereby completing the placement of the container on the automated horizontal transport equipment.

[0027] After completing the automated container loading process, the automated horizontal transport equipment returns to the automated horizontal transport equipment lane after the operation control system confirms that the flow machine task path is outside the safe range.

[0028] Preferably, the loading and unloading process of containers directly interacting with the automated horizontal transport lanes in the densely packed automated container yard specifically includes:

[0029] The automated horizontal transport equipment, carrying a container or empty, travels to the lane of the automated horizontal transport equipment according to the work tasks generated by the work control system.

[0030] The flow machine operates according to the tasks generated by the operation control system: if the task is for the container to enter the densely packed yard, the flow machine will drive directly to the flow machine operation area without load; if the task is for the container to leave the densely packed yard, the flow machine will enter the stacking area to retrieve the container after the operation control system confirms that there are no external trucks parked on the external truck lane or driving in the flow machine path planning lock area, and then drive to the flow machine operation area with the container.

[0031] The flow machine interacts with the automated horizontal transport equipment according to the designated position and loading status of the automated horizontal transport equipment in the automated horizontal transport equipment lane, that is, to complete the picking and placing of boxes on the automated horizontal transport equipment.

[0032] After the loading and unloading process is completed, the automated horizontal transport equipment will travel to other loading and unloading areas in the port or receive the next interactive operation task generated by the operation control system according to the instructions of the operation control system.

[0033] The flow machine receives the next instruction from the operation control system in the flow machine operation area; or, for the task of entering a close-packed yard, according to the instruction from the operation control system, if the operation control system confirms that there are no external trucks parked or traveling in the flow machine path planning lock area, it enters the stacking area and completes the stacking of containers.

[0034] Preferably, the loading and unloading process of direct interaction between out-of-port containers and external truck lanes in a densely packed automated container yard specifically includes:

[0035] According to the instructions sent by the operation control system, the external truck driver drives the external truck from the external truck entry lane to the designated position of the external truck lane, and waits to interact with the flow machine.

[0036] The conveyor belt operates according to the work tasks generated by the operation control system: if the task is for the container to enter the densely packed yard, the conveyor belt will drive directly to the conveyor belt operation area without load; if the task is for the container to be transported out of the densely packed yard, the conveyor belt will enter the stacking area to retrieve the container after the operation control system confirms that there are no external trucks parked on the external truck lane or driving in the conveyor belt path planning lock area, and then drive to the conveyor belt operation area with the container.

[0037] The flow machine interacts with the external container truck according to the designated position and loading status of the external container truck in the external container truck lane, that is, it completes the picking and placing of containers on the external container truck.

[0038] After the loading and unloading process is completed, the conveyor returns to the conveyor operation area, and the external container truck continues to travel from the external container truck lane to the external container truck exit lane and then leaves the dock;

[0039] The flow machine receives the next instruction from the operation control system in the flow machine operation area; if it is a container entering a close-packed yard task, the flow machine enters the stacking area and completes the stacking of containers after the operation control system confirms that there are no external container trucks parked on the external container truck lane or traveling in the flow machine path planning lock area.

[0040] This invention provides a method for handling loading and unloading containers in a densely stacked automated container yard. It achieves full automation of the loading and unloading process of automated horizontal transport equipment via conveyor belts, overcoming the current situation where unmanned automated horizontal transport equipment and manned off-port trucks cannot safely, reliably, and legally coexist, thus eliminating potential safety hazards during the interaction process. With the increasing demand for efficient and intelligent automated loading and unloading operations at automated container terminals, the traditional high-density container stacking and handling mode commonly used in container terminals urgently needs to be transformed into an automated mode for application and promotion. It also has the following beneficial effects:

[0041] 1) This invention achieves physical separation between automated horizontal transport lanes and manually driven external container truck lanes without increasing the footprint of the work area, allowing automated horizontal transport equipment and external container trucks to travel and perform loading and unloading operations in different spaces, avoiding cross-interference between horizontal transport traffic and ensuring the safety of loading and unloading operations.

[0042] 2) The interactive operation between the automated horizontal transport equipment and the flow machine in this invention can be completed in both the flow machine operation area and the automated horizontal transport equipment lane, thereby improving operational flexibility and efficiency while ensuring safety.

[0043] 3) This invention can easily realize the fully automated operation of the flow machine and the automated horizontal transport equipment. That is, after the fully automated flow machine technology matures, it can be directly upgraded to fully automated operation without changing the layout and operation mode. Attached Figure Description

[0044] Figure 1 This is a schematic diagram of the on-site layout of each area in the densely packed automated container yard loading and unloading operation method of the present invention;

[0045] Figure 2This is a schematic diagram of the on-site layout of the loading and unloading process of containers entering the densely stacked automated container yard in the embodiment of the loading and unloading operation method of the present invention / loading and unloading process of containers leaving the densely stacked automated container yard. (a) shows the flow machine located in the flow machine operation area, and (b) shows the flow machine located in the flow machine path planning lock-in area.

[0046] Figure 3 This is a schematic diagram of the process of loading and unloading containers in a densely packed automated container yard in an embodiment of the present invention.

[0047] Figure 4 This is a schematic diagram of the loading and unloading process of containers leaving the densely packed automated container yard in an embodiment of the present invention.

[0048] Figure 5 This is a schematic diagram of the on-site layout of the loading and unloading process of containers in the port directly interacting with the automated horizontal transport equipment lanes in the densely packed automated container yard, as described in the embodiment of the loading and unloading operation method of the present invention.

[0049] Figure 6 This is a schematic diagram of the loading and unloading process of containers in the port directly interacting with the automated horizontal transport equipment lanes in the densely packed automated container yard, as described in the embodiment of the loading and unloading operation method of the present invention.

[0050] Figure 7 This is a schematic diagram of the on-site layout of the loading and unloading process of containers outside the port directly interacting with the truck lanes of the densely stacked automated container yard in an embodiment of the loading and unloading operation method of the present invention. (a) shows the flow machine located in the flow machine operation area, and (b) shows the flow machine located in the flow machine path planning lock-in area.

[0051] Figure 8 This is a schematic diagram of the loading and unloading process of containers from outside the port directly interacting with truck lanes in the densely packed automated container yard, as described in the embodiment of the loading and unloading operation method of the present invention. Detailed Implementation

[0052] To better understand the above-mentioned technical solutions of the present invention, the technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0053] Combination Figure 1 As shown, the present invention provides a method for loading and unloading operations in a densely packed automated container yard:

[0054] The container is moved by the automated horizontal transport equipment 1 and the external container truck 2. The container is interacted with the automated horizontal transport equipment 1 and the external container truck 2 by the flow machine 3. The container is picked up and unloaded in the stacking area 4. The automated horizontal transport equipment lane 5, the flow machine operation area 6, the external container truck lane 7 and the stacking area 4 are arranged.

[0055] Based on the above layout, the following processes will be implemented: loading and unloading of containers entering the densely packed automated container yard within the port; loading and unloading of containers leaving the densely packed automated container yard within the port; loading and unloading of containers within the port via direct interaction between automated horizontal transport lanes in the densely packed automated container yard; and loading and unloading of containers from outside the port via direct interaction between external truck lanes in the densely packed automated container yard. The specific on-site layout is as follows:

[0056] The automated horizontal transport vehicle lane 5 is located on the waterside of the dock and is mainly used for the automated horizontal transport vehicle 1 to wait for operation or queue. It also has the function of interactive operation between the automated horizontal transport vehicle 1 and the flow machine 3.

[0057] The machine operation area 6 is located behind the automated horizontal transport equipment lane 5 and is used for the machine 3 to drive, turn, turn around, and switch interactive modes. The automated horizontal transport equipment 1 can drive into the machine operation area 6 to wait for the machine 3 to operate or to interact with the machine 3.

[0058] The outer truck lane 7 is located behind the flow machine operation area 6. It can serve as both an outer truck loading and unloading lane and an outer truck driving lane, for the interactive operation of outer truck 2 and flow machine 3.

[0059] Stacking area 4 is located behind the outer container truck lane 7 and is used to store containers in a dense stacking manner, that is, there is no gap between the long sides of adjacent containers, and the loading and unloading operations of containers are carried out by the flow machine 3.

[0060] The main process of the automated container yard loading and unloading operation method of the present invention is as follows:

[0061] 1) Automated horizontal transport equipment 1, according to the operation tasks generated by the operation control system, drives with containers or empty to the automated horizontal transport equipment lane 5 of the densely packed automated container yard loading and unloading operation area.

[0062] 2) The operation control system sends instructions to the automated horizontal transport equipment 1 based on the operating status of the flow machine 3. If the flow machine 3 is idle and waiting to be operated, the automated horizontal transport equipment 1 will drive into the designated position in the flow machine operation area 6 and wait to interact with the flow machine 3. If the flow machine 3 is performing a preceding task, including loading and unloading operations, shell relocation, etc., the operation control system will determine the task path of the flow machine 3 and assign the automated horizontal transport equipment 1 to wait in the automated horizontal transport equipment lane 5.

[0063] 3) The flow machine 3 interacts with the automated horizontal transport equipment 1 according to the designated position and loading status of the automated horizontal transport equipment 1 in the flow machine operation area 6, that is, to complete the picking and placing of containers from the automated horizontal transport equipment 1.

[0064] 4) After completing the above automated loading and unloading process, the conveyor belt 3 enters the stacking area 4 to retrieve or place boxes. After completing the above automated loading and unloading process, the automated horizontal transport equipment 1 returns to the automated horizontal transport equipment lane 5 after the operation control system confirms that the task path of the conveyor belt 3 is outside the safe range.

[0065] 5) The flow machine 3 can also directly interact with the automated horizontal transport equipment 1 parked on the automated horizontal transport equipment lane 5 in the flow machine operation area 6. That is, the automated horizontal transport equipment 1 does not need to drive into the flow machine operation area 6 to complete the interaction with the flow machine 3.

[0066] 6) The external container truck driver, according to the instructions sent by the operation control system, drives to the external container truck lane of the relevant bay and waits for the flow machine 3 to perform interactive operations. After the flow machine 3 completes the container retrieval or placement and returns to the flow machine operation area 6, the external container truck 2 continues to drive out of the terminal via the external container truck lane 7. The external container truck 2 is only allowed to drive on the external container truck lane 7 and perform interactive operations with the flow machine 3.

[0067] Example

[0068] See again Figure 1 As shown, the automated container yard loading and unloading method provided in this embodiment uses automated horizontal transport equipment 1 and external trucks 2 to move containers, uses a conveyor belt 3 to complete the interaction between containers and automated horizontal transport equipment 1 and external trucks 2, and completes the loading and unloading operations of picking up and placing containers in the loaded or empty container stacking area 4. It includes automated horizontal transport equipment lanes 5, conveyor belt operation area 6, external truck lanes 7, and loaded or empty container stacking area 4, wherein:

[0069] Automated horizontal transport vehicle lane 5 is mainly used for automated horizontal transport vehicles 1 to wait for operation or queue, and also has the function of interactive operation between automated horizontal transport vehicles 1 and flow machines 3. It connects with the port lane 9 to form the path for automated horizontal transport vehicles 1 to enter and exit the densely packed automated container yard.

[0070] The flow machine operation area 6 is used for the flow machine 3 to drive, turn, turn around, and switch interactive modes. After the automated horizontal transport equipment 1 enters, it waits for the flow machine 3 to operate or to interact with the flow machine 3.

[0071] The outer truck lane 7 serves as both an outer truck loading / unloading lane and an outer truck driving lane, facilitating the interaction between outer trucks 2 and the flow machine 3. It connects with the outer truck entry lane 10 and the outer truck exit lane 8, forming the entry and exit paths for outer trucks 2 in the densely packed automated container yard. When the flow machine 3 operates in the outer truck lane 7, the system sets up a relevant flow machine path planning lockout zone 11.

[0072] The stacking area 4 for loaded or empty containers is used to store containers in a dense stacking manner, that is, there is no gap between the long sides of adjacent containers. The loading and unloading operations of containers are carried out by the flow machine 3.

[0073] The specific process of the close-packed automated container yard loading and unloading operation method provided in this embodiment mainly includes the loading and unloading process of containers entering the close-packed automated container yard within the port, the loading and unloading process of containers leaving the close-packed automated container yard within the port, the loading and unloading process of containers directly interacting in the automated horizontal transport equipment lanes of the close-packed automated container yard within the port, and the loading and unloading process of containers directly interacting in the external truck lanes of the close-packed automated container yard within the port, wherein:

[0074] Combination Figures 2 to 4 As shown, the specific loading and unloading process for containers entering a densely packed automated container yard within the port includes:

[0075] Automated horizontal transport equipment 1 carries containers to automated horizontal transport equipment lane 5 in the loading and unloading area of ​​the densely packed automated container yard according to the operation task generated by the operation control system;

[0076] The operation control system sends instructions to the automated horizontal transport equipment 1 based on the operation status of the flow machine 3: if the flow machine 3 is in an idle and waiting state, the automated horizontal transport equipment 1 will drive into the designated position of the flow machine operation area 6 and wait to interact with the flow machine 3; if the flow machine 3 is performing a preceding task, including loading and unloading operations, shell shifting, etc., the operation control system will judge based on the task path of the flow machine 3 and assign the automated horizontal transport equipment 1 to wait in the automated horizontal transport equipment lane 5.

[0077] Based on the designated position and loading status of the automated horizontal transport equipment 1 in the flow machine operation area 6, the flow machine 3 interacts with the automated horizontal transport equipment 1 to complete the lifting and retrieval of the container from the automated horizontal transport equipment 1.

[0078] After the unloading machine 3 completes the automated unloading process, and the operation control system confirms that there are no external trucks 2 parked or traveling in the machine path planning lock-up area 11 on the external truck lane 7, it enters the stacking area 4 to complete the stacking of containers.

[0079] After the automated horizontal transport equipment 1 completes the automated loading and unloading operation process, it returns to the automated horizontal transport equipment lane 5 after the operation control system confirms that the task path of the conveyor 3 is outside the safe range.

[0080] After this loading and unloading process is completed, the automated horizontal transport equipment 1 will receive the next job task generated by the operation control system.

[0081] Combination Figure 2 , Figure 3 and Figure 5 As shown, the specific loading and unloading process for containers leaving the port's densely packed automated container yard includes:

[0082] The automated horizontal transport equipment 1 travels unloaded to the designated position of the flow machine operation area 6 in the loading and unloading operation area of ​​the densely packed automated container yard according to the operation task generated by the operation control system, and waits for interactive operation;

[0083] The flow machine 3, which is waiting in the loading and unloading area of ​​the densely stacked automated container yard, drives into the stacking area 4 empty according to the operation task generated by the operation control system and completes the container retrieval; when the operation control system confirms that there are no external trucks 2 parked on the external truck lane 7 or driving in the flow machine path planning lock area 11, the flow machine 3 drives to the flow machine operation area 6 with the container.

[0084] The flow machine 3 interacts with the automated horizontal transport equipment 1 according to the designated position and loading status of the automated horizontal transport equipment 1 in the flow machine operation area 6, that is, to complete the placement of the container on the automated horizontal transport equipment 1.

[0085] After the automated horizontal transport equipment 1 completes the automated packing operation, it returns to the automated horizontal transport equipment lane 5 after the operation control system confirms that the task path of the conveyor 3 is outside the safe range.

[0086] After the loading and unloading process is completed, the automated horizontal transport equipment 1 will travel to other loading and unloading areas within the port according to the instructions of the operation control system.

[0087] Combination Figure 5 and Figure 6As shown, the loading and unloading process of containers directly interacting with the automated horizontal transport lanes in a densely packed automated container yard within the port specifically includes:

[0088] Automated horizontal transport equipment 1, carrying containers or empty, travels to the automated horizontal transport equipment lane 5 of the automated container yard loading and unloading area according to the work tasks generated by the operation control system;

[0089] The flow machine 3, which is waiting in the loading and unloading area of ​​the densely stacked automated container yard, will carry the container into the flow machine operation area 6 without load if the task is to transport the container out of the densely stacked yard. If the task is to transport the container out of the densely stacked yard, the flow machine 3 will enter the stacking area 4 to pick up the container after the operation control system confirms that there are no external trucks 2 parked on the external truck lane 7 or driving in the flow machine path planning lock area 11. Then, the flow machine 3 will carry the container to the flow machine operation area 6.

[0090] The flow machine 3 interacts with the automated horizontal transport equipment 1 according to the designated position and loading status of the automated horizontal transport equipment 1 in the automated horizontal transport equipment lane 5, that is, to complete the picking and placing of boxes on the automated horizontal transport equipment 1.

[0091] After the loading and unloading process is completed, the automated horizontal transport equipment 1 will travel to other loading and unloading areas in the port or receive interactive operation tasks generated by the next operation control system according to the instructions of the operation control system.

[0092] The flow machine 3 receives the next operation control system instruction in the flow machine operation area 6; or, for the task of the container entering the close-packed yard, according to the operation control system instruction, if the operation control system confirms that there are no external container trucks 2 parked or traveling in the flow machine path planning lock area 11 on the external container truck lane 7, it enters the stacking area 4 to complete the stacking of the container.

[0093] Combination Figure 7 and Figure 8 As shown, the loading and unloading process of containers directly interacting with truck lanes in a densely packed automated container yard includes:

[0094] According to the instructions sent by the operation control system, the external container truck driver drives the external container truck 2 from the external container truck entry lane 10 to the designated position of the external container truck lane 7 of the relevant stacking position in the densely stacked automated container yard, and waits to interact with the flow machine 3.

[0095] The flow machine 3, which is waiting in the loading and unloading area of ​​the densely stacked automated container yard, will carry the container into the flow machine operation area 6 without load if the task is to transport the container out of the densely stacked yard. If the task is to transport the container out of the densely stacked yard, the flow machine 3 will enter the stacking area 4 to pick up the container after the operation control system confirms that there are no external trucks 2 parked on the external truck lane 7 or driving in the flow machine path planning lock area 11. Then, the flow machine 3 will carry the container to the flow machine operation area 6.

[0096] The flow machine 3 interacts with the external container truck 2 according to the designated position and loading status of the external container truck 2 in the external container truck lane 7, that is, to complete the picking and placing of containers on the external container truck 2.

[0097] After the loading and unloading process is completed, the conveyor 3 returns to the conveyor operation area 6, and the outer container truck 2 continues to travel from the outer container truck lane 7 to the outer container truck exit lane 8 and then leaves the dock.

[0098] The flow machine 3 receives the next operation control system instruction in the flow machine operation area 6; if it is a container entering a close-packed yard task, the flow machine 3 enters the stacking area 4 and completes the stacking of the container after the operation control system confirms that there are no external container trucks 2 parked or traveling in the flow machine path planning lock area 11 on the external container truck lane 7.

[0099] Those skilled in the art should recognize that the above embodiments are merely illustrative of the present invention and are not intended to limit the present invention. Any variations or modifications to the above embodiments that are within the spirit and essence of the present invention will fall within the scope of the claims of the present invention.

Claims

1. A method for loading and unloading operations in a densely packed automated container yard, characterized in that: Arrange the lanes, machine operation areas, external container truck lanes, and storage areas for automated horizontal transport equipment; Based on the above arrangements, the following processes will be implemented: loading and unloading of containers entering the densely packed automated container yard; loading and unloading of containers leaving the densely packed automated container yard; loading and unloading of containers directly interacting with the automated horizontal transport equipment lanes in the densely packed automated container yard; and loading and unloading of containers from outside the port directly interacting with the external truck lanes in the densely packed automated container yard. The automated horizontal transport equipment lane is located on the waterside of the wharf and is used for waiting or queuing of automated horizontal transport equipment. The machine operation area is located behind the automated horizontal transport equipment lane and is used for the machine's driving, turning, U-turn, and interactive mode switching operations. The external truck lane is located behind the flow machine operation area and is used for the interactive operation of external trucks and the flow machine; The stacking area is located behind the external truck lane and is used to stack containers, and the conveyor belt is used for loading and unloading the containers. The specific loading and unloading process for containers entering the densely packed automated container yard within the port includes: The automated horizontal transport equipment carries the container to the lane of the automated horizontal transport equipment according to the operation task generated by the operation control system; The operation control system sends instructions to the automated horizontal transport equipment based on the operation status of the flow machine: if the flow machine is in an idle waiting state, the automated horizontal transport equipment drives into the designated position of the flow machine's operation area and waits to interact with the flow machine; if the flow machine is performing a preceding task, the operation control system determines based on the flow machine's task path and assigns the automated horizontal transport equipment to wait in the automated horizontal transport equipment lane. The flow machine interacts with the automated horizontal transport equipment according to the designated position and loading status of the automated horizontal transport equipment in the flow machine's operating area, that is, to complete the lifting of the container from the automated horizontal transport equipment; After the unloading machine completes the automated unloading process, and the operation control system confirms that there are no external trucks parked or traveling in the machine's path planning lockout area on the external truck lane, it enters the stacking area to complete the stacking of containers. After the automated horizontal transport equipment completes the automated loading and unloading operation process, it returns to the lane of the automated horizontal transport equipment after the operation control system confirms that the task path of the flow machine is outside the safe range. The automated horizontal transport vehicle lane is also used for the interactive operation of the automated horizontal transport vehicle and the flow machine; The loading and unloading process of containers within the port, which involves direct interaction between automated horizontal transport lanes in a densely packed automated container yard, specifically includes: The automated horizontal transport equipment, carrying a container or empty, travels to the lane of the automated horizontal transport equipment according to the work tasks generated by the work control system. The flow machine operates according to the tasks generated by the operation control system: if the task is for the container to enter the densely packed yard, the flow machine will drive directly to the flow machine operation area without load; if the task is for the container to leave the densely packed yard, the flow machine will enter the stacking area to retrieve the container after the operation control system confirms that there are no external trucks parked on the external truck lane or driving in the flow machine path planning lock area, and then drive to the flow machine operation area with the container. The flow machine interacts with the automated horizontal transport equipment according to the designated position and loading status of the automated horizontal transport equipment in the automated horizontal transport equipment lane, that is, to complete the picking and placing of boxes on the automated horizontal transport equipment. After the loading and unloading process is completed, the automated horizontal transport equipment will travel to other loading and unloading areas in the port or receive the next interactive operation task generated by the operation control system according to the instructions of the operation control system. The flow machine receives the next instruction from the operation control system in the flow machine operation area; or, for the task of entering a close-packed yard, according to the instruction from the operation control system, if the operation control system confirms that there are no external trucks parked or traveling in the flow machine path planning lock area, it enters the stacking area and completes the stacking of containers.

2. The method for loading and unloading close-packed automated container yards according to claim 1, characterized in that: The flow machine operation area is also used for the automated horizontal transport equipment to wait for the flow machine to operate, or to interact with the flow machine.

3. The method for loading and unloading close-packed automated container yards according to claim 1, characterized in that: The containers in the storage area are stored using a dense stacking method.

4. The method for loading and unloading close-packed automated container yards according to claim 1, characterized in that, The specific loading and unloading process for containers shipped out of the port's densely packed automated container yard includes: The automated horizontal transport equipment travels unloaded to the designated position in the flow machine operation area according to the work task generated by the operation control system, and waits for interactive operation; The conveyor belt drives into the stacking area unloaded according to the work task generated by the work control system and completes the container retrieval; when the work control system confirms that there are no external trucks parked on the external truck lane or driving in the flow machine path planning lock area, the conveyor belt drives to the flow machine operation area with the container. The flow machine interacts with the automated horizontal transport equipment according to the designated location and loading status of the automated horizontal transport equipment in the flow machine's operating area, thereby completing the placement of the container on the automated horizontal transport equipment. After completing the automated container loading process, the automated horizontal transport equipment returns to the automated horizontal transport equipment lane after the operation control system confirms that the flow machine task path is outside the safe range.

5. The method for loading and unloading close-packed automated container yards according to claim 1, characterized in that, The loading and unloading process for containers outside the port, which involves direct interaction between truck lanes in a densely packed automated container yard, specifically includes: According to the instructions sent by the operation control system, the external truck driver drives the external truck from the external truck entry lane to the designated position of the external truck lane, and waits to interact with the flow machine. The conveyor belt operates according to the work tasks generated by the operation control system: if the task is for the container to enter the densely packed yard, the conveyor belt will drive directly to the conveyor belt operation area without load; if the task is for the container to be transported out of the densely packed yard, the conveyor belt will enter the stacking area to retrieve the container after the operation control system confirms that there are no external trucks parked on the external truck lane or driving in the conveyor belt path planning lock area, and then drive to the conveyor belt operation area with the container. The flow machine interacts with the external container truck according to the designated position and loading status of the external container truck in the external container truck lane, that is, it completes the picking and placing of containers on the external container truck. After the loading and unloading process is completed, the conveyor returns to the conveyor operation area, and the external container truck continues to travel from the external container truck lane to the external container truck exit lane and then leaves the dock; The flow machine receives the next instruction from the operation control system in the flow machine operation area; if it is a container entering a close-packed yard task, the flow machine enters the stacking area and completes the stacking of containers after the operation control system confirms that there are no external container trucks parked on the external container truck lane or traveling in the flow machine path planning lock area.

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