Automatic container yard and interaction method

Abstract

The invention discloses an automatic container yard and an interaction method, and belongs to the technical field of automatic wharfs. The automatic container yard comprises a seaside interaction area, a container stockpiling area and a landside interaction area; an even number of pairs of straight sections are arranged in the container stockpiling area and are respectively vertical to the seaside interaction area and the landside interaction area; the two straight sections on the outermost side in every two adjacent sets are connected through an outer arc-shaped steering section, and the two straight sections on the innermost side in every two adjacent sets are connected through an inner arc-shaped steering section. The outer arc-shaped steering section and the inner arc-shaped steering section form a steering beam group, and the steering beam group extends to the outside of the container stockpiling area; every two adjacent straight sections and steering beam groups are matched to form a track for the elevated magnetic suspension track crane to move; an AGV interaction lane for the AGV to pass through is arranged in the seaside interaction area, and the AGV interaction lane is parallel to the shoreline. The AGV interaction lane and the container truck interaction lane are parallel to the shoreline, and compared with the mode that the AGV needs to turn by 90 degrees to enter an interaction area in a traditional layout, the method avoids path cross congestion.

Description

Technical Field

[0001] The present invention belongs to the technical field of automated terminals, and in particular relates to an automated container yard and an interaction method. Background Art

[0002] With continued growth and the trend toward larger ships, container terminals, as core hubs for sea and land logistics, are increasingly demanding higher loading and unloading efficiency. Automated storage yards, with their significant advantages such as high safety and reliability, high operational efficiency, high site utilization, environmental friendliness, and low labor costs, have become a common development trend in port intelligent upgrades.

[0003] Traditional automated container yards are typically arranged perpendicular to the dock's shoreline, with their loading and unloading systems consisting of shore-side handling equipment, horizontal transport equipment (such as AGVs), and yard equipment (such as rail-mounted cranes). In this layout, the long sides of containers on ships are parallel to the shoreline, but become perpendicular to it after being stored in the yard. When interacting with the yard equipment, the AGVs must adjust their orientation so that the long sides of the containers are perpendicular to the shoreline. This requires them to make a 90-degree turn when entering the interaction zone from the high-speed operation zone, inevitably intersecting with other AGVs in the high-speed operation zone. This can cause congestion, severely impacting AGV scheduling and operational efficiency, while also increasing the land occupied by the AGV operating area.

[0004] In the landside interaction area, the traditional layout requires container trucks to reverse into the interaction area with the yard equipment. This operation mode requires high driver precision, especially for unskilled drivers, who need multiple adjustments to achieve the correct positioning. This leads to low efficiency in receiving and sending containers, a poor driver experience, and becomes a bottleneck in the port logistics process.

[0005] Furthermore, traditional yard equipment (such as rail-mounted cranes) is typically fixed to a single yard and lacks the flexibility to be deployed across multiple yards. When a particular yard is busy or equipment requires maintenance, support from other yard equipment is unavailable, limiting overall operational efficiency and making it difficult to meet the design requirements of the terminal's loading and unloading process system: "yard efficiency > horizontal transport efficiency > quayside loading and unloading efficiency."

[0006] In summary, the current yard scheduling is inflexible, there is cross congestion in the AGV's operating path, and container trucks need to reverse into the landside interaction area with the rail crane to carry out container loading operations, which causes congestion in the yard. Summary of the Invention

[0007] In order to solve the problems of inflexible yard scheduling, cross congestion in AGV operation paths, and the need for container trucks to reverse into the landside interaction area with rail cranes, the present invention provides an automated container yard and interaction method.

[0008] The present invention is achieved through the following technical solutions: An automated container yard comprises a seaside interaction area, a container storage area and a landside interaction area, which are distributed in sequence from the shoreline to the inland side; The container storage area is provided with straight sections, and the straight sections are provided in an even number of pairs and are respectively perpendicular to the sea-side interaction area and the land-side interaction area; the outermost two straight sections of two adjacent groups are connected by an outer arc-shaped turning section, and the innermost two straight sections of two adjacent groups are connected by an inner arc-shaped turning section; The outer arc-shaped turning section and the inner arc-shaped turning section form a turning beam group, and the turning beam group extends to the outside of the container storage area; the straight sections and turning beam groups of two adjacent groups cooperate to form a track for the overhead maglev track crane to move; An AGV interactive lane for AGVs to pass through is provided in the seaside interactive area, and the AGV interactive lane is parallel to the shoreline; A container truck interaction lane for container trucks to pass through is provided in the land side interaction area, and the container truck interaction lane is parallel to the coastline.

[0009] Through the coordination of the straight section and the turning beam group, the elevated maglev rail crane can achieve a flexible 90-degree turn between different yards, breaking through the fixed track limitations of traditional rail cranes and solving the problem that yard rail cranes cannot be flexibly dispatched under the traditional vertical layout.

[0010] The straight sections of two adjacent groups are connected by a turning beam group to form a continuous and steerable rail network, which supports the free movement of overhead maglev rail cranes across the yard. The rail cranes in the less busy yard can be dispatched to the busy yard to realize the support operation of the rail cranes, greatly improving the operating efficiency of the yard. When performing maintenance on the rail cranes in certain yards, other yard equipment can also provide support to ensure the normal operation of the yard.

[0011] The AGV interaction lane and the truck interaction lane are parallel to the shoreline. Compared with the traditional vertical layout where AGVs need to turn 90 degrees to enter the interaction area, this avoids path intersection congestion, saves the additional lane space required for turning, and reduces the land area occupied by the AGV operation area and the landside interaction area.

[0012] A further improvement of the present invention is that the steering beam group connects the plurality of straight sections end to end, thereby completing the connectivity within the entire container storage area.

[0013] A further improvement of the present invention is that the above-mentioned elevated magnetic levitation rail crane includes rail crane legs, a rail crane gantry, a gantry truck, and a single-arm rail crane; the rail crane legs are provided with two, and the bottoms of the two rail crane legs respectively cooperate with two adjacent rail support beams; the tops of the two rail crane legs jointly support the rail crane gantry; the gantry truck is slidably installed in the rail crane gantry; and the gantry truck is provided with a single-arm rail crane capable of grabbing containers. The rail crane legs cooperate with the rail support beams, and the rail crane gantry supports the gantry truck and the single-arm rail crane, forming a stable three-dimensional operating structure that supports vertical lifting of containers between the storage area and the interaction area. The single-arm rail crane can move laterally within the range of the rail crane gantry. Combined with the longitudinal movement capability of the rail support beams, it achieves no-dead-angle operation coverage of the entire container storage area, thereby improving the utilization rate of the yard space. The gantry truck is slidably installed in the rail crane gantry and can be accurately positioned above the AGV interaction lane or the container truck interaction lane, ensuring efficient docking with the horizontal transportation equipment and reducing alignment time.

[0014] A further improvement of the present invention is that the cross-sections of the straight section, outer arc turning section and inner arc turning section are all T-shaped structures, and the bottom of the rail crane leg is provided with a guide cavity capable of accommodating the T-shaped structure; long stator core armature windings are respectively provided on both sides of the bottom surface of the wing plate of the T-shaped structure, and the bottom surface of the guide cavity is provided with suspension and propulsion coils corresponding to the long stator core armature windings. The long stator core armature windings on the bottom surface of the wing plate of the T-shaped structure cooperate with the suspension and propulsion coils of the rail crane leg to realize the suspended forward movement of the rail crane through electromagnetic suspension technology. Electromagnetic suspension technology eliminates the mechanical contact drive loss of traditional rail cranes, reduces equipment maintenance costs, improves the operating speed and accuracy of the rail crane, and thus improves the overall operating efficiency of the yard. Compared with traditional mechanical drive methods, electromagnetic suspension drive reduces noise and mechanical vibration, and meets the environmentally friendly design requirements of automated yards.

[0015] A further improvement of the present invention is that an attraction anti-overturning coil is provided inside the above-mentioned rail crane leg, and the attraction anti-overturning coil is located above the T-shaped structure. It is arranged inside the rail crane leg to form an electromagnetic attraction with the T-shaped structure to offset the overturning moment during cantilever operation and ensure the stability of the equipment during heavy-load lifting. It effectively solves the risk of overturning of overhead cantilever equipment during lifting operations, especially when lifting large containers or moving at high speeds. The electromagnetic attraction balance system is subjected to force, ensuring the safety of the equipment and cargo. It reduces the reliance on traditional mechanical anti-overturning devices, simplifies the equipment structure, and improves the adaptability of rail cranes in complex operating scenarios.

[0016] A further improvement of the present invention is that the two side surfaces of the T-shaped structural wing plate are respectively provided with guide and brake tracks, and the side walls of the guide cavity are provided with guide and brake coils corresponding to the guide and brake tracks. The guide and brake tracks on the two side surfaces of the T-shaped structural wing plate cooperate with the guide and brake coils on the side walls of the guide cavity to achieve precise guidance and rapid braking of the rail crane. Left and right balance and braking are achieved through electromagnetic force, which avoids the error problem of traditional mechanical guidance and enables the rail crane to accurately dock at the designated interactive position during high-speed operation, thereby improving the efficiency and accuracy of docking operations. The rapid response characteristics of the guide and brake coils ensure that the rail crane can brake quickly in emergency situations, reducing the risk of equipment collision and improving the safety of yard operations.

[0017] A further improvement of the present invention is that the seaside interactive area is also provided with an AGV high-speed lane. Arranged in parallel with the AGV interactive lane, it forms an "interactive-high-speed" diversion channel, allowing AGVs that have completed the interaction to quickly enter the high-speed lane and avoid crossing paths with other AGVs. The physically isolated parallel lane design achieves efficient diversion of interactive operations and high-speed driving, shortening the AGV operating cycle and improving horizontal transportation efficiency. The high-speed lane has no fixed obstacles and supports continuous high-speed passage of AGVs. Combined with the orderly docking of the interactive lane, the AGV scheduling system can more flexibly allocate tasks and reduce waiting time.

[0018] A further improvement of the present invention is that the land-side interaction area is also provided with a container truck express lane. Arranged in parallel with the container truck interaction lane, the container truck can directly enter the express lane to leave after completing the interaction without reversing or complicated turns. After entering from the terminal gate, the container truck can directly enter the interaction lane by driving in a straight line, avoiding the reversing operation in the traditional layout, significantly reducing the difficulty of operation for the driver, especially for unskilled drivers. It greatly reduces the positioning adjustment time and improves the efficiency of port collection and distribution. The separation design of the express lane and the interaction lane reduces the congestion of the container truck flow in the land-side interaction area, optimizes the traffic organization on the land side of the terminal, and improves the overall logistics efficiency.

[0019] Another aspect of the present invention is achieved by the following steps: The interaction method of the automated container yard includes the following steps when performing unloading and container collection operations in the seaside interaction area: S1. The container on the ship is unloaded onto the AGV, which directly turns into the AGV interactive lane covered by the overhead magnetic levitation rail crane; S2. The overhead magnetic levitation rail crane uses electromagnetic levitation technology to grab the container from the AGV and lift it to the container storage area for storage; S3. The AGV that has completed the interaction drives directly into the AGV high-speed lane and leaves.

[0020] The AGV directly turns into the interactive lane parallel to the shoreline, and the overhead magnetic levitation rail crane quickly completes the container grabbing and stacking through electromagnetic suspension technology, forming an efficient operation chain of "unloading-transportation-storage".

[0021] It avoids path intersection and congestion caused by AGV turning, greatly shortens the AGV's residence time in the seaside interaction area, and cooperates with high-efficiency shore-side equipment such as double-trolley bridge cranes to meet the system design requirements of "yard efficiency > horizontal transportation efficiency > shore loading and unloading efficiency", ensuring the smooth operation of the entire loading and unloading process of the terminal.

[0022] The physical isolation of the AGV interactive lane and the AGV high-speed lane eliminates safety hazards and improves the safety of the seaside operation area.

[0023] A further improvement of the present invention is that the above-mentioned automated container yard interaction method, when performing container dispatching operations in the landside interaction area, includes the following steps: S1. After entering the terminal gate, the container truck directly enters the container truck interactive lane covered by the overhead maglev rail crane; S2. The nearby elevated magnetic levitation rail crane uses electromagnetic levitation technology to grab the container in the container storage area and lift it onto the container truck; S3. The container truck that has completed the interaction drives directly into the container truck fast lane and leaves.

[0024] The container truck goes straight into the container truck interaction lane, and the overhead magnetic levitation rail crane grabs the nearest container and completes the loading, forming a linear operation process of "picking up the container - loading - leaving the site".

[0025] Completely abandoning the tedious operation of traditional reversing and positioning, truck drivers can complete the interaction by simply going straight, which significantly improves the convenience and comfort of receiving and sending box operations and reduces manual operation costs.

[0026] The flexible dispatching capability of the overhead maglev rail crane can dynamically allocate equipment resources according to the container truck queue situation, avoiding the problem of overload of single yard equipment and realizing intelligent and efficient land-side interaction.

[0027] It can be seen from the above technical solution that the beneficial effect of the present invention is: through the cooperation of the straight section and the turning beam group, the overhead magnetic levitation rail crane can achieve a flexible 90-degree turn between different yards, breaking through the fixed track limitations of traditional rail cranes and solving the problem that yard rail cranes cannot be flexibly dispatched under the traditional vertical layout.

[0028] The straight sections of two adjacent groups are connected by a turning beam group to form a continuous and steerable rail network, which supports the free movement of overhead maglev rail cranes across the yard. The rail cranes in the less busy yard can be dispatched to the busy yard to realize the support operation of the rail cranes, greatly improving the operating efficiency of the yard. When performing maintenance on the rail cranes in certain yards, other yard equipment can also provide support to ensure the normal operation of the yard.

[0029] The AGV interaction lane and the truck interaction lane are parallel to the shoreline. Compared with the traditional vertical layout where AGVs need to turn 90 degrees to enter the interaction area, this avoids path intersection congestion, saves the additional lane space required for turning, and reduces the land area occupied by the AGV operation area and the landside interaction area. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the drawings required for the description. 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 any creative work.

[0031] Figure 1 This is a first structural schematic diagram of a container yard according to a specific embodiment of the present invention.

[0032] Figure 2 This is a second structural schematic diagram of a container yard according to a specific embodiment of the present invention.

[0033] Figure 3 This is a schematic diagram of the first structure of the sea side interaction area according to a specific embodiment of the present invention.

[0034] Figure 4 This is a schematic diagram of the second structure of the sea side interaction area according to a specific embodiment of the present invention.

[0035] Figure 5 This is a schematic diagram of the first structure of the land-side interaction area according to a specific embodiment of the present invention.

[0036] Figure 6 This is a schematic diagram of the second structure of the land-side interactive area according to a specific embodiment of the present invention.

[0037] Figure 7 This is a schematic diagram of the structure of an elevated magnetic levitation rail crane according to a specific embodiment of the present invention.

[0038] Figure 8 It is a cross-sectional schematic diagram of a track beam column and a track hanging door leg according to a specific embodiment of the present invention.

[0039] In the attached figure: 100, sea side interaction area; 200, land side interaction area; 300, container storage area; 10, AGV; 110, AGV interactive lane; 120, AGV high-speed lane; 130, AGV emergency lane; 20, container truck lane; 210, container truck interchange lane; 220, container truck express lane; 230, terminal emergency lane; 400, straight section; 410, track beam column; 500, turning beam assembly; 510, outer arc turning section; 520, inner arc turning section; 401, T-shaped structure; 600, overhead maglev rail crane; 610, rail crane gantry leg; 611, guide cavity; 620, rail crane gantry; 630, gantry car; 640, single cantilever rail crane; 30. Suspension and propulsion coil; 40. Long stator core armature winding; 50. Guide and brake coil; 60. Guide and brake track; 70. Attraction and anti-overturning coil. DETAILED DESCRIPTION

[0040] In order to make the purpose, features, and advantages of the present invention more obvious and easy to understand, the technical solutions of the present invention will be clearly and completely described below in conjunction with the drawings in this specific embodiment. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of them. Based on the embodiments in this patent, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this patent.

[0041] like Figure 1-Figure 7 As shown, the present invention discloses an automated container yard, comprising a seaside interaction area 100, a container storage area 300 and a landside interaction area 200, which are sequentially distributed from the shoreline to the inland side; The container storage area 300 is provided with straight sections 400. The straight sections 400 are provided in an even number of pairs and are perpendicular to the seaside interaction area 100 and the landside interaction area 200, respectively. The outermost two straight sections 400 in two adjacent groups are connected by an outer arc-shaped turning section 510, and the innermost two straight sections 400 in two adjacent groups are connected by an inner arc-shaped turning section 520. The outer arc-shaped turning section 510 and the inner arc-shaped turning section 520 form a turning beam assembly 500, and the turning beam assembly 500 extends outside the container storage area 300. The straight sections 400 and the turning beam assemblies 500 of two adjacent groups cooperate to form a track for the movement of the overhead maglev track crane 600. Through the coordination of two adjacent groups of straight sections 400 and steering beam groups 500, the elevated maglev rail crane 600 can achieve a flexible 90-degree turn between different yards, breaking through the fixed track limitations of traditional rail cranes and solving the problem that yard rail cranes cannot be flexibly dispatched under the traditional vertical layout.

[0042] The connection between the two adjacent groups of straight sections 400 and the turning beam group 500 forms a continuous and steerable rail network, which supports the overhead maglev rail crane 600 to move freely across the yard. The rail crane in the yard with less busy operations can be dispatched to the busy yard to realize the support operation of the rail crane, which greatly improves the operating efficiency of the yard. When maintaining the rail crane in certain yards, it can also be supported by other yard equipment to ensure the normal operation of the yard.

[0043] The steering beam group 500 connects the plurality of straight sections 400 end to end. In other words, the steering beam groups 500 are distributed in a staggered manner in the seaside interaction area 100 and the landside interaction area 200.

[0044] Alternatively, the ends of two adjacent straight sections 400 are both provided with steering beam groups 500. This is equivalent to increasing the number of steering beam groups 500 arranged and increasing the coverage area of ​​the interaction zone.

[0045] The seaside interactive area 100 is equipped with an AGV interactive lane 110, an AGV high-speed lane 120, and an AGV emergency lane 130 for AGVs 10 to pass through. The AGV interactive lane 110, AGV high-speed lane 120, and AGV emergency lane 130 are all parallel to the shoreline. The AGV interactive lane 110 allows the AGV 10 to quickly reach the designated location and cooperate with the overhead maglev rail crane 600 to complete the interaction with the container. The seaside interactive area 100 is also equipped with an AGV high-speed lane 120; it is arranged parallel to the AGV 10 interactive lane to form an "interactive-high-speed" diversion channel, allowing the AGV 10 that has completed the interaction to quickly enter the high-speed lane and avoid crossing paths with other AGVs 10. The physically isolated parallel lane design achieves efficient diversion between interactive operations and high-speed driving, shortening the operating cycle of the AGV 10 and improving horizontal transportation efficiency. The high-speed lanes are free of fixed obstacles, supporting continuous high-speed passage of AGVs 10. Combined with the orderly docking of the interactive lanes, this allows the AGV 10 dispatching system to more flexibly allocate tasks and reduce waiting time. The AGV emergency lane 130 serves as an emergency backup to address emergency repair needs within the seaside interactive area 100.

[0046] Within seaside interaction area 100, there are 21 lanes, numbered from seaside interaction area 100 toward container storage area 300. Lanes 2, 3, 7, 8, 10, 11, 13, 14, 16, 19, and 20 are AGV interaction lanes 110, primarily used for interaction between AGVs 10 and overhead maglev cranes 600. Lanes 1, 4, 6, 9, 12, 15, 18, and 21 are AGV high-speed lanes. With no fixed obstacles in their path, AGVs 10 enter the high-speed lanes after completing interaction with overhead maglev cranes 600 in the interaction lanes. Lanes 5 and 17 are AGV emergency lanes 130. Because the two AGV emergency lanes 130 have track beams 410, they can be used as temporary emergency lanes or temporary overtaking lanes for AGV 10. For a faulty AGV 10, the AGV 10 can be driven to the AGV emergency lanes 130 5 and 17 for emergency maintenance.

[0047] The landside interaction area 200 is provided with a truck interaction lane 210, a truck express lane 220, and a terminal emergency lane 230 for the passage of container trucks 20. The truck interaction lane 210 is parallel to the shoreline. The truck interaction lane 210 allows the container truck 20 to quickly reach the designated location and cooperate with the overhead maglev rail crane 600 to complete the interaction with the container; the truck express lane 220 is arranged in parallel with the truck interaction lane 210. After completing the interaction, the container truck 20 can directly enter the express lane to leave the terminal without reversing or making complicated turns. After entering the terminal gate, the container truck 20 can directly enter the interaction lane by driving in a straight line, avoiding the reversing operation in the traditional layout, significantly reducing the difficulty of operation for the driver, especially for unskilled drivers. It greatly reduces the time for positioning adjustment and improves the efficiency of port collection and distribution. The separation design of the express lane and the interaction lane reduces the congestion of the container truck 20 flow in the landside interaction area 200, optimizes the traffic organization on the land side of the terminal, and improves the overall logistics efficiency. The terminal emergency lane 230 reserves a quick access passage for the landside interaction area 200 and the container storage area 300 to enter the interior for maintenance.

[0048] Within the landside interaction area 200, there are 21 lanes, numbered from the container storage area 300 toward the landside interaction area 200. Lanes 3, 4, 7, 8, 10, 11, 13, 14, 16, 19, and 20 are truck interaction lanes 210, used for interaction between container trucks 20 and the overhead maglev rail crane 600. Lanes 2, 5, 6, 9, 12, 15, 18, and 21 are truck express lanes 220, free of fixed obstacles. Lane 1 is the terminal emergency lane 230, used by terminal personnel to access the yard for equipment maintenance, container firefighting, and other operations. When a rail beam 410 appears within the truck interaction lanes 210 or the truck express lanes 220, the container truck 20 can temporarily change lanes.

[0049] The AGV interaction lane 110 and the truck interaction lane 210 are parallel to the shoreline. Compared with the traditional vertical layout where AGV10 needs to make a 90-degree turn to enter the interaction zone, this avoids path intersection congestion and saves the additional lane space required for turning, reducing the land occupied by the AGV10 operating area and the landside interaction zone 200.

[0050] The elevated maglev rail crane 600 includes rail crane legs 610, a rail crane gantry 620, a gantry trolley 630, and a single-arm rail crane 640. Two rail crane legs 610 are provided, and the bottoms of the two rail crane legs 610 respectively mate with two adjacent rail-supporting beams. The tops of the two rail crane legs 610 jointly support the rail crane gantry 620. The gantry trolley 630 slides within the rail crane gantry 620. The gantry trolley 630 is mounted on the single-arm rail crane 640, which can grab containers. The rail crane legs 610 mate with the rail-supporting beams, and the rail crane gantry 620 supports the gantry trolley 630 and the single-arm rail crane 640, forming a stable three-dimensional operating structure that supports the vertical lifting of containers between the storage area and the interaction area. The single-arm rail crane 640 can move laterally within the rail gantry 620. Combined with the longitudinal movement of the straight section 400, it provides seamless coverage of the entire container storage area 300, improving yard space utilization. The gantry 630, which slides within the rail gantry 620, can be precisely positioned above the AGV interaction lane 110 or the truck interaction lane 210, ensuring efficient docking with horizontal transport equipment and reducing alignment time.

[0051] The straight section 400, the outer curved turning section 510, and the inner curved turning section 520 form a T-shaped structure 401 in cross-section. A guide cavity 611 is located at the bottom of the rail crane leg 610, accommodating the T-shaped structure 401. Long stator core armature windings 40 are located on either side of the underside of the wing plate of the T-shaped structure 401, and the underside of the guide cavity 611 is provided with levitation and propulsion coils 30 corresponding to the long stator core armature windings 40. The long stator core armature windings 40 on the underside of the wing plate of the T-shaped structure 401 cooperate with the levitation and propulsion coils 30 of the rail crane leg 610 to achieve the levitation and propulsion of the rail crane through electromagnetic levitation technology. Electromagnetic levitation technology eliminates the mechanical contact drive losses of traditional rail cranes, reduces equipment maintenance costs, and increases the operating speed and accuracy of the rail crane, thereby improving overall yard operation efficiency. Compared to traditional mechanical drive methods, electromagnetic levitation reduces noise and mechanical vibration, meeting the environmentally friendly design requirements of automated yards.

[0052] The rail crane leg 610 is provided with an attraction anti-overturning coil 70 inside, and the attraction anti-overturning coil 70 is located above the T-shaped structure 401. It is arranged inside the rail crane leg 610 and forms an electromagnetic attraction with the T-shaped structure 401 to offset the overturning moment during cantilever operation and ensure the stability of the equipment during heavy-load lifting. It effectively solves the risk of overturning of overhead cantilever equipment during lifting operations, especially when lifting large containers or moving at high speeds. The electromagnetic attraction balance system is subjected to force, ensuring the safety of equipment and cargo. It reduces the reliance on traditional mechanical anti-overturning devices, simplifies the equipment structure, and improves the adaptability of rail cranes in complex operating scenarios.

[0053] The two sides of the wing plate of the T-shaped structure 401 are respectively provided with guide and brake tracks 60, and the side walls of the guide cavity 611 are provided with guide and brake coils 50 corresponding to the guide and brake tracks 60. The guide and brake tracks 60 on the two sides of the wing plate of the T-shaped structure 401 cooperate with the guide and brake coils 50 on the side walls of the guide cavity 611 to achieve precise guidance and rapid braking of the rail crane. The left and right balance and braking are achieved through electromagnetic force, which avoids the error problem of traditional mechanical guidance, allowing the rail crane to accurately dock at the designated interactive position when running at high speed, thereby improving the efficiency and accuracy of docking operations. The rapid response characteristics of the guide and brake coils 50 ensure that the rail crane can brake quickly in emergency situations, reducing the risk of equipment collision and improving the safety of yard operations.

[0054] The interaction method of the automated container yard, when performing unloading and container collection operations in the seaside interaction area 100, includes the following steps: S. The container on the ship is unloaded onto the AGV 10, and the AGV 10 directly turns into the AGV interactive lane 110 covered by the overhead magnetic levitation track crane 600; S. The overhead magnetic levitation track crane 600 uses electromagnetic levitation technology to grab the container from the AGV 10 and lift it to the container storage area 300 for storage; S. The AGV 10 that has completed the interaction directly drives into the AGV high-speed lane 120 and leaves.

[0055] AGV10 directly turns into the interactive lane parallel to the shoreline. The overhead magnetic levitation rail crane 600 uses electromagnetic suspension technology to quickly complete container grabbing and stacking, forming an efficient operation chain of "unloading-transportation-storage".

[0056] This avoids path intersection and congestion caused by the turning of AGV10, greatly shortening the stay time of AGV10 in the seaside interaction area 100. Combined with high-efficiency shore-side equipment such as the double-trolley bridge crane, it can meet the system design requirements of "yard efficiency > horizontal transportation efficiency > shore loading and unloading efficiency", ensuring the smooth operation of the entire loading and unloading process of the terminal.

[0057] The physical isolation of the AGV interactive lane 110 and the AGV high-speed lane 120 eliminates safety hazards and improves the safety of the seaside operation area.

[0058] A further improvement of the present invention is that the above-mentioned automated container yard interaction method, when performing container dispatching operations in the landside interaction area 200, includes the following steps: S. After entering the terminal gate, the container truck 20 directly enters the container truck interactive lane 210 covered by the overhead magnetic levitation track crane 600; S. The nearby overhead magnetic levitation rail crane 600 grabs the container in the container storage area 300 and lifts it onto the container truck 20 through electromagnetic levitation technology; S. The container truck 20 that has completed the interaction directly enters the container truck express lane 220 and leaves.

[0059] The container truck 20 goes straight into the container truck interaction lane 210, and the overhead magnetic levitation rail crane 600 grabs the container nearby and completes the loading, forming a linear operation process of "picking up the container - loading - leaving the site".

[0060] Completely abandoning the tedious operation of traditional reversing and positioning, the truck driver can complete the interaction by simply going straight, which significantly improves the convenience and comfort of receiving and sending box operations and reduces manual operation costs.

[0061] The flexible dispatching capability of the overhead maglev rail crane 600 can dynamically allocate equipment resources according to the container truck queue situation, avoiding the problem of overload of single yard equipment and realizing intelligent and efficient land-side interaction.

[0062] The automated container yard and interaction method described in the present invention enable the overhead magnetic levitation rail crane to achieve flexible 90-degree turns between different yards through the cooperation of the straight section and the steering beam group, breaking through the fixed track limitations of traditional rail cranes and solving the problem that yard rail cranes cannot be flexibly dispatched under the traditional vertical layout.

[0063] The straight sections of two adjacent groups are connected by a turning beam group to form a continuous and steerable rail network, which supports the free movement of overhead maglev rail cranes across the yard. The rail cranes in the less busy yard can be dispatched to the busy yard to realize the support operation of the rail cranes, greatly improving the operating efficiency of the yard. When performing maintenance on the rail cranes in certain yards, other yard equipment can also provide support to ensure the normal operation of the yard.

[0064] The AGV interaction lane and the truck interaction lane are parallel to the shoreline. Compared with the traditional vertical layout where AGVs need to turn 90 degrees to enter the interaction area, this avoids path intersection congestion, saves the additional lane space required for turning, and reduces the land area occupied by the AGV operation area and the landside interaction area.

[0065] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An automated container yard, comprising a seaside interaction area (100), a container storage area (300) and a landside interaction area (200) distributed in sequence from the shoreline to the inland side; characterized in that: The container storage area (300) is provided with a straight section (400), and the straight sections (400) are provided in an even number of pairs and are respectively perpendicular to the sea side interaction area (100) and the land side interaction area (200); the two outermost straight sections (400) in two adjacent groups are connected by an outer arc turning section (510), and the two innermost straight sections (400) in two adjacent groups are connected by an inner arc turning section (520); the outer arc turning section (510) and the inner arc turning section (520) constitute a steering beam group (500), and the steering beam group ( 500) extends to the outside of the container storage area (300); two adjacent groups of straight sections (400) and steering beam groups (500) cooperate to form a track for the overhead maglev track crane (600) to move; an AGV interaction lane (110) for AGVs (10) to pass through is provided in the sea-side interaction area (100), and the AGV interaction lane (110) is parallel to the coastline; a container truck interaction lane (210) for container trucks (20) to pass through is provided in the land-side interaction area (200), and the container truck interaction lane (210) is parallel to the coastline.

2. The automated container yard according to claim 1, characterized in that: The steering beam group (500) connects several groups of straight sections (400) end to end.

3. The automated container yard according to claim 1, characterized in that: The elevated magnetic levitation track crane (600) comprises a track crane gantry leg (610), a track crane gantry (620), a gantry car (630) and a single-arm track crane (640); two track crane gantry legs (610) are provided, and the bottoms of the two track crane gantry legs (610) are respectively matched with two adjacent track-supporting beams; the tops of the two track crane gantry legs (610) jointly support the track crane gantry (620); the gantry car (630) is slidably provided in the track crane gantry (620); and the single-arm track crane (640) capable of grabbing a container is provided on the gantry car (630).

4. The automated container yard according to claim 3, characterized in that: The cross-sections of the straight section (400), the outer arc-shaped turning section (510), and the inner arc-shaped turning section (520) are all T-shaped structures (401). The bottom of the rail hanging door leg (610) is provided with a guide cavity (611) capable of accommodating the T-shaped structure (401). Long stator iron core armature windings (40) are respectively provided on both sides of the bottom surface of the wing plate of the T-shaped structure (401). The bottom surface of the guide cavity (611) is provided with suspension and propulsion coils (30) corresponding to the long stator iron core armature windings (40).

5. The automated container yard according to claim 4, characterized in that: An attraction anti-overturning coil (70) is provided inside the track hanging door leg (610), and the attraction anti-overturning coil (70) is located above the T-shaped structure (401).

6. The automated container yard according to claim 4, characterized in that: Guide and brake tracks (60) are respectively provided on both sides of the wing plate of the T-shaped structure (401), and guide and brake coils (50) corresponding to the guide and brake tracks (60) are provided on the side walls of the guide cavity (611).

7. The automated container yard according to claim 1, characterized in that: The seaside interactive area (100) is also provided with an AGV high-speed lane (120).

8. The automated container yard according to claim 2, characterized in that: The land-side interactive area (200) is also provided with a container truck express lane (220).

9. The interactive method for an automated container yard according to any one of claims 1 to 8, characterized in that: When unloading and collecting containers in the sea side interactive area (100), the following steps are included: S1. The container on the ship is unloaded onto the AGV (10), and the AGV (10) directly turns into the AGV interactive lane (110) covered by the overhead magnetic levitation track crane (600); S2, the overhead magnetic levitation track crane (600) grabs the container from the AGV (10) through electromagnetic levitation technology and lifts it to the container storage area (300) for storage; S3. The AGV (10) that has completed the interaction directly enters the AGV high-speed lane (120) and leaves.

10. The interactive method of the automated container yard according to claim 9, characterized in that: When the box delivery operation is carried out in the land-side interactive area (200), the following steps are included: S1, after entering the wharf gate, the container truck (20) directly enters the container truck interactive lane (210) covered by the overhead magnetic levitation track crane (600); S2, the nearby elevated magnetic levitation rail crane (600) uses electromagnetic levitation technology to grab the container in the container storage area (300) and lift it onto the container truck (20); S3. The container truck (20) that has completed the interaction directly enters the container truck express lane (220) and leaves.

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