Automatic container yard operation system and operation method thereof

Abstract

The invention discloses an automatic container yard operation system and an operation method thereof, a three-dimensional yard composed of a plurality of three-dimensional sub-yards is designed, each three-dimensional sub-yard is composed of two rows of container units, and each row of container units is of a three-dimensional structure composed of a plurality of container cells. A lifting appliance shuttling roadway is arranged between every two adjacent three-dimensional sub-storage yards; elevated rails are arranged above the three-dimensional sub-storage yards on the two sides of each three-dimensional storage yard, elevated double-cantilever rails are hung on the elevated rails, and the double-cantilever structures can enable the lifting appliances to work in the lifting appliance shuttle roadways; the lifting appliance is provided with a telescopic mechanism, so that the lifting appliance can exchange containers with the container cells on the two sides of the lifting appliance shuttling roadway; the container is stored in the vertical space, and the limited port area is utilized to the maximum extent; and the telescopic lifting appliance directly interacts with the container cells through actions such as ascending, descending, stretching and retracting, so that the influence of turnover of the container on the operation efficiency is eliminated while the operation efficiency is improved.

Description

Technical Field

[0001] This invention belongs to the field of automated container terminal technology, specifically, it relates to an automated container yard operation system and its operation method. Background Technology

[0002] Container terminals are hubs for realizing sea and land logistics transportation. Automated yards are becoming a development trend due to their significant advantages such as high safety and reliability, high operational efficiency, high site utilization, environmental friendliness, and low labor costs. Invention Overview Technical issues

[0003] However, with the increasing size of ships, there is an urgent need to improve the loading and unloading efficiency of ports. Technical solutions

[0004] The purpose of this invention is to provide an automated container yard operation system and its operation method. The three-dimensional yard utilizes vertical space for container storage, making the most of the limited port area. The telescopic spreader interacts directly with the container cells through actions such as raising, lowering, extending, and retracting, improving operational efficiency while eliminating the impact of container tipping on operational efficiency.

[0005] The present invention is implemented using the following technical solutions:

[0006] An automated container yard operation system is proposed, comprising:

[0007] The three-dimensional storage yard is arranged perpendicular to the wharf shoreline and consists of multiple three-dimensional sub-storage yards; a hoisting shuttle roadway is arranged between two adjacent three-dimensional sub-storage yards; and an elevated track is installed on the top of the three-dimensional sub-storage yards on both sides.

[0008] The elevated double-cantilever rail-mounted crane is installed on an elevated rail at the top of the three-dimensional container yard and consists of a trolley, a carriage, and a telescopic spreader. The trolley is mounted on the elevated rail based on a traveling mechanism, the carriage is mounted on the trolley based on a traveling mechanism, and the telescopic spreader is connected to the carriage via a telescopic column and is raised or lowered based on a steel wire rope. The telescopic spreader has a telescopic mechanism in a direction parallel to the ground to enable interaction with container cells.

[0009] The seaside interaction zone is located on the seaside of the three-dimensional storage yard and is divided into multiple seaside AGV interaction lanes.

[0010] The landside interaction zone is located on the landside of the three-dimensional storage yard, dividing it into multiple landside truck interaction lanes.

[0011] In some embodiments of the present invention, the telescopic lifting device includes:

[0012] The lifting device has a clamping cylinder fixed at its top for holding a telescopic column; the wire rope is connected around its top.

[0013] The spreader size-changing telescopic beam is fixed at both ends of the spreader body and is used to adapt to different container sizes by extending and retracting.

[0014] In some embodiments of the present invention, the telescopic mechanism includes:

[0015] The primary suspension beam consists of a portal frame, a left track, and a right track. The left track and the right track are respectively vertically fixed to the inner side of the left wall and the inner side of the right wall of the portal frame.

[0016] The primary telescopic beam consists of a primary traveling beam and a secondary lifting beam. The primary traveling beam is connected to the top of the secondary lifting beam, and traveling wheels are arranged on both sides of the primary traveling beam. The primary traveling beam is inserted into the primary lifting beam, so that its two traveling wheels rest on the left and right tracks of the primary lifting beam.

[0017] The secondary telescopic beam consists of a secondary traveling beam and traveling wheels arranged on both sides of it; the secondary traveling beam is inserted into the secondary lifting beam, so that the traveling wheels on both sides rest on the left and right tracks of the secondary lifting beam;

[0018] The lifting device lock head is connected to the bottom of the secondary telescopic beam.

[0019] In some embodiments of the present invention, the system further includes:

[0020] The side working lane is located below the cantilever of the elevated double cantilever rail gantry crane, allowing AGVs to interact with the elevated double cantilever rail gantry crane to exchange containers.

[0021] In some embodiments of the present invention, the lifting device lock head is connected to the bottom of the secondary telescopic beam by a chain.

[0022] In some embodiments of the present invention, each three-dimensional sub-yard consists of two rows of container units; each row of container units is formed by a frame structure into N rows and M columns of container cells.

[0023] A loading and unloading method for the ship end of an automated container yard operation system is proposed, which is applied to the automated container yard operation system described above, including:

[0024] Loading operations include:

[0025] The elevated double cantilever rail crane moves to the target container cell position, and the trolley moves to the top of the spreader shuttle aisle;

[0026] The telescopic spreader descends to the side of the target container cell, and the telescopic mechanism extends into the target container cell to grab the container.

[0027] The telescopic mechanism retracts the box, and the telescopic lifting device rises;

[0028] The elevated double-cantilever rail-mounted crane moves to the seaside interaction area to interact with AGVs and exchange containers.

[0029] AGVs operate under quay cranes and interact with containers on the quay cranes.

[0030] Unloading operations include:

[0031] After the AGV interacts with the quay crane to exchange containers, it moves the containers to the sea-side interaction area of ​​the automated storage and retrieval system.

[0032] The elevated double-cantilever rail-mounted crane moves to the seaside interaction zone to interact with the AGV and grab containers;

[0033] The elevated double cantilever rail-mounted grabber moves to the target container cell position, and the trolley moves above the spreader shuttle aisle;

[0034] The telescopic spreader descends to the side of the target container cell, and the telescopic mechanism extends into the target container cell to place the container.

[0035] The telescopic mechanism retracts, and the telescopic spreader rises back to its initial position.

[0036] A loading and unloading method for shipside operations in an automated container yard operation system is proposed, which is applied to the automated container yard operation system described above, including:

[0037] Loading operations include:

[0038] The elevated double-cantilever rail-mounted gantry crane moves to the target container cell position; and the AGV along the edge operation lane moves to the target container cell position.

[0039] The trolley moves to the top of the spreader shuttle aisle, the telescopic spreader descends to the side of the target container cell, and the telescopic mechanism extends into the container cell to grab the container;

[0040] The telescopic mechanism retracts the container, and the telescopic spreader interacts with the AGV to retrieve the container.

[0041] The AGV operates along the edge of the storage yard and runs to the quay crane to exchange containers with the quay crane.

[0042] Unloading operations include:

[0043] After the AGV interacts with the quay crane, it moves with the container to the side operation lane of the automated storage and retrieval system, and then moves along the side operation lane to the target container cell position.

[0044] The elevated double cantilever rail crane moves to the target container cell position, and the trolley moves to the top of the spreader shuttle aisle;

[0045] After the telescopic spreader descends to grab the container from the AGV, it rises to the side of the target container cell, and the telescopic mechanism extends into the container cell to place the container.

[0046] The telescopic mechanism retracts, and the telescopic spreader rises back to its initial position.

[0047] AGVs operate along the edge of the storage yard or execute other work instructions.

[0048] A port handling method for an automated container yard operation system is proposed, applied to the automated container yard operation system described above, including:

[0049] Port collection operations include:

[0050] The container truck moves to the landside interaction area of ​​the automated storage and retrieval system;

[0051] The elevated double-cantilever rail-mounted crane moves to the landside interaction area to exchange containers with trucks;

[0052] The elevated double cantilever rail-mounted grabber moves to the target container cell position, and the trolley moves above the spreader shuttle aisle;

[0053] The telescopic spreader descends to the side of the target container cell, and the telescopic mechanism extends into the target container cell to place the container.

[0054] The telescopic mechanism retracts, and the telescopic spreader rises back to its initial position.

[0055] The container trucks leave the site empty or perform other port clearance operations;

[0056] Port clearance operations include:

[0057] The container trucks traveled unloaded to the landside interaction area of ​​the automated storage and retrieval yard;

[0058] The elevated double cantilever rail crane moves to the target container cell position, and the trolley moves to the top of the spreader shuttle aisle;

[0059] The telescopic spreader descends to the side of the target container cell, and the telescopic mechanism extends into the target container cell to grab the container.

[0060] The telescopic mechanism retracts the box, and the telescopic lifting device rises;

[0061] The elevated double-cantilever rail-mounted crane moves to the landside interaction area to exchange containers with trucks;

[0062] The container truck departs from the site.

[0063] A container handling method for an automated container yard operation system is proposed, applied to the automated container yard operation system described above, including:

[0064] The elevated double cantilever rail crane moves to the side of the container cell to be unloaded, and the trolley moves to the top of the spreader shuttle aisle;

[0065] The telescopic spreader descends to the side of the container cell before unloading, and the telescopic mechanism extends into it to grab the container.

[0066] The telescopic mechanism retracts the box;

[0067] If the container cells after unloading are on both sides of the same spreader shuttle aisle, the overhead double cantilever track runs to the position of the container cells after unloading, the telescopic spreader rises or falls to the side of the container cells after unloading, and the telescopic mechanism extends into the container cells after unloading to release the container.

[0068] If the container cells after unloading are not on both sides of the same spreader shuttle aisle, after the telescopic spreader rises to the initial position, the trolley moves to the area above the spreader shuttle aisle where the container cell after unloading is located, the overhead double cantilever rail crane moves to the position of the container cell after unloading, the telescopic spreader descends to the side of the container cell after unloading, and the telescopic mechanism extends into the container cell after unloading to release the container. Beneficial effects

[0069] (1) 3D container yards utilize vertical space for container storage, making the most of the limited port area.

[0070] (2) The elevated double cantilever rail hoist is installed above the three-dimensional storage yard and does not occupy the storage yard area.

[0071] (3) Spreader shuttle aisles are set up between the sub-yards of the three-dimensional yard. The telescopic spreaders can interact directly with the container cells on both sides of the spreader shuttle aisles by rising, falling, extending and retracting, which can significantly improve the efficiency of yard operations.

[0072] (4) The side operation lane is located inside the yard and is physically separated from the landside trucks, separating internal and external operations to meet the needs of direct loading and unloading operations, and avoiding problems such as intersection of driving paths and avoidance between equipment caused by the mixing of manned and unmanned equipment. In addition, the side operation lane can reduce the travel distance of the elevated double cantilever rail crane and reduce the high energy consumption caused by the rail crane shuttling back and forth over a wide range.

[0073] (5) With the structure of three-dimensional storage yard + elevated double cantilever rail crane + spreader shuttle through the aisle, container overturning operation is more direct and efficient.

[0074] (6) The telescopic column limits the swaying of the telescopic spreader during extension and retraction, and prevents the container from tipping over when picking up or putting down the container.

[0075] (7) The spreader lock head is connected to the bottom of the secondary telescopic beam by a chain. This design gives the lifting point a certain degree of freedom in the rigid connection between the spreader and the telescopic column, and can enter the container lock hole more quickly.

[0076] Other features and advantages of the present invention will become clearer after reading the detailed description of the embodiments of the present invention in conjunction with the accompanying drawings. Attached Figure Description

[0077] The accompanying drawings, as part of this invention, are provided to further illustrate the invention. The illustrative embodiments and descriptions are used to explain the invention but do not constitute an undue limitation thereof. Clearly, the drawings described below are merely some embodiments; those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0078] Figure 1 This is a three-dimensional structural diagram (seaside direction) of the automated container yard operation system proposed in this invention;

[0079] Figure 2 This is a three-dimensional structural diagram (landside direction) of the automated container yard operation system proposed in this invention;

[0080] Figure 3 This is a top view schematic diagram of the automated container yard operation system proposed in this invention;

[0081] Figure 4 This is a side view schematic diagram of the automated container yard operation system proposed in this invention;

[0082] Figure 5 This is a schematic diagram of the structure of the elevated double cantilever rail crane in an embodiment of the present invention;

[0083] Figure 6 This is a schematic diagram of the telescopic lifting device in an embodiment of the present invention;

[0084] Figure 7 This is a schematic diagram of the interaction between the telescopic spreader and the container unit in an embodiment of the present invention;

[0085] Figure 8 This is a schematic diagram (landside direction) of the interaction between the telescopic spreader and the container cell in an embodiment of the present invention;

[0086] Attached reference numerals: 1. Automated storage yard; 11. Automated sub-storage yard; 2. Spreader shuttle roadway; 3. Overhead rail; 4. Overhead double cantilever rail crane; 51. Trolley; 52. Auxiliary trolley; 6. Telescopic spreader; 61. Telescopic column; 62. Wire rope; 63. Telescopic mechanism; 631. Primary lifting beam; 6321. Primary traveling beam; 6322. Secondary lifting beam; 6331. Secondary traveling beam; 634. Spreader lock head; 635. Traveling wheel; 636. Chain; 64. Clamping cylinder; 65. Spreader size changing telescopic beam; 7. Seaside AGV interactive lane; 8. Landside truck interactive lane; 9. Side operation lane; 101. AGV; 102. Truck; 103. Container cell.

[0087] It should be noted that these accompanying drawings and textual descriptions are not intended to limit the scope of the invention in any way, but rather to illustrate the concept of the invention to those skilled in the art by referring to specific embodiments. The best embodiment of the present invention

[0088] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings. The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0089] In the description of this invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0090] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or a connection indirectly through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0091] like Figures 1 to 8 As shown, the automated container yard operation system of this implementation includes:

[0092] The automated container yard 1, arranged perpendicular to the quayline, consists of multiple automated sub-yards 11. Each automated sub-yard 11 comprises two rows of container units. Each row of container units forms an N-row, M-column container cell matrix perpendicular to the ground using a frame structure. Each container cell 103 stores one container. Between adjacent automated sub-yards 11, a spreader shuttle aisle 2 is provided for the telescopic spreader 6 to operate. The telescopic spreader 6 picks up containers from or places containers into container cells within the spreader shuttle aisle 2. In this invention, each automated sub-yard 11 consists of only two rows of container units, and the spreader shuttle aisles 2 are arranged between each pair of automated sub-yards 11. This allows the telescopic spreader 6 to interact with a row of container units in its left-hand automated sub-yard and a row of container units in its right-hand automated sub-yard within the spreader shuttle aisle 2. This structure allows the telescopic spreader 6 to interact with every row of container units in the yard, achieving full operational coverage.

[0093] Elevated tracks 3 for the movement of overhead double-cantilever rail-mounted cranes 4 are installed on top of the sub-parks 11 on both sides of a multi-level storage yard 1. The overhead double-cantilever rail-mounted cranes 4, positioned on the elevated tracks 3 at the top of the multi-level storage yard 1, consist of a main trolley 51, a trolley 52, and a telescopic spreader 6. The main trolley 51, based on its traveling mechanism, is mounted on the elevated tracks 3 and, driven by a drive mechanism, moves along the elevated tracks 3 in a direction perpendicular to the quay wall. The trolley 52, based on its traveling mechanism, is mounted on the main trolley 51 and, driven by a drive mechanism, moves along the main trolley 51 in a direction parallel to the quay wall, covering the entire multi-level storage yard 1, including all sub-parks 11.

[0094] A seaside interaction zone is set up on the sea side of the automated storage and retrieval yard 1, which is divided into multiple seaside AGV interaction lanes 7. A landside interaction zone is set up on the land side of the automated storage and retrieval yard 1, which is divided into multiple landside truck interaction lanes 8. A side operation lane 9 is set up in the spreader shuttle aisle 2, which is located below the cantilever of the double cantilever rail-mounted gantry crane 4, for AGVs to interact with the elevated double cantilever rail-mounted gantry crane 4 to exchange containers. The elevated rail-mounted gantry crane 3 extends from both ends of the automated sub-yard 11 to the seaside interaction zone and the landside interaction zone, so that the elevated double cantilever rail-mounted gantry crane 4 can operate to the interaction zone to interact with AGVs and trucks.

[0095] The telescopic spreader 6 is connected to the trolley 52 via a telescopic column 61 and is raised or lowered based on a wire rope 62. Simultaneously with the raising or lowering of the telescopic spreader 6, the telescopic column 61 shortens or extends to prevent horizontal displacement or swaying of the telescopic spreader 6. Furthermore, the telescopic spreader 6 has a telescopic mechanism 63 in a direction parallel to the ground, allowing interaction with container cells via extension or retraction. The telescopic column 61, consisting of a retractable structural body and its telescopic drive mechanism, is readily achievable with existing technology and is not a part limited by this invention.

[0096] The telescopic spreader 6 consists of a spreader body and a spreader size-changing telescopic beam 65. The spreader size-changing telescopic beam 65 is fixed to both ends of the spreader body and is used to adapt to containers of different sizes by telescopic extension. A clamping cylinder 64 for clamping the telescopic column 61 is fixed to the top of the spreader body, and the wire rope 62 is connected around the top of the spreader body based on the existing telescopic drive structure.

[0097] The telescopic mechanism 63 is connected to the two opposite ends of the lifting device size-changing telescopic beam 65, and consists of a primary lifting beam 631, a primary telescopic beam, and a secondary telescopic beam. The primary lifting beam 631 consists of a portal frame, a left track, and a right track, wherein the left track and the right track are respectively vertically fixed to the inner side of the left wall and the inner side of the right wall of the portal frame; the primary telescopic beam consists of a primary traveling beam 6321 and a secondary lifting beam 6322, with the primary traveling beam 6321 connected to the top of the secondary lifting beam 6322, and traveling wheels 635 arranged on both sides of the primary traveling beam 6321; the primary traveling beam 6321 is inserted into the primary lifting beam 631, so that its two traveling wheels 635 rest on the left and right tracks of the primary lifting beam 631. The secondary telescopic beam consists of a secondary traveling beam 6331 and traveling wheels 635 arranged on both sides of it; the secondary traveling beam 6331 is inserted into the secondary lifting beam 6322, so that the traveling wheels 635 on both sides of it rest on the left and right tracks of the secondary lifting beam 6322; the lifting device lock head 634 is connected to the bottom of the secondary telescopic beam through a chain 636.

[0098] Based on the structure of the telescopic spreader 6, when it is necessary to retrieve a container from a container cell, the trolley 51 travels along the elevated track 3 to the location of the target container cell and stops. During this time, the trolley 52 moves towards the spreader shuttle aisle 2 where the target container cell is located and stops above it. The telescopic spreader 6 descends to the side of the target container cell, and the primary and secondary telescopic beams extend into the target container cell so that the spreader lock head 634 aligns with the container lock hole on the top of the container to retrieve the container. Afterward, the primary and secondary telescopic beams retract. When the container moves to the spreader shuttle aisle 2, the telescopic spreader 6 rises to its highest point, and the trolley 51 moves towards the seaside or landside interaction zone. During this time, the trolley 52 moves towards A The GV or container truck runs in the direction of the interactive lane. When it is necessary to place a container into the container cell, the trolley 51 travels along the elevated track 3 to the location of the target container cell and stops. During this time, the trolley 52 moves to the spreader shuttle lane 2 where the target container cell is located and stops above it. The telescopic spreader 6 descends to the side of the target container cell, and the primary and secondary telescopic beams extend into the target container cell to place the container into the container cell. After that, the spreader lock head 634 exits from the container lock hole, the primary and secondary telescopic beams retract, the telescopic spreader 6 rises to the highest point, and the trolley 51 moves to the next working position. During this time, the trolley 52 can move and align with the next working position.

[0099] As mentioned above, the telescopic beams 65, the primary telescopic beam, and the secondary telescopic beam of the telescopic spreader 6 all change according to the container size.

[0100] The specific operating methods of the automated container yard operation system of the present invention will be described in detail below.

[0101] 1. Loading and unloading operations at the ship's end.

[0102] Loading operations:

[0103] (1) The elevated double cantilever rail crane 4 moves to the target container cell position, while the trolley 52 moves above the lifting device shuttle aisle 2 where the container to be loaded is located.

[0104] (2) The telescopic spreader 6 descends to the side of the target container cell, and the telescopic mechanism 63 extends into the target container cell to grab the container.

[0105] (3) After the telescopic mechanism 63 retracts with the box, the telescopic lifting device 6 rises to the highest point.

[0106] (4) The elevated double cantilever rail crane 4 runs to the seaside interaction area, the trolley 52 runs to the AGV interaction lane where the AGV is parked, and the telescopic spreader 6 descends and drops the box to the AGV.

[0107] (5) AGV container transport and interaction with the quay crane under the quay crane.

[0108] Unloading operations:

[0109] (1) After the AGV interacts with the quay crane to exchange containers, it runs with the containers to the seaside interaction area of ​​the three-dimensional storage yard 1 and stops in the designated AGV interaction lane.

[0110] (2) The elevated double cantilever rail crane 4 runs to the seaside interaction area, the trolley 52 runs to the designated AGV interaction lane, and the telescopic spreader descends to interact with the AGV to grab the container.

[0111] (3) The elevated double cantilever rail crane 4 grabs the container and moves to the target container cell position, and the trolley 52 moves to the top of the lifting shuttle lane 2 where the target container cell is located.

[0112] (4) The telescopic spreader 6 descends to the side of the target container cell, and the telescopic mechanism 63 extends into the target container cell to place the container.

[0113] (5) After the telescopic mechanism 63 retracts, the telescopic lifting device 6 rises back to the initial position, that is, the highest position.

[0114] 2. Loading and unloading methods at the ship's side.

[0115] Loading operations:

[0116] (1) The elevated double cantilever rail crane 4 runs to the target container cell position, during which the trolley 52 runs above the spreader shuttle aisle 2 where the target container cell is located; and the AGV side operation lane 9 runs to the target container cell position.

[0117] (2) The telescopic spreader 6 descends to the side of the target container cell, and the telescopic mechanism 63 extends into the container cell to grab the container.

[0118] (3) The telescopic mechanism 63 retracts the box, and the telescopic lifting device 6 descends and interacts with the AGV to drop the box.

[0119] (4) The AGV container-carrying lane 9 leaves the yard and runs to the quay crane to exchange containers with the quay crane.

[0120] Unloading operations:

[0121] (1) After the AGV interacts with the quay crane to exchange containers, it runs with the container to the side operation lane 9 of the three-dimensional storage yard 1, and runs along the side operation lane 9 to the target container cell position.

[0122] (2) The elevated double cantilever rail crane 4 runs to the target container cell position, during which the trolley 52 runs above the spreader shuttle lane 2.

[0123] (3) The telescopic spreader 6 descends to grab the container from the AGV and then rises to the side of the target container cell. The telescopic mechanism 63 extends into the container cell to place the container.

[0124] (4) The telescopic mechanism 63 retracts and the telescopic lifting device 6 rises back to the highest position.

[0125] (5) AGVs operate along the edge of the yard or execute other operation instructions.

[0126] 3. Port collection and distribution operation methods.

[0127] Port operations:

[0128] (1) The container truck runs to the designated container truck interaction lane in the landside interaction area of ​​the three-dimensional storage yard 1.

[0129] (2) The elevated double cantilever rail crane 4 runs to the landside interaction area, and the trolley 52 runs to the designated truck interaction lane to interact with the truck container.

[0130] (3) After the telescopic spreader 6 descends from the container truck to grab the container, the overhead double cantilever rail crane 4 runs to the target container cell position, and the trolley 52 runs above the spreader shuttle aisle 2 where the target container cell is located.

[0131] (4) The telescopic spreader 6 descends to the side of the target container cell, and the telescopic mechanism 63 extends into the target container cell to place the container.

[0132] (5) The telescopic mechanism 63 retracts and the telescopic lifting device 6 rises back to its initial position.

[0133] (6) The container truck leaves the site empty or performs other port clearance operations.

[0134] Port clearance operations:

[0135] (1) The truck runs unloaded to the designated truck interaction lane in the landside interaction area of ​​the three-dimensional storage yard 1.

[0136] (2) The elevated double cantilever rail crane 4 runs to the target container cell position, and the trolley 52 runs above the lifting device shuttle aisle 2 where the target container cell is located.

[0137] (3) The telescopic spreader 6 descends to the side of the target container cell, and the telescopic mechanism 63 extends into the target container cell to grab the container.

[0138] (4) The telescopic mechanism 63 retracts with the box, and the telescopic lifting device 6 rises.

[0139] (5) The elevated double cantilever rail crane 4 runs to the designated truck interchange lane in the landside interaction zone and interchanges the trucks with containers;

[0140] (6) The container truck leaves the site.

[0141] 4. Box turning operation method.

[0142] (1) The elevated double cantilever rail crane 4 runs to the side of the container cell to be unloaded, and the trolley 52 runs to the top of the lifting device shuttle aisle 2 where the container cell to be unloaded is located.

[0143] (2) The telescopic spreader 6 descends to the side of the container cell before unloading, and the telescopic mechanism 63 extends into it to grab the container.

[0144] (3) The telescopic mechanism 63 retracts with the container and performs different operations depending on the position of the container cell after unloading:

[0145] If the container cell after unloading and the container cell to be unloaded are on opposite sides of the same spreader shuttle aisle 2, the overhead double cantilever track 4 will run to the position of the container cell after unloading, the telescopic spreader 6 will rise or fall to the side of the container cell after unloading, and the telescopic mechanism 63 will extend into the container cell after unloading to release the container.

[0146] If the container cell after unloading and the container cell to be unloaded are not on opposite sides of the same spreader shuttle aisle 2, after the telescopic spreader 6 rises to the initial position, the trolley 52 moves to the top of the spreader shuttle aisle 2 where the container cell after unloading is located, the overhead double cantilever rail crane 4 moves to the position of the container cell after unloading, the telescopic spreader 6 descends to the side of the container cell after unloading, and the telescopic mechanism 63 extends into the container cell after unloading to place the container.

[0147] During the above operations, the initial position of the telescopic spreader, which is also its standard resting position during non-operation periods, is, in this embodiment, the highest position that can be lifted, so that it is located at the top of the three-dimensional storage yard and avoids collisions with other operating equipment.

[0148] It should be noted that the above description is not intended to limit the present invention, and the present invention is not limited to the examples given above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. An automated container yard operation system, characterized in that, include: The three-dimensional storage yard (1) is arranged perpendicular to the wharf shoreline and consists of multiple three-dimensional sub-storage yards (11); a hoisting shuttle roadway (2) is arranged between two adjacent three-dimensional sub-storage yards; and an elevated track (3) is provided on the top of the three-dimensional sub-storage yards on both sides. The elevated double cantilever rail crane (4) is installed on the elevated rail (3) at the top of the three-dimensional storage yard and consists of a trolley (51), a trolley (52) and a telescopic spreader (6). The trolley (51) is set in the elevated rail (3) based on the traveling mechanism, the trolley (52) is set on the trolley (51) based on the traveling mechanism, and the telescopic spreader (6) is connected to the trolley (52) through a telescopic column (61) and is lifted or lowered based on the wire rope (62). The telescopic spreader (61) has a telescopic mechanism (63) in the direction parallel to the ground to realize the interaction of containers with the container cells. The seaside interaction zone is located on the seaside of the three-dimensional storage yard (1), and is divided into multiple seaside AGV interaction lanes (7). The landside interaction zone is located on the landside of the three-dimensional storage yard (1), dividing it into multiple landside truck interaction lanes (8).

2. The automated container yard operation system according to claim 1, characterized in that, The telescopic lifting device (6) includes: The lifting device has a clamping cylinder (64) fixed at its top to hold the telescopic column (61); the wire rope (62) is connected around its top. The spreader size conversion telescopic beam (65) is fixed at both ends of the spreader body and is used to adapt to different container sizes by telescopic expansion.

3. The automated container yard operation system according to claim 2, characterized in that, The telescopic mechanism (63) includes: The first-level suspension beam (631) consists of a portal frame, a left track and a right track, wherein the left track and the right track are respectively vertically fixed to the inner side of the left wall and the inner side of the right wall of the portal frame; The primary telescopic beam consists of a primary traveling beam (6321) and a secondary lifting beam (6322). The primary traveling beam (6321) is connected to the top of the secondary lifting beam (6322), and traveling wheels (635) are arranged on both sides of the primary traveling beam (6321). The primary traveling beam (6321) is inserted into the primary lifting beam (631), so that the traveling wheels (635) on both sides rest on the left and right tracks of the primary lifting beam (631). The secondary telescopic beam consists of a secondary traveling beam (6331) and traveling wheels (635) arranged on both sides thereon; the secondary traveling beam (6331) is inserted into the secondary lifting beam (6322) so that the traveling wheels (635) on both sides of it rest on the left and right tracks of the secondary lifting beam (6322); The lifting device lock head (634) is connected to the bottom of the secondary telescopic beam.

4. The automated container yard operation system according to claim 1, characterized in that, The system also includes: The side operation lane (9) is set under the cantilever of the elevated double cantilever rail gantry crane (4) to allow AGVs to interact with the elevated double cantilever rail gantry crane (4) for containers.

5. The automated container yard operation system according to claim 3, characterized in that, The lifting device lock head is connected to the bottom of the secondary telescopic beam via a chain (636).

6. The automated container yard operation system according to claim 1, characterized in that, Each three-dimensional sub-yard (11) consists of two rows of container units; each row of container units is formed by a frame structure with N rows and M columns of container cells.

7. A method for loading and unloading operations at the ship end of an automated container yard operation system, applied to the automated container yard operation system as described in any one of claims 1-6, characterized in that, include; Loading operations include: The elevated double cantilever rail crane (4) moves to the target container cell position, and the trolley (52) moves above the spreader shuttle aisle (2); The telescopic spreader (6) descends to the side of the target container cell, and the telescopic mechanism (63) extends into the target container cell to grab the container; The telescopic mechanism (63) retracts with the box, and the telescopic lifting device (6) rises; The elevated double cantilever rail gantry crane (4) runs to the seaside interaction area to interact with the AGV and exchange containers; AGVs operate under quay cranes and interact with containers on the quay cranes. Unloading operations include: After the AGV interacts with the quay crane to exchange containers, it moves with the containers to the seaside interaction area of ​​the three-dimensional storage yard (1); The elevated double cantilever rail gantry crane (4) runs to the seaside interaction zone to interact with the AGV and grab containers; The elevated double cantilever rail crane (4) grabs the container and moves to the target container cell position, while the trolley (52) moves above the spreader shuttle aisle (2); The telescopic spreader (6) descends to the side of the target container cell, and the telescopic mechanism (63) extends into the target container cell to place the container; The telescopic mechanism (63) retracts, and the telescopic lifting device (6) rises back to its initial position.

8. A method for loading and unloading operations at the ship's side in an automated container yard operation system, applied to the automated container yard operation system as described in claim 4, characterized in that, include; Loading operations include: The elevated double cantilever rail gantry (4) moves to the target container cell position; and the AGV side-operation lane (9) moves to the target container cell position; The trolley (52) moves to the top of the spreader shuttle aisle (2), the telescopic spreader (6) descends to the side of the target container cell, and the telescopic mechanism (63) extends into the container cell to grab the container; The telescopic mechanism (63) retracts with the container, and the telescopic spreader (6) interacts with the AGV to retrieve the container; The AGV along the edge operation lane (9) leaves the yard and runs to the quay crane to exchange containers with the quay crane; Unloading operations include: After the AGV interacts with the quay crane to exchange containers, it moves with the container to the side operation lane (9) of the three-dimensional storage yard (1) and moves along the side operation lane (9) to the target container cell position; The elevated double cantilever rail crane (4) moves to the target container cell position, and the trolley (52) moves above the spreader shuttle aisle (2); The telescopic spreader (6) descends to grab the container from the AGV and then rises to the side of the target container cell. The telescopic mechanism (63) extends into the container cell to place the container. The telescopic mechanism (63) retracts, and the telescopic lifting device (6) rises back to its initial position; The AGV operates along the edge of the yard (9) to leave the yard or execute other operating instructions.

9. A method for handling the collection and distribution of containers in an automated container yard operation system, applied to the automated container yard operation system as described in any one of claims 1-6, characterized in that, include: Port collection operations include: The container truck moves to the landside interaction zone of the three-dimensional storage yard (1); The elevated double cantilever rail gantry (4) moves to the landside interaction zone to interact with the container trucks; The elevated double cantilever rail crane (4) grabs the container and moves to the target container cell position, while the trolley (52) moves above the spreader shuttle aisle (2); The telescopic spreader (6) descends to the side of the target container cell, and the telescopic mechanism (63) extends into the target container cell to place the container; The telescopic mechanism (63) retracts, and the telescopic lifting device (6) rises back to its initial position; The container trucks leave the site empty or perform other port clearance operations; Port clearance operations include: The trucks traveled unloaded to the landside interaction zone of the three-dimensional storage yard (1); The elevated double cantilever rail crane (4) moves to the target container cell position, and the trolley (52) moves above the spreader shuttle aisle (2); The telescopic spreader (6) descends to the side of the target container cell, and the telescopic mechanism (63) extends into the target container cell to grab the container; The telescopic mechanism (63) retracts with the box, and the telescopic lifting device (6) rises; The elevated double cantilever rail gantry (4) moves to the landside interaction zone to interact with the container trucks; The container truck departs from the site.

10. A container handling method for an automated container yard operation system, applied to the automated container yard operation system as described in any one of claims 1-6, characterized in that, include: The elevated double cantilever rail crane (4) moves to the side of the container cell to be unloaded, and the trolley (52) moves to the top of the spreader shuttle aisle (2); The telescopic spreader (6) descends to the side of the container cell before unloading, and the telescopic mechanism (63) extends into it to grab the container; Telescopic mechanism (63) retracts with the box; If the container cells after unpacking are on both sides of the same spreader shuttle aisle (2), the overhead double cantilever track (4) runs to the position of the container cells after unpacking, the telescopic spreader (6) rises or falls to the side of the container cells after unpacking, and the telescopic mechanism (63) extends into the container cells after unpacking to release the container; If the container cells after unloading are not on both sides of the same spreader shuttle aisle (2), after the telescopic spreader (6) rises to the initial position, the trolley (52) moves to the top of the spreader shuttle aisle (2) where the container cells after unloading are located, the overhead double cantilever rail crane (4) moves to the position of the container cells after unloading, the telescopic spreader (6) descends to the side of the container cells after unloading, and the telescopic mechanism (63) extends into the container cells after unloading to release the container.

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