阅读说明：本技术 顺岸式全自动化集装箱码头装卸系统及其装卸工艺 (Off-shore full-automatic container wharf loading and unloading system and loading and unloading process thereof ) 是由 褚斌 焦广军 杨杰敏 杨荣 高延辉 陈培 张凯 武彬 刘喜旺 柴浩 孔席超 冯 于 2021-10-08 设计创作，主要内容包括：本发明涉及港口技术领域,特别是一种顺岸式全自动化集装箱码头装卸系统,包括(1)码头作业泊位：采用满堂式布置,呈一字型在码头岸线布置多个泊位；(2)码头前沿作业区：界于所述集装箱作业泊位与集装箱自动化堆场之间,(3)集装箱自动化堆场区：平行且紧邻码头前沿作业区设置,由若干个平行于码头岸线布置的堆场以及若干平行于堆场方向布置的自动化轨道吊组成；(4)堆场后方设施：在集装箱自动化堆场后方布置码头进出港闸口、场内停车场、辅建区等辅助设施。上述方法有利于提升港区交通组织和生产运营效率,提高港区装卸系统的智能化水平。(The invention relates to the technical field of ports, in particular to a shore-following type full-automatic container terminal loading and unloading system, which comprises (1) a terminal operation berth: the method is characterized in that the method adopts full-hall type arrangement, and a plurality of berths are arranged on a wharf shoreline in a straight line shape; (2) wharf frontage operation area: between the container operation berth and the container automation storage yard, (3) the container automation storage yard area: the automatic rail crane is arranged in parallel and close to the wharf frontage operation area and consists of a plurality of storage yards arranged in parallel with the wharf shoreline and a plurality of automatic rail cranes arranged in parallel with the storage yard direction; (4) facilities behind the yard: and auxiliary facilities such as wharf port entrance and exit gates, parking lots in the yard, auxiliary construction areas and the like are arranged behind the container automation yard. The method is beneficial to improving the efficiency of port traffic organization and production operation and improving the intelligent level of a port handling system.)

1. The utility model provides a full automatization container terminal handling system of same bank formula which characterized in that: the system comprises container shore bridge equipment, an operation lane area between two rails of a shore bridge, an operation area from a land side rail of the shore bridge to a storage yard, an automatic container stacking area, a storage yard operation lane area and facilities behind the storage yard;

the system comprises a quay crane, an artificial intelligent transport robot system, a container loading and unloading robot, a container unloading and loading robot, a container loading and unloading robot loading and unloading the container loading and unloading robot loading and unloading the container loading and unloading robot loading and unloading the container loading and unloading robot;

the operation lane area between two rails of the shore bridge is divided into three operation areas which are mutually divided: the system comprises an inner truck herringbone reverse operation area, a ship placing operation area and an inner truck loading and unloading operation area, wherein the three operation areas are physically isolated through fences;

the operation area from the side rail of the shore bridge to the yard is divided into 5 sub-areas from the sea side to the land side in sequence: the system comprises a cabin cover area, an inner card collection unlocking area, an unlocking padlock buffer area, an inner card collection passing area and an inner card collection charging area, wherein each area is not physically isolated before, so that the areas can be matched in operation conveniently;

the container automatic stacking area is arranged in parallel and close to the wharf frontage operation area and consists of a plurality of stacking areas arranged in parallel with the wharf shoreline and a plurality of automatic rail cranes arranged in parallel with the stacking areas;

facilities behind the yard are provided with an intelligent port entrance and exit gate, an in-yard parking lot and an auxiliary building area, so that the external collecting card can conveniently record port entrance and exit information and arrange port collecting and port dredging operations of the external collecting card;

the container wharf is arranged in a shore-following type arrangement, and a side loading and unloading process is adopted when vehicles enter a container area for operation;

the container operation berths are arranged in a full hall manner, and a plurality of berths are arranged on a wharf shoreline in a straight line shape.

2. The shore-bound, fully automated container terminal loading and unloading system of claim 1, wherein: the ship releasing operation area consists of 3 passing lanes, the inner truck collecting operation area consists of 5 passing lanes, and the two operation areas are independent and separated by a fence.

3. The shore-bound, fully automated container terminal loading and unloading system of claim 1, wherein: the hatch cover area is arranged behind the loading and unloading ship operation area in parallel, and the hatch cover area can be used for stacking ship hatch cover plates and can also be used as an inner collecting and clamping parking area when the ship is not in operation.

4. The shore-bound, fully automated container terminal loading and unloading system of claim 1, wherein: the reverse operation area of the inner container truck herringbone is dynamically arranged at the front edge of the wharf according to the berth change, and is used for realizing the reverse operation of the container and meeting the requirements of the container loading and unloading operation.

5. The shore-bound, fully automated container terminal loading and unloading system of claim 1, wherein: the inner card collecting and padlock releasing area is arranged behind the cabin cover area in parallel and consists of an inner card collecting and padlock releasing operation area and a padlock releasing buffer area; the inner card collection and padlock unlocking operation area consists of 1 operation lane, the operation lane is provided with a plurality of movable unlocking islands, and each unlocking island can park 1 inner card collection for padlock unlocking operation; the padlock unlocking buffer area is composed of six inner-collecting-card passing lanes, wherein the 1 st and the 4 th are overtaking lanes, the 2 nd, the 3 rd, the 5 th and the 6 th are inner-collecting-card waiting padlock unlocking lanes, and front and rear buffer areas are arranged on the multiple lanes to further realize multi-level buffer order adjustment of ground unlocking.

6. The shore-bound, fully automated container terminal loading and unloading system of claim 1, wherein: the inner truck-collecting traffic zone consists of 4 traffic lanes, wherein the 1 st lane and the 2 nd lane are south lanes, and the 3 rd lane and the 4 th lane are north lanes.

7. The shore-bound, fully automated container terminal loading and unloading system of claim 1, wherein: the inner collecting card charging area consists of 1 operation lane, a plurality of inner collecting card charging devices are arranged on the lane in parallel, and the inner collecting card runs into the vacant charging position of the charging lane from the passing lane to perform charging operation.

8. The shore-bound, fully automated container terminal loading and unloading system of claim 1, wherein: the automatic container yard area is arranged according to the proportion of container box type components, the automatic container yard is empty and heavily loaded in a mixed mode, two sides of a double-cantilever rail crane are used for carrying out inside and outside truck collecting operation respectively, the container yard area comprises a yard transverse lane and a yard longitudinal lane, the yard transverse lane is divided into an inside truck transverse lane and an outside truck transverse lane, the two lanes are alternately arranged on two sides of the yard, the yard longitudinal lane is arranged at two ends of the yard, each end is provided with an inside truck longitudinal lane and an outside truck longitudinal lane, the two lanes are physically isolated and separately passed, the vehicle-road cooperative system is used for realizing the driving control of an outside truck at an intersection, and the lane control system is used for realizing the target of automatic release control of vehicles entering and exiting the yard and containers.

9. A loading and unloading process of the shore-based fully automated container terminal loading and unloading system according to any one of claims 1 to 8, characterized in that: the process comprises the following specific steps:

s1, loading and unloading ships at wharfs: when unloading, a single-trolley double 20ft shore bridge is used for unloading the container from the container ship, the container is placed on an artificial intelligent transportation robot waiting for an inner container truck operation area, the artificial intelligent transportation robot carries the container to a storage yard target operation position through an inner container truck lane along the anticlockwise direction, then an automatic rail is used for hoisting the container to an appointed container position, the inner container truck continues to enter the next operation cycle along the appointed lane, wherein the dangerous goods box is placed on an outer container truck waiting for the ship operation area from the shore bridge trolley, and is directly transported out of a wharf area along a specified route by the outer container truck; the shipping operation is opposite to the process;

s2, container port collecting and dredging loading and unloading: in the port collecting process, an outer truck carrying box enters and exits a port gate from the rear and waits for a parking lot to drive into an outer truck traveling lane, and then enters an appointed position of an outer truck collecting operation area of a storage yard, an automatic rail lifts a container to an appointed box position, and the outer truck carrying box continues to drive out of the port area along the outer truck traveling lane after being unloaded; the harbour dredging process is the reverse of the above process.

Technical Field

The invention relates to the technical field of ports, in particular to a shore-following type full-automatic container terminal loading and unloading system and a loading and unloading process thereof.

Background

As is well known, a quayside container loading and unloading bridge (hereinafter referred to as "quay bridge") is commonly used in container terminal loading and unloading operations, and an automatic container terminal is no exception. The system can be divided into a single trolley shore bridge and a double trolley shore bridge according to the number of trolleys; the container can be divided into a single-lifting shore bridge and a double-lifting shore bridge according to the lifting form of the container; there may be double 20ft, double 40ft and 4 20ft shore bridges depending on the container spreader type. The commonly used models include the following four types: the double-trolley double-20 ft shore bridge, the double-trolley double-40 ft shore bridge, the double-trolley double-20 ft shore bridge and the double-trolley double-40 ft shore bridge. The shore bridge selection needs to comprehensively consider the structural characteristics of the containers, the loading and unloading efficiency requirements, the arrangement form of a storage yard, the horizontal transportation mode and the operation mode of detaching and hanging locks of the containers. The process mode of the combined operation of 'vertical arrangement of the storage yard +2 automatic rail type container gantry cranes (the type is high-speed without cantilevers) + end loading and unloading' adopted by the automatic container storage yard is very mature, and is also a process scheme commonly adopted by most of automatic wharfs so far. However, in this vertical loading and unloading mode, the horizontal transport loading and unloading boxes and the external truck collecting and distributing loading and unloading points are concentrated, the number of loading and unloading points is relatively small, which makes it difficult to organize the traffic on the land side, and the automatic rail crane of the yard needs to transport the containers with boxes for a long distance, which is high in energy consumption, and difficult to support the loading and unloading operation on the sea and land side and the collecting and distributing operation. At present, the horizontal transportation equipment commonly adopted in the vertical arrangement form of the home and abroad automatic container terminal yard is an Automatic Guided Vehicle (AGV) and a low portal straddle carrier (straddle carrier). Due to the coupling operation between the AGV and the shore bridge and the automated rail crane, the loading and unloading efficiency of the automated container terminal system is limited and the energy consumption is high. Meanwhile, the AGV equipment, the navigation system (magnetic nails laid on the ground) and software are expensive, so that the application limitations of high cost of a newly-built wharf and high difficulty in reconstruction of an old wharf exist.

Disclosure of Invention

In order to effectively solve the problems in the background art, the invention provides a shore-following type full-automatic container terminal loading and unloading system and a loading and unloading process thereof.

The specific technical scheme is as follows:

the utility model provides a full automatization container terminal handling system of same bank formula which characterized in that: the system comprises container shore bridge equipment, an operation lane area between two rails of a shore bridge, an operation area from a land side rail of the shore bridge to a storage yard, an automatic container stacking area, a storage yard operation lane area and facilities behind the storage yard;

the container shore bridge equipment selects a single-trolley double-20 ft shore bridge, the shore bridge is arranged at the front edge of a wharf in parallel, container loading and unloading operations are automatically completed, and the loading and unloading processes of the artificial intelligent transport robot are automatically completed through information interaction with the artificial intelligent transport robot system;

the operation lane area between two rails of the shore bridge is divided into three operation areas which are mutually divided: the system comprises an inner truck herringbone reverse operation area 14, a ship placing operation area and an inner truck loading and unloading operation area, wherein the three operation areas are physically isolated through fences;

the operation area from the side rail of the shore bridge to the yard is divided into 5 sub-areas from the sea side to the land side in sequence: the system comprises a cabin cover area, an inner card collection unlocking area, an unlocking padlock buffer area, an inner card collection passing area and an inner card collection charging area, wherein each area is not physically isolated before, so that the areas can be matched in operation conveniently;

the container automatic stacking area is arranged in parallel and close to the wharf frontage operation area and consists of a plurality of stacking areas arranged in parallel with the wharf shoreline and a plurality of automatic rail cranes arranged in parallel with the stacking areas;

facilities behind the yard are provided with an intelligent port entrance and exit gate, an in-yard parking lot and an auxiliary building area, so that the external collecting card can conveniently record port entrance and exit information and arrange port collecting and port dredging operations of the external collecting card;

the container wharf is arranged in a shore-following type arrangement, and a side loading and unloading process is adopted when vehicles enter a container area for operation;

the container operation berths are arranged in a full hall manner, and a plurality of berths are arranged on a wharf shoreline in a straight line shape.

Preferably, the ship placing operation area consists of 3 passing lanes, the inner card collecting operation area consists of 5 passing lanes, and the two operation areas are independent from each other and are separated by a fence.

Preferably, the cover area is arranged behind the loading and unloading ship operation area in parallel, and the cover area can be used for stacking ship covers and can also be used as an inner collecting and clamping parking area when the ship is not in operation.

Preferably, the inner truck herringbone reverse operation area is dynamically arranged at the front edge of the wharf according to the berth change, so that the reverse operation of the container is realized, and the loading and unloading operation requirements of the container are met.

Preferably, the inner card collecting and padlock releasing area is arranged behind the hatch cover area in parallel, and consists of an inner card collecting and padlock releasing operation area and an padlock releasing buffer area; the inner card collection and padlock unlocking operation area consists of 1 operation lane, the operation lane is provided with a plurality of movable unlocking islands, and each unlocking island can park 1 inner card collection for padlock unlocking operation; the padlock unlocking buffer area is composed of six inner-collecting-card passing lanes, wherein the 1 st and the 4 th are overtaking lanes, the 2 nd, the 3 rd, the 5 th and the 6 th are inner-collecting-card waiting padlock unlocking lanes, and front and rear buffer areas are arranged on the multiple lanes to further realize multi-level buffer order adjustment of ground unlocking.

Preferably, the inner truck passing area consists of 4 passing lanes, wherein the 1 st lane and the 2 nd lane are south lanes, and the 3 rd lane and the 4 th lane are north lanes.

Preferably, the internal collecting card charging area consists of 1 operation lane, a plurality of internal collecting card charging devices are arranged on the operation lane in parallel, and the internal collecting card runs into the vacant charging position of the charging lane from the traffic lane to perform charging operation.

Preferably, the container automation stacking area is arranged according to the proportion of container box type components, the automation stacking area is empty and heavily loaded, two sides of the double-cantilever rail crane are used for carrying out inside and outside truck collecting operation respectively, the container stacking area comprises a stacking area transverse lane and a stacking area longitudinal lane, the stacking area transverse lane is divided into an inside truck transverse lane and an outside truck transverse lane, the two lanes are alternately arranged on two sides of the stacking area, the stacking area longitudinal lane is arranged at two ends of the stacking area, each end is provided with an inside truck longitudinal lane and an outside truck longitudinal lane, the two lanes are physically isolated and separately passed, a vehicle-road cooperative system is used for realizing the driving control of an outside truck at an intersection, and a lane control system is used for realizing the target of automatic release control of vehicles entering and exiting the stacking area and containers.

A shore-following full-automatic container wharf loading and unloading process is characterized in that: the process comprises the following specific steps:

s1, loading and unloading ships at wharfs: when unloading, a single-trolley double 20ft shore bridge is used for unloading the container from the container ship, the container is placed on an artificial intelligent transportation robot waiting for an inner container truck operation area, the artificial intelligent transportation robot carries the container to a storage yard target operation position through an inner container truck lane along the anticlockwise direction, then an automatic rail is used for hoisting the container to an appointed container position, the inner container truck continues to enter the next operation cycle along the appointed lane, wherein the dangerous goods box is placed on an outer container truck waiting for the ship operation area from the shore bridge trolley, and is directly transported out of a wharf area along a specified route by the outer container truck; the shipping operation is opposite to the process;

s2, container port collecting and dredging loading and unloading: in the port collecting process, an outer truck carrying box enters and exits a port gate from the rear and waits for a parking lot to drive into an outer truck traveling lane, and then enters an appointed position of an outer truck collecting operation area of a storage yard, an automatic rail lifts a container to an appointed box position, and the outer truck carrying box continues to drive out of the port area along the outer truck traveling lane after being unloaded; the harbour dredging process is the reverse of the above process.

Compared with the prior art, the invention has the beneficial effects that: the shore-following type full-automatic container terminal provided by the invention has the advantages that the overall layout is more reasonable, each functional area is separated in detail, the operation connection among the functional areas is tighter, and the efficient completion of operation tasks by using terminal automation equipment is facilitated. The container operation berths are arranged in a full hall mode, the wharf shoreline is in a straight line shape, the wharf shoreline resources are utilized to the maximum extent, the waiting time of ships is reduced, and efficient berth plans can be formulated. The operation area between two rails of the shore bridge is divided into a ship placing operation area and an inner truck collecting and loading operation area, and the operation areas are separated by adopting a fence, so that physical isolation is realized to ensure safe operation, and operation lanes and overtaking lanes are arranged in each operation area according to the proportion, so that the congestion probability is reduced, and the truck collecting turnover frequency is accelerated; the charging area is arranged between the station locking area and the yard area, the charging running distance of the collecting card is shortened, the collecting card can run to a task position quickly after charging is finished, the empty running distance is reduced, and the efficiency is improved.

The invention abandons the arrangement mode that the traditional automatic storage yard is vertical to the wharf shoreline, designs the storage yard layout parallel to the wharf shoreline, and carries out isolation design on the passing lanes of the internal and external trucks in the storage yard area, cuts off the passing intersection path of the internal and external trucks through the lifting rod, controls the passing sequence of the internal and external trucks in the storage yard, and reduces the waiting time for vehicle parking. Meanwhile, the yard operation mode is changed from point loading and unloading into simultaneous loading and unloading, the number of loading and unloading points is greatly increased, the operation flexibility is enhanced, the truck-collecting waiting time is shortened, and the loading and unloading capacity of the rail crane is improved; meanwhile, the automatic rail crane of the storage yard does not need to carry the containers for a long distance, thereby reducing the energy consumption of the equipment, improving the loading and unloading operation efficiency of the containers of the storage yard and being beneficial to the mutual cooperation support of the loading and unloading equipment of the storage yard.

The land bridge ground unlocking process with the single trolley is adopted, so that the investment and energy consumption of land bridge equipment are greatly reduced, and the land bridge is decoupled with the land bridge by freely selecting the public lock island, so that the efficiency of the land bridge is improved; the method has the advantages that multi-buffer order adjustment is realized, the utilization rate of the lock island is improved, the traffic jam problem in a strict ship-loading mode is solved, one-to-many lock islands are realized, unlocking personnel can be saved, the ratio of the lock island to the shore bridge is estimated to be 1:1.5, and a foundation is laid for the later-stage replacement of full-automatic unlocking. Compared with a vertical arrangement end loading and unloading process, the automatic wharf is integrally arranged along the shore, has the characteristics of energy conservation, high efficiency, investment saving and the like, and is higher in intelligent degree.

Drawings

FIG. 1 is a schematic plan view of the present invention;

FIG. 2 is a side view of the dock-front operating system of the present invention;

FIG. 3 is a schematic side view of the dock yard operation system of the present invention;

FIG. 4 is a schematic diagram of a path for an artificial intelligent transportation robot to enter a quayside crane operation area in a container unloading forward operation mode;

fig. 5 is a schematic diagram of a path of the artificial intelligent transportation robot entering a shore bridge operation area in a container unloading reverse operation mode.

Reference numerals: 1. container shore bridge equipment, 2, an operation lane area between two rails of a shore bridge, 3, a land side rail of the shore bridge, a yard operation area between yards, 4, an automatic rail crane of the yards, 5, a yard operation lane area, 6, a reserved yard, 7, an artificial intelligent transportation robot maintenance and test area, 8, a centralized control center, 9, a buffer parking lot, 10, an entry pre-gate, 11, an entry main gate, 12, an exit pre-gate, 13, an exit main gate, 14, an inner truck herringbone reverse operation area, 15, a ship release operation area, 16, an inner truck loading and unloading operation area, 17, a cabin cover area, 18, an inner truck release operation area, 19, a padlock release buffer area, 20, an inner truck passage area, 21, an inner truck charging area, 22, an artificial intelligent transportation robot operation lane, 23, an artificial intelligent transportation robot overtaking lane, 24, an outer truck operation lane, 25, an outer truck overtaking lane, 26. and (4) fencing.

Detailed Description

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may also be oriented 90 degrees or at other orientations and the spatially relative descriptors used herein interpreted accordingly.

The following detailed description of the preferred embodiments will be made with reference to the accompanying drawings. Referring to fig. 1, 2, 3 and 4, the automatic container terminal loading and unloading system provided by the invention comprises a container shore bridge device 1, a working lane area 2 between two rails of the shore bridge, a working area 3 from a land side rail of the shore bridge to a storage yard, an automatic container storage yard area, a storage yard working lane area 5 and facilities behind the storage yard. The container shore bridge equipment selects a single-trolley double-20 ft shore bridge, the shore bridge is arranged at the front edge of a wharf in parallel, container loading and unloading operations are automatically completed, and the loading and unloading processes of the artificial intelligent transport robot are automatically completed through information interaction with the artificial intelligent transport robot system; the operation lane area 2 between two rails of the shore bridge is divided into three operation areas which are mutually divided: the system comprises an inner truck herringbone reverse operation area 14, a ship placing operation area 15 and an inner truck loading and unloading operation area 16, wherein the three operation areas are physically isolated through fences, so that the operation safety is ensured; the land bridge land side rail rear-to-yard working area 3 is divided into 5 sub-areas from sea side to land side in sequence: the cabin cover area 17, the inner card collection unlocking area 18, the padlock unlocking buffer area 19, the inner card collection passing area 20 and the inner card collection charging area 21 are not physically separated before each partition, so that cooperation in operation among all the areas is facilitated, and card collection operation and passing efficiency are improved. Facilities behind the yard are provided with intelligent port entrance and exit gates, parking lots in the yard, auxiliary building areas and the like, so that the external collecting card can conveniently record port entrance and exit information and arrange port collecting and port dredging operations of the external collecting card.

Referring to fig. 1, the invention divides the horizontal transportation operation of the sea and land side, reduces the passing and operation intersection of the horizontal transportation equipment of the sea and land side in the harbor district to the maximum extent, and improves the operation efficiency of the horizontal transportation system of the harbor district. Further, the inner container truck passes through an operation lane area 2 between two rails of the shore bridge and a land side rail of the shore bridge along the counterclockwise direction, then reaches an operation area 3 between storage yards and a container truck operation lane area in the storage yard, and container loading and unloading operation is completed on the container truck operation lane in the storage yard; and the outer container truck passes through facilities behind the storage yard and a container truck operation lane area outside the storage yard along the clockwise direction, and the container truck operation lane area outside the storage yard completes container truck collection and container truck evacuation operations.

Referring to fig. 1, a container terminal is arranged in a shore-following arrangement, and a side loading and unloading process is adopted when vehicles enter a container area for operation;

referring to fig. 1, the container operation berths are arranged in a full hall manner, and a plurality of berths are arranged on a wharf shoreline in a straight line shape;

referring to fig. 1, the inner truck herringbone reverse operation area 14 is dynamically arranged at the front edge of a wharf according to the berth change, and can realize reverse operation of containers, so that the container loading and unloading operation requirements are met.

Further, referring to fig. 1 and 3, the container automation stacking area is arranged in parallel and next to the wharf frontage operation area, and is composed of a plurality of storage yards arranged in parallel with the wharf shoreline, a reserved storage yard 6, an artificial intelligent transportation robot maintenance and test area 7 and a plurality of automation rail cranes 4 arranged in parallel with the storage yard direction. In the invention, 1 to 2 automatic rail cranes are configured for each storage yard (the number of the automatic rail cranes is configured in a differentiated manner according to the difference between the storage yard function division and the actual operation amount). Meanwhile, in order to deal with the increase of short-term loading and unloading capacity of the storage yard and the faults of the track cranes, a plurality of track cranes are reserved in addition, so that the emergency situation can be conveniently and timely processed.

Further, referring to fig. 1 and 3, a yard rear facility arranges a quay entrance and exit gate (including an entrance pre-gate 10, an entrance main gate 11, an exit pre-gate 12, an exit main gate 13), an on-site parking lot 9, an auxiliary building area, etc. behind the container automation yard. The container terminal is integrated and the flow direction of vehicles is collected and transported outside, and the entrance and exit gates adopt an arrangement form of being separated and parallel to a yard and are all intelligent gates. After the outside container truck enters the port, a waiting parking lot 9 is arranged in the yard for parking and processing the problem vehicles and waiting for operation when loading and unloading equipment in the yard is busy and unavailable. The centralized control center 8, the reserved stock dump 6 and the artificial intelligent transportation robot maintenance test area 7 are arranged behind the stock dump in parallel, so that port area managers can conveniently enter and exit, stock dump capacity expansion, equipment maintenance operation and the like.

Further, referring to fig. 2, the wharf front loading and unloading ship operation area is divided into a ship unloading operation area 15 and an inner truck loading and unloading operation area 16, the ship unloading operation area 15 is composed of 3 traffic lanes, the inner truck loading and unloading operation area 16 is composed of 5 traffic lanes, and the two operation areas are independent from each other and are separated by a fence to guarantee operation safety. When the inner collecting card is in operation in the loading and unloading operation lane, other inner collecting cards can drive to the next idle operation position through the overtaking lane. The method is beneficial to relieving the operation congestion condition at the front edge of the wharf and improving the operation and passing efficiency of the internal card collection.

Further, referring to fig. 2, the deck area 17 is arranged in parallel behind the handling ship operation area, and the area can be used for stacking ship deck boards and also can be used as an inner truck waiting area.

Further, with reference to fig. 2, the inner catch and unlock region is arranged in parallel behind the hatch 17, which is composed of an inner catch and unlock operation region 18 and an unlock buffer region 19; the inner card collecting and padlock releasing operation area 18 consists of 1 operation lane, a plurality of movable unlocking islands are arranged on the operation lane, and each unlocking island can park 1 inner card collecting to perform padlock releasing operation; the padlock releasing buffer zone 19 consists of six inner card collecting passing lanes, wherein the 1 st and the 4 th are overtaking lanes, and the 2 nd, the 3 rd, the 5 th and the 6 th are inner card collecting waiting padlock releasing lanes.

Further, the unlocking buffer 19 is divided into a buffer before the locking station and a buffer after the locking station. And the vehicle waiting to enter the unlocking island is positioned in the front buffer zone to wait, and the vehicle completing unlocking enters the rear buffer zone to carry out next-stage operation preparation.

Further, referring to fig. 2, the inner truck passing area 20 is composed of 4 passing lanes, wherein the 1 st and 2 nd lanes are south lanes, and the 3 rd and 4 th lanes are north lanes.

Further, referring to fig. 2, the internal card collecting and charging area 21 is composed of 1 working lane, a plurality of internal card collecting and charging devices are arranged on the working lane in parallel, and the internal card collecting and charging devices run into the spare charging positions of the charging lane from the passing lane to perform charging operation.

Further, referring to fig. 1 and 3, the container automation yard is arranged according to the container box type composition proportion. The automatic storage yard is empty, the heavy case is mixed and piled, arrange 8 total 24 buttress districts. The container stacking area simultaneously comprises a stacking area transverse lane and a stacking area longitudinal lane, the stacking area transverse lane is divided into an inner truck collecting transverse lane and an outer truck collecting transverse lane, and the two types of lanes are alternately arranged on two sides of the stacking area so as to improve the passing efficiency of the inner truck collecting and the outer truck collecting.

As shown in fig. 3, the artificial intelligence transportation robot operation lane areas (artificial intelligence transportation robot operation lane 22 and artificial intelligence transportation robot passing lane 23), the outer truck operation lane areas (outer truck operation lane 24 and outer truck passing lane 25) are arranged at both sides of the yard at intervals. The longitudinal storage yard lanes are arranged at two ends of the storage yard, each end is provided with an inner truck longitudinal lane and an outer truck longitudinal lane, and the two lanes are physically separated and separately pass. In order to fully ensure the driving safety, the crossing point of the transverse and longitudinal inner collecting card and the outer collecting truck road is subjected to traffic control through an intelligent traffic control system, namely, an intelligent traffic light and a lifting rod are additionally arranged at the crossing point, the right of passage of the inner collecting card is prior to that of the outer collecting card, and the inner collecting card passes after being automatically judged by a dispatching instruction of a receiving system and a self vision system. The internal and external truck collection passing strategy reduces the cross points of the sea side and roadside horizontal transportation system to the maximum extent, facilitates the organization and implementation of horizontal transportation tasks, and improves the passing efficiency of the port area horizontal transportation system.

Furthermore, the vehicle-road cooperation system provides safe and efficient vehicle-road information application service by means of full-time airport road information, traffic information, moving target information and abnormal event information. Meanwhile, the traffic lights, the road rods and other equipment are controlled, and the driving control of the external collecting card at the intersection is realized. The vehicle-road cooperative system sends the passing information of the internal and external trucks to the central control platform, and the central control platform directly sends a passing instruction to the internal truck, so that the purpose of managing and controlling the running of the internal and external trucks is achieved, and under the principle that the internal truck preferentially passes, the maximization of the operation efficiency of the internal and external trucks in the port area is guaranteed. The system can effectively reduce the traffic and operation queuing congestion, ensure the stability of the operation transportation process, provide a helpful guarantee for the task distribution system to estimate the operation time, and improve the global optimization effect.

Furthermore, the system for controlling the inner lane of the storage yard realizes automatic acquisition of information of vehicles, containers and the like entering and exiting the storage yard, is in butt joint with the central control platform, and realizes the aim of automatic release control of the vehicles and the containers entering and exiting the storage yard. The control system mainly comprises an embedded lane traffic controller, an RFID, an industrial network switch, an LED display screen, traffic lights, vehicle detection equipment (an industrial radar detector), an electronic rod lifting device, a clearance control system and the like. The control area includes: the system comprises a container yard inner and outer container truck intersection, an artificial intelligent transportation robot interaction area, an artificial intelligent transportation robot maintenance and test area, a wharf vehicle exit area and the like. The control area and the control system collect the information of passing the card by the front-end equipment, receive the clearance instruction of the central control platform, and control the LED indication screen, the traffic light and the channel stop lever to clear the card collecting vehicle according to the clearance instruction. The system can realize centralized control and centralized operation and maintenance service of the storage yard entrance and exit channel equipment, reduce human intervention to the greatest extent, realize highly automatic operation of the system and improve the speed and efficiency of vehicles passing through the storage yard entrance and exit.

The invention provides a shore-following full-automatic container wharf loading and unloading process which is explained by combining with the accompanying drawings, and specifically comprises the following steps:

the container automatic wharf loading and unloading operation is completed by the matching of wharf loading and unloading ship equipment, storage yard loading and unloading equipment, sea side horizontal transportation equipment and roadside horizontal transportation equipment;

referring to fig. 2, the wharf loading and unloading ship equipment adopts a plurality of single-trolley double 20ft shore bridges which are arranged in parallel at the front edge of the wharf. The quay crane track is arranged in parallel to the quay line of the wharf and is connected with the adjacent container wharf track, so that the quay crane resources can be shared and utilized conveniently;

referring to fig. 3, the yard handling equipment adopts a double-cantilever automatic rail crane, and each equipment can simultaneously carry out operation on the cantilevers on the two sides without mutual interference. 1 shell position is arranged in the track crane track distance, 11 rows of boxes are stacked in each shell position, the height of each row of boxes is limited by 6 layers, and the height of the operation position of the track crane is limited by 7 layers.

Referring to fig. 4, in the inner truck herringbone reverse operation area 14, when the inner truck transports a container to a position below the shore bridge, if the direction of loading and unloading the container to and from the shore bridge is different from the transportation direction, the direction indicated by the arrow in fig. 4 is different), the container direction turning operation is required. The rectangular area in the figure is a herringbone reverse operation area, and the operation task is shown in figure 5. According to the characteristic of bidirectional driving of the inner container truck, the direction of the container is changed through a herringbone path, and then the container is driven into a shore bridge operation area to complete loading and unloading tasks.

The sea side horizontal transportation equipment selects an artificial intelligent transportation robot (namely an inner container truck), and the Beidou positioning system, the laser radar, the millimeter wave radar, the camera and other equipment are installed on the container truck, so that under the condition of no human intervention, the specified actions such as road running, accurate parking, container loading and unloading, barrier response and the like are intelligently completed, and the whole-course automatic driving horizontal transportation of the container loading and unloading ship is realized.

The roadside horizontal transport equipment selects a manned container truck (namely an outer container truck), and a container handling driver drives the outer container truck to drive into a storage yard along an outer container truck traffic lane to carry out container loading and unloading operation.

The invention provides a shore-following full-automatic container wharf loading and unloading process, which is explained by combining with the accompanying drawings and comprises the following specific steps:

s1, loading and unloading ships at wharfs: referring to fig. 1, 2, 3 and 4, when unloading, the container is unloaded from the container ship by using a single-trolley double 20ft shore bridge, and is placed on an artificial intelligent transportation robot waiting in an inner container truck operation area, the artificial intelligent transportation robot carries the container (heavy container, empty container, refrigeration container and transfinite container) to a storage yard target operation position through an inner container truck carriageway along the counterclockwise direction, then the container is lifted to a specified box position by an automatic rail crane, and the inner container truck continuously enters the next operation cycle along the specified carriageway. The dangerous goods box is put down to an outer container truck waiting in a ship-placing operation area by a shore bridge trolley by adopting a 'no-landing' principle, and is directly transported out of a wharf area by the outer container truck along a specified route; the shipping operation is opposite to the process;

s2, container port collecting and dredging loading and unloading: referring to fig. 1 and 3, in the port collecting process, an outer container truck enters and exits a port gate from the rear and waits for a parking lot to drive into an outer container truck traffic lane, and then enters an appointed position of an outer container truck operation area of a storage yard, an automatic rail crane lifts a container to an appointed box position, and the outer container truck continues to drive out of the port area along the outer container truck traffic lane after unloading; the harbour dredging process is the reverse of the above process.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.