WO2019114155A1 - Intelligent container yard system - Google Patents

Intelligent container yard system Download PDF

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Publication number
WO2019114155A1
WO2019114155A1 PCT/CN2018/081640 CN2018081640W WO2019114155A1 WO 2019114155 A1 WO2019114155 A1 WO 2019114155A1 CN 2018081640 W CN2018081640 W CN 2018081640W WO 2019114155 A1 WO2019114155 A1 WO 2019114155A1
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WO
WIPO (PCT)
Prior art keywords
layer
container
yards
storage
frame guide
Prior art date
Application number
PCT/CN2018/081640
Other languages
French (fr)
Inventor
Zhang GUO ZHAO
Zhao Wei
Zhang HONG BO
Zhang XIN JIE
Original Assignee
Machinery Technology (Shan Dong) Heavy Industry Co. Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Machinery Technology (Shan Dong) Heavy Industry Co. Ltd. filed Critical Machinery Technology (Shan Dong) Heavy Industry Co. Ltd.
Priority to CN201880080192.8A priority Critical patent/CN111670150B/en
Publication of WO2019114155A1 publication Critical patent/WO2019114155A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0464—Storage devices mechanical with access from above
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1375—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning stacker-crane or truck
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G63/00—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations
    • B65G63/002—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations for articles
    • B65G63/004—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations for articles for containers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G63/00—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations
    • B65G63/04—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations with essentially-horizontal transit by bridges equipped with conveyors
    • B65G63/042—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations with essentially-horizontal transit by bridges equipped with conveyors for articles
    • B65G63/045—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations with essentially-horizontal transit by bridges equipped with conveyors for articles for containers

Definitions

  • the present invention relates to container storage, and particularly, relates to an intelligent container yard system.
  • containers are common goods storage equipment.
  • the goods stored in the containers are safe and convenient to carry, so the containers are very common products in modern logistics.
  • the containers are often stacked in open wharfs or open yards, in a partitioning or complicated in-out logic manner. Stored in the open air, thus the containers will be affected by external factors such as various weathers, rain or impact, and are inconvenient to store and fetch.
  • the open storage of the containers involves an issue of wind, so a certain height limit is made to the stacking height of the containers.
  • a certain height limit is made to the stacking height of the containers.
  • At most 7 to 8 layers of containers can be stacked at present, and must be stacked into a fixed windproof shape or need additional auxiliary facilities to prevent wind.
  • the present invention provides an intelligent container yard system, which overcomes the shortcoming that the existing containers are stacked in the open air.
  • An intelligent container yard system is characterized by including one or more multi-layer storage units, wherein each multi-layer storage unit includes a station interaction area and a storage area; the storage area includes multiple layers of container yards, and storage hoisting devices arranged at the upper parts of each layer of container yards and used for storing or taking out containers; the station interaction area includes an interactive hoisting device for loading and unloading containers from transport vehicles, and horizontal transport devices; a stable frame guide rail penetrating through the floor of each layer of yards is vertically arranged on one side of the multiple layers of container yards; and the storage hoisting devices in the container yards above the first layer hoist or lay down containers through the stable frame guide rail to the horizontal transport devices in the station interaction area on the bottom layer or a relatively low layer.
  • the stable frame guide rail includes four vertical metal racks having the same height and is fixed on the floor between the upper layer of yards and the lower layer of yards, the top of the stable frame guide rail to the storage hoisting device in the upper layer of yards hoist the lower edge of a container, the bottom of the stable frame guide rail is located above the interactive hoisting device, and the hollow size of the stable frame guide rail is slightly greater than the container hoisted by the storage hoisting device in the upper layer of yards.
  • the stable frame guide rail includes four vertical metal racks having the same height and is fixed on the floor between the upper layer of yards and the lower layer of yards, the top of the stable frame guide rail to the storage hoisting device in the upper layer of yards hoist the lower edge of a container, the bottom of the stable frame guide rail is fixed on a platform of the station interaction area, and the hollow size of the stable frame guide rail is slightly greater than the container hoisted by the storage hoisting device in the upper layer of yards.
  • the interactive hoisting device is arranged above a loading and unloading area on one side of the first layer of container yards, and can hoist a container onto the horizontal transport device or unload a container from the horizontal transport device.
  • the horizontal transport device is installed on a transport rail, and the transport rail is located below the stable frame guide rail.
  • Each layer of the multiple layers of container yards of each multi-layer storage unit includes a left yard and a right yard, a loading and unloading area is located in front of entrances of the two container yards on the first layer and is provided with at least two transport rails in parallel, including a bottom transport rail and a high-layer transport rail, the high-layer transport rail is one transport rail or a corresponding number of high-layer transport rails is set according to the number of yard layers, horizontal transport devices are arranged on each transport rail, a stable frame guide rail (s) passing through the yard layer floor is arranged on one side, or on the left and right sides, in front of the entrances of the two container yards on each layer above the first layer, the high-layer transport rail is located below the stable frame guide rail, and the storage hoisting devices in the container yards above the first layer hoist or lay down containers from the horizontal transport devices running on the high-layer transport rail via the stable frame guide rail and the hollow part of the stable frame guide rail.
  • each layer includes a left yard and a right yard
  • a storage hoisting device is arranged in each yard
  • an interactive hoisting device is arranged at the loading and unloading area in front of one yard in the bottom layer
  • holes are formed in the floor on the left and right sides of the second layer of yards
  • left and right stable frame guide rails are arranged in the holes
  • a bottom transport rail and a high-layer transport rail are arranged on the bottom layer
  • the high-layer transport rail is arranged below the left and right stable frame guide rails
  • horizontal transport devices run below the left and right stable frame guide rails
  • the storage hoisting devices in the two yards in the bottom layer store/fetch containers to/from the horizontal transport devices on the bottom transport rail
  • the storage hoisting devices in the two yards of the second layer store/fetch containers to/from the horizontal transport devices on the high-layer transport rail.
  • a positioning device is arranged on the side of each rail on which the storage hoisting device or interactive hoisting device runs, and the positioning device shows the relative displacement of the storage hoisting device or interactive hoisting device relative to an initial position in the running process to determine the current position of the moving storage hoisting device or interactive hoisting device in real time.
  • the system also includes a hoisting device control subsystem, which supplies power to the storage hoisting devices or interactive hoisting devices and devices on the hoisting devices by using slide wires, drag chains or festoon cables, and communicates with a central controller by optical fiber or leaky wave cable or wireless device connection.
  • a hoisting device control subsystem which supplies power to the storage hoisting devices or interactive hoisting devices and devices on the hoisting devices by using slide wires, drag chains or festoon cables, and communicates with a central controller by optical fiber or leaky wave cable or wireless device connection.
  • a stand-alone PLC is arranged on each of the storage hoisting devices, the interactive hoisting devices and the horizontal transport devices, each stand-alone PLC is connected with a plurality of variable frequency controllers on the device, all the variable frequency controllers are in communication connection with the stand-alone PLC, all the stand-alone PLCs are connected with unit controllers, and all the unit controllers are connected to the central controller of an information center; the central controller sends a task control command to the unit controllers, the task control command is decomposed into moving tasks by the stand-alone PLCs, and the moving tasks are sent to the variable frequency controllers to control the movement of the hoisting devices and the horizontal transport devices.
  • a monitor is arranged in each container yard to monitor the status of each hoisting device.
  • control system further includes a yard access control subsystem, a container truck positioning subsystem, a remote control subsystem, a control workbench and an identification subsystem.
  • the identification subsystem includes a container number identification device and a license plate identification device.
  • the container truck positioning subsystem includes a container truck lane arranged below the loading and unloading areas, and a cradle head installed on a container frame gantry crane crossbeam above the container truck lane and having a programmed rotating angle and direction, and a laser scanning range finder is installed on the cradle head, and capable of performing reciprocating scanning, tracking and ranging on containers on a heavy-duty container truck on the container truck lane and a trailer of a no-load container truck so as to position the container truck.
  • the remote control subsystem includes a video monitoring part and a remote console
  • the video monitoring part includes monitors arranged in loading and unloading areas, yard areas and yard gates, and through monitored images returned from the monitors to a central control room
  • the remote console controls the variable frequency controllers of the hoisting devices in communication connection with the central controller, so that the hoisting devices is remotely controlled.
  • the intelligent container yard system provided by the present invention is provided with multi-layer storage units, and the high-layer hoisting devices can easily and stably hoist or lay down containers from or to the bottom horizontal transport devices in the multi-layer storage units via the stable frame guide rails, thus providing an intelligent and stable multi-layer container yard form and stacking method;
  • Containers are transported from the bottom layer to the high layer by using the stable frame guide rails penetrating through division plates between the high layer and the bottom layer, so that the containers are directly transported to the high layer without passing other passages, and the intermediate transport process is very efficient;
  • the multi-layer storage units of the present invention can be connected together as unit modules, so that a large container yard system can be conveniently and quickly established;
  • the multi-layer storage units adopt the horizontal transport devices arranged on the transport rails, the interactive hoisting devices and the storage hoisting devices, and the hoisting devices are intelligently controlled to form an intelligent container multi-layer yard system, so that the existing yard environment of container yards can be improved by multi-layer storage, the service lives of the containers are prolonged, the containers can be stacked more flexibly by multi-layer storage, and the storage and fetching efficiency is higher.
  • Fig. 1 is a structure diagram of the present invention
  • Fig. 2 is an enlarged schematic view of a multi-layer storage unit of the present invention, in which the bottom of a stable frame guide rail is located above an interactive hoisting device;
  • Fig. 3 is an enlarged schematic view of a station interaction area of the multi-layer storage unit of the present invention, in which the bottom of the stable frame guide rail is located on a platform of the station interaction area;
  • Fig. 4 is a schematic side view of the multi-layer storage unit of Fig. 2, mainly showing the station interaction area and above;
  • Fig. 5 is a schematic diagram of plane layout of Fig. 4, in which the first layer is shown as a platform layer provided with transport rails, and the second layer shows the floor above the station interaction area of high-layer container yards;
  • Fig. 6 is a schematic side view of a hoisting device rail in the present invention.
  • Fig. 7 is a schematic block diagram of a control system of the present invention.
  • a conventional open container yard has a bad influence on container bodies, and is inconvenient to store and fetch and unfavorable for digital management. Therefore, the present invention proposes an intelligent container yard system, which can realize automatic storage of containers, intelligent storing and fetching arrangement, even unmanned storage under monitoring, and full-automatic data storage and management of all the containers under intelligent control.
  • the intelligent container yard system proposed by the present invention includes one or more multi-layer storage units; each multi-layer storage unit includes multiple layers of container yards, storage hoisting devices arranged at the upper parts of each layer of container yards and used for storing or taking out containers, interactive hoisting devices for loading and unloading containers from transport devices, and shuttle vehicles; a stable frame guide rail penetrating through the floor of each layer of yards is vertically arranged on one side of the multiple layers of container yards, the stable frame guide rail is hollow inside, and the storage hoisting devices in the container yards above the first layer hoist or lay down containers through the stable frame guide rail and the hollow part of the stable frame guide rail to the shutter vehicles arranged on the first layer, i.e., horizontal transport devices.
  • Fig. 1 is a schematic diagram of an integral container yard including two yards formed by combining totally four storage units, wherein each layer includes two yards, and a height of two layers form a multi-layer storage unit.
  • the left three units are normal multi-layer storage units, and the right one is a multi-layer storage unit with a maintenance device.
  • the container loading and unloading area of each multi-layer storage unit is used as a station interaction area, and part of each layer of container yard is used as a storage area.
  • the station interaction area mainly includes an interactive lifting device and shuttle vehicles, the shuttle vehicles are installed on a transport rail, the transport rail is arranged on a platform of the station interaction area, the stable frame guide rail uses four vertical metal racks having the same height and is fixed on the floor between the upper layer of yards and the lower layer of yards, the top of the stable frame guide rail to the storage hoisting device in the upper layer of yards hoist the lower edge of a container, the bottom of the stable frame guide rail is located above the interactive hoisting device, and the hollow size of the stable frame guide rail is slightly greater than the container hoisted by the storage hoisting device in the upper layer of yards to facilitate hoisting of the container.
  • Fig. 2 is an enlarged schematic view of a single multi-layer storage unit, in which the bottom of the stable frame guide rail is located above the interactive hoisting device. The height positions of the top and the bottom of the stable frame guide rail can be seen from the schematic side view of Fig. 4.
  • the bottom of the stable frame guide rail may also be directly arranged on the platform of the station interaction area, so that the storage hoisting device in the upper layer can move to the transport rail through the stable frame guide rail, and hoists containers from the shuttle vehicle more stably, as shown in the enlarged schematic view of Fig. 3.
  • the interactive hoisting device is arranged above a loading and unloading area on one side of the first layer of container yards, that is, at the top of the station interaction area, and can hoist a container onto the shuttle vehicle or unload a container from the shuttle vehicle.
  • the station interaction area is arranged in the front of the yard to ensure the safety and realize intelligent control since entering, loading and unloading.
  • the station interaction area may also be simultaneously arranged in the back of the yard, i.e., the storage area is in the middle, and station interaction area entrance and exit are in the front and the back.
  • the entire container yard can be provided with a plurality of multi-layer storage units according to the capacity of a multi-layer storage unit and the required capacity, or the size and position arrangement of containers, so as to realize a large-range container yard system.
  • a combination of four multi-layer storage units is adopted in Fig. 1.
  • Fig. 2 shows that each layer of multiple layers of container yards of a multi-layer storage unit includes a left yard and a right yard, a station interaction area is located in front of entrances of the two container yards on the first layer, two transport rails are arranged in parallel and include a bottom transport rail and a high-layer transport rail, the multi-layer storage unit is divided into an upper layer and a lower layer, each layer adopts said left and right yards, a storage hoisting device is arranged in each yard, an interactive hoisting device is arranged at the station interaction area in front of one yard in the bottom layer, a transport rail is arranged on the platform of the station interaction area, the interactive hoisting device is installed at the top of the platform, a loading and unloading hole is formed in the middle of the platform, the interactive hoisting device hoists or lays down a container from the loading and unloading hole, holes are formed in the floor on the left and right sides of the second layer of yards, left and right stable frame guide rails are arranged in the holes, the
  • the high-layer transport rail may be one transport rail or a corresponding number of high-layer transport rails is set according to the number of yard layers, shuttle vehicles are arranged on each transport rail, a stable frame guide rail (s) passing through the yard layer floor is arranged on one side, or on the left and right sides, in front of the entrances of the two container yards on each layer above the first layer, the high-layer transport rail is located below the stable frame guide rail, and the storage hoisting devices in the container yards above the first layer hoist or lay down containers from the shutter vehicles running on the high-layer transport rail via the stable frame guide rail and the hollow part of the stable frame guide rail.
  • the stable frame guide rail may also be adopted on one side, each layer of container yards is used as a storage grid, and storage and fetching are realized via one stable frame guide rail, or the stable frame guide rails are adopted on two sides, and each layer of container yards can realize storage and fetching via the two stable frame guide rails as an entrance and exit.
  • a positioning device like position bar codes is arranged on the side of each rail on which the storage hoisting device or interactive hoisting device installed at the container yard runs, a bar code scanner is arranged on the storage hoisting device or interactive hoisting device, the position bar code shows the relative displacement of the storage hoisting device or interactive hoisting device relative to an initial position, the bar code scanner scans the position bar code at a position where the moving hoisting device stays to determine the current position of the moving storage hoisting device or interactive hoisting device, and bar codes set on a rail and a bar code scanner on the side can be seen from Fig. 6 which is a schematic side view of the running rail for a hoisting device (a vehicle in Fig. 6) .
  • the moving hoisting device can be positioned accurately in real time by using laser or other positioning device, the position of the hoisting device thus obtained is very accurate, and the moving precision of the hoisting device can be controlled, thus ensuring the use of the stable frame guide rail and accurate connection of the interactive hoisting device and a container truck.
  • the overall system also includes a hoisting device control subsystem, which supplies power to the storage hoisting devices or interactive hoisting devices and devices on the hoisting devices by using slide wires, and communicates with a central controller by optical fiber connection.
  • the slide wires for electrical connection ensure the safety and reduce the cost.
  • a stand-alone PLC is arranged on each of the storage hoisting devices, the interactive hoisting devices and the horizontal transport devices.
  • Each stand-alone PLC is connected with a plurality of variable frequency controllers on the device, such as a walking motor and walking variable frequency controller, a lifting motor and lifting variable frequency controller, and a trolley motor and trolley variable frequency controller on the device. All the variable frequency controllers are in communication connection with the stand-alone PLC.
  • All the stand-alone PLCs are connected with unit controllers for each multi-layer storage unit or unit formed by one layer of container yards of the multi-layer storage units. All the unit controllers are connected to the central controller of an information center.
  • the central controller sends a task control command to the unit controllers, the task control command is decomposed into moving tasks by the stand-alone PLCs, and the moving tasks are sent to the variable frequency controllers to control the movement of the hoisting devices and the horizontal transport devices.
  • a monitor is arranged in each container yard to monitor the status of each hoisting device.
  • the control system further includes a yard access control subsystem, a container truck positioning subsystem, a remote control subsystem, a control workbench and an identification subsystem.
  • the central controller of the information center processes and decomposes the task command according to the information fed back by the access control subsystem, the container truck positioning subsystem, the remote control subsystem and the identification subsystem at present, and sends the moving tasks to the stand-alone PLCs.
  • the stand-alone controller can calculate an optimal path to avoid the possibility of collision between two running vehicles.
  • the yard access control subsystem is used for controlling entering and exiting of container trucks, that is, entering and exiting of containers.
  • the identification subsystem further includes a container number identification device and a license plate identification device.
  • the container truck positioning subsystem is used for positioning container trucks in station interaction areas, including guiding the container trucks to stop at proper positions, and ensuring proper loading and unloading of containers on the container trucks without affecting the safety of the container trucks themselves.
  • the container truck positioning subsystem includes a container truck lane arranged below the station interaction areas, and a cradle head installed on a container frame gantry crane crossbeam above the container truck lane and having a programmed rotating angle and direction.
  • a laser scanning range finder is installed on the cradle head, and capable of performing reciprocating scanning, tracking and ranging on containers on a heavy-duty container truck on the container truck lane and a trailer of a no-load container truck so as to position the container truck.
  • the remote control subsystem includes monitors installed in loading and unloading areas, yard areas and yard gates. Through monitored images returned from the monitors to a central control room, and the variable frequency controllers of the hoisting devices in communication connection with the central controller, the hoisting devices can be remotely controlled, mainly including monitoring of the operation of the overall system and handling of safety emergencies.
  • the entire intelligent container yard system is provided with multi-layer storage units, and the high-layer hoisting devices can easily and stably hoist or lay down containers from or to the bottom shutter vehicles in the multi-layer storage units via the stable frame guide rails, thus providing an intelligent and stable multi-layer container yard form and stacking method; containers are transported from the bottom layer to the high layer by using the stable frame guide rails penetrating through division plates between the high layer and the bottom layer, so that the containers are directly transported to the high layer without passing other passages, and the intermediate transport process is very efficient; the multi-layer storage units can be connected together as unit modules, so that a large container yard system can be conveniently and quickly established; the multi-layer storage units adopt the shutter vehicles arranged on the transport rails, the interactive hoisting devices and the storage hoisting devices, and the hoisting devices are intelligently controlled to form an intelligent container multi-layer yard system, so that the existing yard environment of container yards can be improved by multi-layer storage, the service lives of the containers are prolonged, the containers are stacked more flexibly

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  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

An intelligent container yard system is characterized by comprising one or more multi-layer storage units, wherein each multi-layer storage unit comprises multiple layers of container yards, storage hoisting devices arranged at the upper parts of each layer of container yards and used for storing or taking out containers, interactive hoisting devices for loading and unloading containers from transport devices, and shuttle vehicles; a stable frame guide rail penetrating through the floor of each layer of yards is vertically arranged on one side of the multiple layers of container yards, the stable frame guide rail is hollow inside, and the storage hoisting devices in the container yards above the first layer hoist or lay down containers through the stable frame guide rail and the hollow part of the stable frame guide rail to the shutter vehicles arranged on the first layer. The system realizes tidy and ordered container stacking and efficient and convenient container storage and fetching, and the whole yard system can be intelligently controlled to realize full-automatic efficient management of containers.

Description

Intelligent Container Yard System Field of the Invention
The present invention relates to container storage, and particularly, relates to an intelligent container yard system.
Background of the Invention
In current logistics, containers are common goods storage equipment. The goods stored in the containers are safe and convenient to carry, so the containers are very common products in modern logistics.
The containers are often stacked in open wharfs or open yards, in a partitioning or complicated in-out logic manner. Stored in the open air, thus the containers will be affected by external factors such as various weathers, rain or impact, and are inconvenient to store and fetch.
In addition, the open storage of the containers involves an issue of wind, so a certain height limit is made to the stacking height of the containers. At most 7 to 8 layers of containers can be stacked at present, and must be stacked into a fixed windproof shape or need additional auxiliary facilities to prevent wind.
Summary of the Invention
The present invention provides an intelligent container yard system, which overcomes the shortcoming that the existing containers are stacked in the open air.
Technical solution
An intelligent container yard system is characterized by including one or more multi-layer storage units, wherein each multi-layer storage unit includes a station interaction area and a storage area; the storage area includes multiple layers of container yards, and storage hoisting devices arranged at the upper parts of each layer of container yards and used for storing or taking out containers; the station interaction area includes an interactive hoisting device for loading and unloading containers from transport vehicles, and horizontal transport devices; a stable frame guide rail penetrating through the floor of each layer of yards is vertically arranged on one side of the multiple layers of container yards; and the storage hoisting devices in the container yards above the first layer hoist or lay down containers through the stable frame guide rail to the horizontal transport devices in the station interaction area on  the bottom layer or a relatively low layer.
Further, the stable frame guide rail includes four vertical metal racks having the same height and is fixed on the floor between the upper layer of yards and the lower layer of yards, the top of the stable frame guide rail to the storage hoisting device in the upper layer of yards hoist the lower edge of a container, the bottom of the stable frame guide rail is located above the interactive hoisting device, and the hollow size of the stable frame guide rail is slightly greater than the container hoisted by the storage hoisting device in the upper layer of yards.
Further, the stable frame guide rail includes four vertical metal racks having the same height and is fixed on the floor between the upper layer of yards and the lower layer of yards, the top of the stable frame guide rail to the storage hoisting device in the upper layer of yards hoist the lower edge of a container, the bottom of the stable frame guide rail is fixed on a platform of the station interaction area, and the hollow size of the stable frame guide rail is slightly greater than the container hoisted by the storage hoisting device in the upper layer of yards.
Further, the interactive hoisting device is arranged above a loading and unloading area on one side of the first layer of container yards, and can hoist a container onto the horizontal transport device or unload a container from the horizontal transport device. Further, the horizontal transport device is installed on a transport rail, and the transport rail is located below the stable frame guide rail.
Each layer of the multiple layers of container yards of each multi-layer storage unit includes a left yard and a right yard, a loading and unloading area is located in front of entrances of the two container yards on the first layer and is provided with at least two transport rails in parallel, including a bottom transport rail and a high-layer transport rail, the high-layer transport rail is one transport rail or a corresponding number of high-layer transport rails is set according to the number of yard layers, horizontal transport devices are arranged on each transport rail, a stable frame guide rail (s) passing through the yard layer floor is arranged on one side, or on the left and right sides, in front of the entrances of the two container yards on each layer above the first layer, the high-layer transport rail is located below the stable frame guide rail, and the storage hoisting devices in the container yards above the first layer hoist or lay down containers from the horizontal transport devices running on the high-layer transport rail via the stable frame guide rail and the hollow part of the stable frame guide rail.
Further, the multiple layers of container yards of each multi-layer storage unit are  divided into an upper layer and a lower layer, each layer includes a left yard and a right yard, a storage hoisting device is arranged in each yard, an interactive hoisting device is arranged at the loading and unloading area in front of one yard in the bottom layer, holes are formed in the floor on the left and right sides of the second layer of yards, left and right stable frame guide rails are arranged in the holes, a bottom transport rail and a high-layer transport rail are arranged on the bottom layer, the high-layer transport rail is arranged below the left and right stable frame guide rails, horizontal transport devices run below the left and right stable frame guide rails, the storage hoisting devices in the two yards in the bottom layer store/fetch containers to/from the horizontal transport devices on the bottom transport rail, and the storage hoisting devices in the two yards of the second layer store/fetch containers to/from the horizontal transport devices on the high-layer transport rail.
Further, a positioning device is arranged on the side of each rail on which the storage hoisting device or interactive hoisting device runs, and the positioning device shows the relative displacement of the storage hoisting device or interactive hoisting device relative to an initial position in the running process to determine the current position of the moving storage hoisting device or interactive hoisting device in real time.
Further, the system also includes a hoisting device control subsystem, which supplies power to the storage hoisting devices or interactive hoisting devices and devices on the hoisting devices by using slide wires, drag chains or festoon cables, and communicates with a central controller by optical fiber or leaky wave cable or wireless device connection.
Further, a stand-alone PLC is arranged on each of the storage hoisting devices, the interactive hoisting devices and the horizontal transport devices, each stand-alone PLC is connected with a plurality of variable frequency controllers on the device, all the variable frequency controllers are in communication connection with the stand-alone PLC, all the stand-alone PLCs are connected with unit controllers, and all the unit controllers are connected to the central controller of an information center; the central controller sends a task control command to the unit controllers, the task control command is decomposed into moving tasks by the stand-alone PLCs, and the moving tasks are sent to the variable frequency controllers to control the movement of the hoisting devices and the horizontal transport devices.
A monitor is arranged in each container yard to monitor the status of each hoisting device.
Further, the control system further includes a yard access control subsystem, a container truck positioning subsystem, a remote control subsystem, a control workbench and an identification subsystem.
The identification subsystem includes a container number identification device and a license plate identification device.
The container truck positioning subsystem includes a container truck lane arranged below the loading and unloading areas, and a cradle head installed on a container frame gantry crane crossbeam above the container truck lane and having a programmed rotating angle and direction, and a laser scanning range finder is installed on the cradle head, and capable of performing reciprocating scanning, tracking and ranging on containers on a heavy-duty container truck on the container truck lane and a trailer of a no-load container truck so as to position the container truck.
The remote control subsystem includes a video monitoring part and a remote console, the video monitoring part includes monitors arranged in loading and unloading areas, yard areas and yard gates, and through monitored images returned from the monitors to a central control room, the remote console controls the variable frequency controllers of the hoisting devices in communication connection with the central controller, so that the hoisting devices is remotely controlled.
Beneficial effect
The intelligent container yard system provided by the present invention is provided with multi-layer storage units, and the high-layer hoisting devices can easily and stably hoist or lay down containers from or to the bottom horizontal transport devices in the multi-layer storage units via the stable frame guide rails, thus providing an intelligent and stable multi-layer container yard form and stacking method;
Containers are transported from the bottom layer to the high layer by using the stable frame guide rails penetrating through division plates between the high layer and the bottom layer, so that the containers are directly transported to the high layer without passing other passages, and the intermediate transport process is very efficient;
The multi-layer storage units of the present invention can be connected together as unit modules, so that a large container yard system can be conveniently and quickly established;
The multi-layer storage units adopt the horizontal transport devices arranged on the transport rails, the interactive hoisting devices and the storage hoisting devices, and the hoisting devices are intelligently controlled to form an intelligent container  multi-layer yard system, so that the existing yard environment of container yards can be improved by multi-layer storage, the service lives of the containers are prolonged, the containers can be stacked more flexibly by multi-layer storage, and the storage and fetching efficiency is higher.
Brief Description of the Drawings
Fig. 1 is a structure diagram of the present invention;
Fig. 2 is an enlarged schematic view of a multi-layer storage unit of the present invention, in which the bottom of a stable frame guide rail is located above an interactive hoisting device;
Fig. 3 is an enlarged schematic view of a station interaction area of the multi-layer storage unit of the present invention, in which the bottom of the stable frame guide rail is located on a platform of the station interaction area;
Fig. 4 is a schematic side view of the multi-layer storage unit of Fig. 2, mainly showing the station interaction area and above;
Fig. 5 is a schematic diagram of plane layout of Fig. 4, in which the first layer is shown as a platform layer provided with transport rails, and the second layer shows the floor above the station interaction area of high-layer container yards;
Fig. 6 is a schematic side view of a hoisting device rail in the present invention;
Fig. 7 is a schematic block diagram of a control system of the present invention; Reference signs: 1-bottom container yard, 2-high-layer container yard, 3-bottom storage hoisting device, 4-high-layer storage hoisting device, 5-interactive hoisting device, 6-shuttle vehicle, 7-stable frame guide rail, 8-transport rail, 9-container truck, 10-loading and unloading hole, 11-left stable frame guide rail hole, 12-right stable frame guide rail hole, 13-bottom transport rail, 14-high-layer transport rail, 15-hoisting device rail, 16-position bar code, 17-bar code scanner, 18-walking motor, 19-station interaction area, 20-platform of station interaction area.
Detailed Description of the Embodiments
The present invention will be further illustrated below in conjunction with specific embodiments and drawings.
A conventional open container yard has a bad influence on container bodies, and is inconvenient to store and fetch and unfavorable for digital management. Therefore, the present invention proposes an intelligent container yard system, which can realize  automatic storage of containers, intelligent storing and fetching arrangement, even unmanned storage under monitoring, and full-automatic data storage and management of all the containers under intelligent control.
The intelligent container yard system proposed by the present invention includes one or more multi-layer storage units; each multi-layer storage unit includes multiple layers of container yards, storage hoisting devices arranged at the upper parts of each layer of container yards and used for storing or taking out containers, interactive hoisting devices for loading and unloading containers from transport devices, and shuttle vehicles; a stable frame guide rail penetrating through the floor of each layer of yards is vertically arranged on one side of the multiple layers of container yards, the stable frame guide rail is hollow inside, and the storage hoisting devices in the container yards above the first layer hoist or lay down containers through the stable frame guide rail and the hollow part of the stable frame guide rail to the shutter vehicles arranged on the first layer, i.e., horizontal transport devices.
Fig. 1 is a schematic diagram of an integral container yard including two yards formed by combining totally four storage units, wherein each layer includes two yards, and a height of two layers form a multi-layer storage unit. The left three units are normal multi-layer storage units, and the right one is a multi-layer storage unit with a maintenance device.
The container loading and unloading area of each multi-layer storage unit is used as a station interaction area, and part of each layer of container yard is used as a storage area. The station interaction area mainly includes an interactive lifting device and shuttle vehicles, the shuttle vehicles are installed on a transport rail, the transport rail is arranged on a platform of the station interaction area, the stable frame guide rail uses four vertical metal racks having the same height and is fixed on the floor between the upper layer of yards and the lower layer of yards, the top of the stable frame guide rail to the storage hoisting device in the upper layer of yards hoist the lower edge of a container, the bottom of the stable frame guide rail is located above the interactive hoisting device, and the hollow size of the stable frame guide rail is slightly greater than the container hoisted by the storage hoisting device in the upper layer of yards to facilitate hoisting of the container. Fig. 2 is an enlarged schematic view of a single multi-layer storage unit, in which the bottom of the stable frame guide rail is located above the interactive hoisting device. The height positions of the top and the bottom of the stable frame guide rail can be seen from the schematic side view of Fig. 4.
The bottom of the stable frame guide rail may also be directly arranged on the platform of the station interaction area, so that the storage hoisting device in the upper layer can move to the transport rail through the stable frame guide rail, and hoists containers from the shuttle vehicle more stably, as shown in the enlarged schematic view of Fig. 3.
By adopting such a stable frame guide rail passing through the floor, when a container is transferred from the station interaction area to the high-layer yard of the storage area, it does not need to arrive at the upper layer through other passage but can be directly hoisted by the storage hoisting device in the upper layer stably and conveniently, thus saving transfer passages, improving the efficiency of transfer and storage and ensuring the hoisting safety.
The interactive hoisting device is arranged above a loading and unloading area on one side of the first layer of container yards, that is, at the top of the station interaction area, and can hoist a container onto the shuttle vehicle or unload a container from the shuttle vehicle. The station interaction area is arranged in the front of the yard to ensure the safety and realize intelligent control since entering, loading and unloading. The station interaction area may also be simultaneously arranged in the back of the yard, i.e., the storage area is in the middle, and station interaction area entrance and exit are in the front and the back.
The entire container yard can be provided with a plurality of multi-layer storage units according to the capacity of a multi-layer storage unit and the required capacity, or the size and position arrangement of containers, so as to realize a large-range container yard system. A combination of four multi-layer storage units is adopted in Fig. 1.
Fig. 2 shows that each layer of multiple layers of container yards of a multi-layer storage unit includes a left yard and a right yard, a station interaction area is located in front of entrances of the two container yards on the first layer, two transport rails are arranged in parallel and include a bottom transport rail and a high-layer transport rail, the multi-layer storage unit is divided into an upper layer and a lower layer, each layer adopts said left and right yards, a storage hoisting device is arranged in each yard, an interactive hoisting device is arranged at the station interaction area in front of one yard in the bottom layer, a transport rail is arranged on the platform of the station interaction area, the interactive hoisting device is installed at the top of the platform, a loading and unloading hole is formed in the middle of the platform, the interactive hoisting device hoists or lays down a container from the loading and unloading hole,  holes are formed in the floor on the left and right sides of the second layer of yards, left and right stable frame guide rails are arranged in the holes, the high-layer transport rail is arranged below the left and right stable frame guide rails, shutter vehicles run below the left and right stable frame guide rails, the storage hoisting devices in the two yards in the bottom layer store/fetch containers to/from the shutter vehicles on the bottom transport rail, and the storage hoisting devices in the two yards of the second layer store/fetch containers to/from the shutter vehicles on the high-layer transport rail. The directions of the holes are shown in Fig. 5.
The high-layer transport rail may be one transport rail or a corresponding number of high-layer transport rails is set according to the number of yard layers, shuttle vehicles are arranged on each transport rail, a stable frame guide rail (s) passing through the yard layer floor is arranged on one side, or on the left and right sides, in front of the entrances of the two container yards on each layer above the first layer, the high-layer transport rail is located below the stable frame guide rail, and the storage hoisting devices in the container yards above the first layer hoist or lay down containers from the shutter vehicles running on the high-layer transport rail via the stable frame guide rail and the hollow part of the stable frame guide rail.
The stable frame guide rail may also be adopted on one side, each layer of container yards is used as a storage grid, and storage and fetching are realized via one stable frame guide rail, or the stable frame guide rails are adopted on two sides, and each layer of container yards can realize storage and fetching via the two stable frame guide rails as an entrance and exit.
A positioning device like position bar codes is arranged on the side of each rail on which the storage hoisting device or interactive hoisting device installed at the container yard runs, a bar code scanner is arranged on the storage hoisting device or interactive hoisting device, the position bar code shows the relative displacement of the storage hoisting device or interactive hoisting device relative to an initial position, the bar code scanner scans the position bar code at a position where the moving hoisting device stays to determine the current position of the moving storage hoisting device or interactive hoisting device, and bar codes set on a rail and a bar code scanner on the side can be seen from Fig. 6 which is a schematic side view of the running rail for a hoisting device (a vehicle in Fig. 6) .
Or, the moving hoisting device can be positioned accurately in real time by using laser or other positioning device, the position of the hoisting device thus obtained is very  accurate, and the moving precision of the hoisting device can be controlled, thus ensuring the use of the stable frame guide rail and accurate connection of the interactive hoisting device and a container truck.
The overall system also includes a hoisting device control subsystem, which supplies power to the storage hoisting devices or interactive hoisting devices and devices on the hoisting devices by using slide wires, and communicates with a central controller by optical fiber connection. The slide wires for electrical connection ensure the safety and reduce the cost.
A stand-alone PLC is arranged on each of the storage hoisting devices, the interactive hoisting devices and the horizontal transport devices. Each stand-alone PLC is connected with a plurality of variable frequency controllers on the device, such as a walking motor and walking variable frequency controller, a lifting motor and lifting variable frequency controller, and a trolley motor and trolley variable frequency controller on the device. All the variable frequency controllers are in communication connection with the stand-alone PLC. All the stand-alone PLCs are connected with unit controllers for each multi-layer storage unit or unit formed by one layer of container yards of the multi-layer storage units. All the unit controllers are connected to the central controller of an information center. The central controller sends a task control command to the unit controllers, the task control command is decomposed into moving tasks by the stand-alone PLCs, and the moving tasks are sent to the variable frequency controllers to control the movement of the hoisting devices and the horizontal transport devices.
A monitor is arranged in each container yard to monitor the status of each hoisting device.
The control system further includes a yard access control subsystem, a container truck positioning subsystem, a remote control subsystem, a control workbench and an identification subsystem. The central controller of the information center processes and decomposes the task command according to the information fed back by the access control subsystem, the container truck positioning subsystem, the remote control subsystem and the identification subsystem at present, and sends the moving tasks to the stand-alone PLCs. The stand-alone controller can calculate an optimal path to avoid the possibility of collision between two running vehicles.
The yard access control subsystem is used for controlling entering and exiting of container trucks, that is, entering and exiting of containers. The identification  subsystem further includes a container number identification device and a license plate identification device.
The container truck positioning subsystem is used for positioning container trucks in station interaction areas, including guiding the container trucks to stop at proper positions, and ensuring proper loading and unloading of containers on the container trucks without affecting the safety of the container trucks themselves. The container truck positioning subsystem includes a container truck lane arranged below the station interaction areas, and a cradle head installed on a container frame gantry crane crossbeam above the container truck lane and having a programmed rotating angle and direction. A laser scanning range finder is installed on the cradle head, and capable of performing reciprocating scanning, tracking and ranging on containers on a heavy-duty container truck on the container truck lane and a trailer of a no-load container truck so as to position the container truck.
The remote control subsystem includes monitors installed in loading and unloading areas, yard areas and yard gates. Through monitored images returned from the monitors to a central control room, and the variable frequency controllers of the hoisting devices in communication connection with the central controller, the hoisting devices can be remotely controlled, mainly including monitoring of the operation of the overall system and handling of safety emergencies.
The entire intelligent container yard system is provided with multi-layer storage units, and the high-layer hoisting devices can easily and stably hoist or lay down containers from or to the bottom shutter vehicles in the multi-layer storage units via the stable frame guide rails, thus providing an intelligent and stable multi-layer container yard form and stacking method; containers are transported from the bottom layer to the high layer by using the stable frame guide rails penetrating through division plates between the high layer and the bottom layer, so that the containers are directly transported to the high layer without passing other passages, and the intermediate transport process is very efficient; the multi-layer storage units can be connected together as unit modules, so that a large container yard system can be conveniently and quickly established; the multi-layer storage units adopt the shutter vehicles arranged on the transport rails, the interactive hoisting devices and the storage hoisting devices, and the hoisting devices are intelligently controlled to form an intelligent container multi-layer yard system, so that the existing yard environment of container yards can be improved by multi-layer storage, the service lives of the  containers are prolonged, the containers are stacked more flexibly by multi-layer storage, and the storage and fetching efficiency is higher; in addition, the intelligent container yard system of the present invention can realize ordered management of disordered container yards, and realize tidy and ordered container stacking and efficient and convenient container storage and fetching; moreover, the whole yard system can be intelligently controlled to realize full-automatic efficient management of automatic entry identification and record, automatic storage and record, automatic take-out and record of containers.

Claims (15)

  1. An intelligent container yard system, comprising one or more multi-layer storage units, wherein each multi-layer storage unit comprises a station interaction area and a storage area; the storage area comprises multiple layers of container yards, and storage hoisting devices arranged at the upper parts of each layer of container yards and used for storing or taking out containers; the station interaction area comprises an interactive hoisting device for loading and unloading containers from transport vehicles, and horizontal transport devices; a stable frame guide rail penetrating through the floor of each layer of yards is vertically arranged on one side of the multiple layers of container yards; and the storage hoisting devices in the container yards above the first layer hoist or lay down containers through the stable frame guide rail to the horizontal transport devices in the station interaction area on the bottom layer or a relatively low layer.
  2. The intelligent container yard system according to claim 1, wherein the stable frame guide rail comprises four vertical metal racks having the same height and is fixed on the floor between the upper layer of yards and the lower layer of yards, the top of the stable frame guide rail to the storage hoisting device in the upper layer of yards hoist the lower edge of a container, the bottom of the stable frame guide rail is located above the interactive hoisting device, and the hollow size of the stable frame guide rail is slightly greater than the container hoisted by the storage hoisting device in the upper layer of yards.
  3. The intelligent container yard system according to claim 1, wherein the stable frame guide rail comprises four vertical metal racks having the same height and is fixed on the floor between the upper layer of yards and the lower layer of yards, the top of the stable frame guide rail to the storage hoisting device in the upper layer of yards hoist the lower edge of a container, the bottom of the stable frame guide rail is fixed on a platform of the station interaction area, and the hollow size of the stable frame guide rail is slightly greater than the container hoisted by the storage hoisting device in the upper layer of yards.
  4. The intelligent container yard system according to claim 1, wherein the interactive hoisting device is arranged above the station interaction area on one side of the first layer of container yards, and can hoist a container onto the horizontal transport device or unload a container from the horizontal transport device.
  5. The intelligent container yard system according to claim 1 or 2 or 3, wherein the horizontal transport device is installed on a transport rail, and the transport rail is  located below the stable frame guide rail.
  6. The intelligent container yard system according to claim 5, wherein the station interaction area is located in front of entrances of the two container yards on the first layer of each multi-layer storage unit and is provided with at least two transport rails in parallel, including a bottom transport rail and a high-layer transport rail, the high-layer transport rail is one transport rail or a corresponding number of high-layer transport rails is set according to the number of yard layers, horizontal transport devices are arranged on each transport rail, a stable frame guide rail (s) passing through the yard layer floor is arranged on one side, or on the left and right sides, in front of the entrances of the two container yards on each layer above the first layer, the high-layer transport rail is located below the stable frame guide rail, and the storage hoisting devices in the container yards above the first layer hoist or lay down containers from the horizontal transport devices running on the high-layer transport rail via the stable frame guide rail.
  7. The intelligent container yard system according to claim 6, wherein the multiple layers of container yards of each multi-layer storage unit are divided into an upper layer and a lower layer, each layer comprises a left yard and a right yard, a storage hoisting device is arranged in each yard, an interactive hoisting device is arranged at the station interaction area in front of one yard in the bottom layer, holes are formed in the floor on the left and right sides of the second layer of yards, left and right stable frame guide rails are arranged in the holes, a bottom transport rail and a high-layer transport rail are arranged on the bottom layer, the high-layer transport rail is arranged below the left and right stable frame guide rails, horizontal transport devices run below the left and right stable frame guide rails, the storage hoisting devices in the two yards in the bottom layer store/fetch containers to/from the horizontal transport devices on the bottom transport rail, and the storage hoisting devices in the two yards of the second layer store/fetch containers to/from the horizontal transport devices on the high-layer transport rail.
  8. The intelligent container yard system according to claim 1, wherein a positioning device is arranged on the side of each rail on which the storage hoisting device or interactive hoisting device runs, and the positioning device shows the relative displacement of the storage hoisting device or interactive hoisting device relative to an initial position in the running process to determine the current position of the moving storage hoisting device or interactive hoisting device in real time.
  9. The intelligent container yard system according to claim 1 or 8, further comprising a hoisting device control system, which supplies power to the storage hoisting devices or interactive hoisting devices and devices on the hoisting devices by using slide wires, drag chains or festoon cables, and communicates with a central controller by optical fiber or leaky wave cable or wireless device connection.
  10. The intelligent container yard system according to claim 9, wherein a stand-alone PLC is arranged on each of the storage hoisting devices, the interactive hoisting devices and the horizontal transport devices, each stand-alone PLC is connected with a plurality of variable frequency controllers on the device, all the variable frequency controllers are in communication connection with the stand-alone PLC, all the stand-alone PLCs are connected with unit controllers, and all the unit controllers are connected to the central controller of an information center; the central controller sends a task control command to the unit controllers, the task control command is decomposed into moving tasks by the stand-alone PLCs, and the moving tasks are sent to the variable frequency controllers to control the movement of the hoisting devices and the horizontal transport devices.
  11. The intelligent container yard system according to claim 9, wherein a monitor is arranged in each container yard to monitor the status of each hoisting device.
  12. The intelligent container yard system according to claim 9, wherein the control system further comprises a yard control subsystem, a container truck positioning subsystem, a remote control subsystem, a control workbench and an identification subsystem.
  13. The intelligent container yard system according to claim 12, wherein the identification subsystem comprises a container number identification device and a license plate identification device.
  14. The intelligent container yard system according to claim 9, wherein the container truck positioning subsystem comprises a container truck lane arranged below the loading and unloading areas, and a cradle head installed on a container frame gantry crane crossbeam above the container truck lane and having a programmed rotating angle and direction, and a laser scanning range finder is installed on the cradle head, and capable of performing reciprocating scanning, tracking and ranging on containers on a heavy-duty container truck on the container truck lane and a trailer of a no-load container truck so as to position the container truck.
  15. The intelligent container yard system according to claim 11, wherein the remote  control subsystem comprises a video monitoring part and a remote console, the video monitoring part comprises monitors arranged in loading and unloading areas, yard areas and yard gates, and through monitored images returned from the monitors to a central control room, the remote console controls the variable frequency controllers of the hoisting devices in communication connection with the central controller, so that the hoisting devices is remotely controlled.
PCT/CN2018/081640 2017-12-11 2018-04-02 Intelligent container yard system WO2019114155A1 (en)

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