Goods yard container positioning identification system based on Beidou RTK positioning

Abstract

The invention discloses a goods yard container positioning and identification system based on Beidou RTK positioning, the management level of a container goods yard is remarkably improved by applying Beidou RTK positioning, container number identification and visual analysis modules, the accurate position information of a gantry crane or a reach stacker is obtained in real time through the Beidou RTK technology, the positioning accuracy reaches the sub-meter level, and the positioning accuracy reaches the sub-meter level. The container number identification module uses a camera and a machine learning technology to automatically identify container numbers and replace manual input, the accuracy and efficiency of data entry are improved, informatization management of containers is realized, and the visual analysis module draws a goods allocation electronic map, so that the management efficiency of the containers is improved. Information such as the position, the container number, the size and the weight of the container is visually displayed, the state of the container position is monitored in real time, managers are assisted to optimize operation plans, and problems are found and solved in time.

Description

Technical Field

[0001] The present invention relates to the technical field of freight yard container positioning and identification, and in particular to a freight yard container positioning and identification system based on Beidou RTK positioning. Background Art

[0002] At present, the management of containers in traditional railway freight yards and stations mainly relies on manual operations, such as manually recording container numbers and judging the location of containers by eye. This method has obvious defects. First, manual container number identification and input is not only time-consuming and labor-intensive, but also prone to errors and negligence, affecting the safety and efficiency of logistics operations. Secondly, the judgment of container location also relies on manual experience, which cannot provide accurate and real-time location information, and it is difficult to meet the needs of modern logistics for efficient and accurate management of containers. Summary of the invention

[0003] In view of this, the present invention proposes a cargo yard container positioning and identification system based on Beidou RTK positioning, which can solve the defects of the prior art that it is prone to errors and negligence and difficult to meet the needs of modern logistics for efficient and accurate management of containers.

[0004] The technical solution of the present invention is achieved in this way:

[0005] A cargo yard container positioning and identification system based on Beidou RTK positioning, comprising:

[0006] Beidou RTK positioning module, used to obtain real-time position information of gantry crane or reach stacker;

[0007] Container number recognition module, used to automatically identify the container number;

[0008] A data transmission module, used to transmit the location information obtained by the Beidou RTK positioning module and the container number information identified by the container number identification module to the visualization analysis module;

[0009] The visual analysis module is used to draw an electronic map of the cargo space of containers in the cargo yard.

[0010] As a further optional solution of the cargo yard container positioning and identification system based on Beidou RTK positioning, the Beidou RTK positioning module includes:

[0011] The GNSS base station host is used to receive and process signals from Beidou satellites and is installed on the top of the freight yard office building;

[0012] The GNSS mobile station host is used to receive signals from the GNSS base station host and Beidou satellites, calculate the location information of the mobile station host through real-time differential positioning technology, and is installed on the upper end of the gantry crane or reach crane;

[0013] GNSS antennas, used to receive radio signals transmitted by Beidou satellites, are installed on the GNSS base station host and the GNSS mobile station host respectively;

[0014] The data transmission radio is used to transmit the position data obtained by the GNSS mobile station host to the fixed base station or other receiving equipment in real time, and is installed on the gantry crane or reach crane.

[0015] As a further optional solution of the cargo yard container positioning and identification system based on Beidou RTK positioning, the GNSS mobile station host calculates the location information of the mobile station host through real-time differential positioning technology, specifically including:

[0016] Beidou satellites transmit dual-frequency signals, which are received simultaneously by the GNSS reference station host and the mobile station host;

[0017] The GNSS base station host and the mobile station host respectively calculate the received carrier phase information;

[0018] Perform differential calculation based on the carrier phase information of the GNSS reference station host and the mobile station host to obtain the differential result;

[0019] Based on the differential results, the location information of the mobile station host is calculated in real time.

[0020] As a further optional solution of the cargo yard container positioning and identification system based on Beidou RTK positioning, the Beidou RTK positioning module also includes:

[0021] The laser rangefinder is used to calculate the distance by emitting a laser beam and measuring the time it takes to be reflected back, so as to assist the positioning of the mobile station host. It is installed in conjunction with the GNSS mobile station host.

[0022] As a further optional solution of the cargo yard container positioning and identification system based on Beidou RTK positioning, the container number identification module includes:

[0023] A camera for collecting images of the container;

[0024] The industrial computer is used to process the image data collected by the camera and run the machine learning algorithm to pre-process, extract features and identify the images. It is installed in the gantry crane driver's cab.

[0025] Macro camera to capture detailed information of container numbers.

[0026] As a further optional solution of the cargo yard container positioning and identification system based on Beidou RTK positioning, the data transmission module includes:

[0027] Wireless bridge, used to transmit satellite signal data between the gantry crane mobile base station and the fixed base station by wireless means;

[0028] The switch is used to connect the wireless bridge and the collector and is installed in the cargo yard office building or in the control room near the gantry crane;

[0029] The collector is used to obtain the weighing data of overload or eccentric load of the gantry crane or reach crane. The weighing data of overload or eccentric load is used as the trigger signal for starting and ending the positioning operation, and is installed near the weighing system of the gantry crane or reach crane.

[0030] As a further optional solution of the cargo yard container positioning and identification system based on Beidou RTK positioning, the visual analysis module draws an electronic map of the cargo yard container, specifically including:

[0031] Obtain the specific layout and geographical location of the freight yard;

[0032] Establish a coordinate conversion model and electronic map platform based on the specific layout and geographical location of the freight yard;

[0033] According to the coordinate conversion model, the location information obtained by the Beidou RTK positioning module is converted into coordinate data inside the freight yard;

[0034] Import the internal coordinate data of the freight yard obtained through the conversion model and the container number information identified by the container number identification module into the electronic map platform;

[0035] By utilizing the drawing function of the electronic map platform, the positions of the containers are drawn one by one on the electronic map according to the internal coordinate data of the freight yard and the container number information, thus obtaining an electronic map of the freight location.

[0036] A method for positioning and identifying containers in a freight yard based on Beidou RTK positioning, specifically comprising:

[0037] Beidou RTK positioning steps: Using Beidou satellite RTK positioning technology, based on dual-frequency GPS technology and carrier phase observation technology, the position and speed information of the gantry crane or reach crane is calculated in real time;

[0038] Container number recognition steps: The camera collects images of the container, and uses machine learning technology to pre-process and extract features of the collected images to identify the container number;

[0039] Data transmission step: The location information obtained by the Beidou RTK positioning module and the container number information identified by the container number identification module are transmitted to the visualization analysis module through the data transmission module;

[0040] Visualization analysis steps: In the visualization analysis module, draw an electronic map of the cargo space of the cargo yard containers, and convert the satellite latitude and longitude data map into the corresponding distribution of container cargo space.

[0041] A computing device comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the method for positioning and identifying cargo containers in a freight yard based on Beidou RTK positioning are implemented.

[0042] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the above-mentioned method for positioning and identifying cargo containers in a freight yard based on Beidou RTK positioning.

[0043] The beneficial effects of the present invention are as follows: through the Beidou RTK positioning module, using the high-precision RTK technology of the Beidou satellite, the precise position information of the gantry crane or reach crane, including the position of the trolley, the position of the trolley and the height of the spreader, can be obtained in real time and accurately, and the positioning accuracy reaches the sub-meter level, which greatly improves the positioning accuracy of the container in the cargo yard and reduces the operation errors and delays caused by inaccurate positioning. The accurate position information provides reliable basic data support for operations such as loading and unloading, stacking and transportation of containers, which helps to optimize the operation process and improve operation efficiency. The container number recognition module uses a camera to collect container images, and pre-processes, extracts features and recognizes the images through machine learning technology, thereby realizing automatic recognition of container numbers. This function replaces the traditional method of manually entering container numbers, reduces human errors and negligence, and improves the accuracy and efficiency of data entry. Automatic recognition of container numbers also helps to realize the informatization of containers. Management, facilitates tracking and monitoring of the flow and status of containers, and improves the transparency and traceability of logistics management. The visual analysis module displays complex data information in an intuitive and easy-to-understand graphical manner by drawing an electronic map of the cargo space of containers in the cargo yard. Users can clearly see the detailed information of each container space, such as location, container number, size, weight, etc. At the same time, they can also monitor the status of each container space in real time, such as whether it has been unloaded, loaded, put in or out of the warehouse, etc. This helps managers to discover problems in time, adjust work plans, and optimize the management of container yards. By comprehensively applying the above-mentioned technical modules, the technical solution realizes the precise positioning, automatic identification and information management of containers in the cargo yard, which helps to optimize the management process of the container yard, reduce operational errors and delays, and improve operational efficiency. At the same time, through real-time monitoring and data analysis, managers can discover and solve potential problems in time and improve the overall operation level and freight efficiency of the cargo yard. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0045] Figure 1 It is a schematic diagram of the composition of a freight yard container positioning and identification system based on Beidou RTK positioning of the present invention;

[0046] Figure 2 The present invention is a flowchart of a method for positioning and identifying containers in a freight yard based on Beidou RTK positioning. DETAILED DESCRIPTION

[0047] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] refer to Figure 1 to Figure 2 , a cargo yard container positioning and identification system based on Beidou RTK positioning, including:

[0049] Beidou RTK positioning module, used to obtain real-time position information of gantry crane or reach stacker;

[0050] Container number recognition module, used to automatically identify the container number;

[0051] A data transmission module, used to transmit the location information obtained by the Beidou RTK positioning module and the container number information identified by the container number identification module to the visualization analysis module;

[0052] The visual analysis module is used to draw an electronic map of the cargo space of containers in the cargo yard.

[0053] In this embodiment, through the Beidou RTK positioning module, using the high-precision RTK technology of the Beidou satellite, the precise position information of the gantry crane or reach stacker, including the position of the trolley, the position of the car and the height of the spreader, can be obtained in real time and accurately, with the positioning accuracy reaching the sub-meter level. This greatly improves the positioning accuracy of the container in the cargo yard and reduces the operation errors and delays caused by inaccurate positioning. The accurate position information provides reliable basic data support for operations such as loading and unloading, stacking and transportation of containers, which helps to optimize the operation process and improve operation efficiency. The container number recognition module uses a camera to collect container images, and pre-processes, extracts features and recognizes the images through machine learning technology, thereby realizing automatic recognition of container numbers. This function replaces the traditional method of manually entering container numbers, reduces human errors and negligence, and improves the accuracy and efficiency of data entry. Automatic recognition of container numbers also helps to realize the information management of containers. , which is convenient for tracking and monitoring the flow and status of containers, and improving the transparency and traceability of logistics management. The visual analysis module displays complex data information in an intuitive and easy-to-understand graphical way by drawing an electronic map of the cargo space of containers in the cargo yard. Users can clearly see the detailed information of each container space, such as location, container number, size, weight, etc. At the same time, they can also monitor the status of each container space in real time, such as whether it has been unloaded, loaded, put in or out of the warehouse, etc. This helps managers to find problems in time, adjust work plans, and optimize the management of container yards. By comprehensively applying the above-mentioned technical modules, the technical solution realizes the precise positioning, automatic identification and information management of containers in the cargo yard, which helps to optimize the management process of container yards, reduce operational errors and delays, and improve operational efficiency. At the same time, through real-time monitoring and data analysis, managers can find and solve potential problems in time and improve the overall operation level and freight efficiency of the cargo yard.

[0054] Preferably, the Beidou RTK positioning module includes:

[0055] The GNSS base station host is used to receive and process signals from Beidou satellites and is installed on the top of the freight yard office building;

[0056] The GNSS mobile station host is used to receive signals from the GNSS base station host and Beidou satellites, calculate the location information of the mobile station host through real-time differential positioning technology, and is installed on the upper end of the gantry crane or reach crane;

[0057] GNSS antennas, used to receive radio signals transmitted by Beidou satellites, are installed on the GNSS base station host and the GNSS mobile station host respectively;

[0058] The data transmission radio is used to transmit the position data obtained by the GNSS mobile station host to the fixed base station or other receiving equipment in real time, and is installed on the gantry crane or reach crane.

[0059] In this embodiment, through the cooperation of the GNSS reference station host and the GNSS mobile station host, combined with the high-precision RTK technology of the Beidou satellite, high-precision three-dimensional positioning of the gantry crane or reach stacker can be achieved. This positioning method is not only highly accurate, but also can be updated in real time, providing reliable basic data for the precise management of containers; high-precision positioning information can accurately guide the operation of the gantry crane or reach stacker, reducing operation delays and errors caused by inaccurate positioning. At the same time, the feedback of real-time position information can also help operators better understand the equipment status, improve operation efficiency, and improve operation safety to a certain extent; the application of the data transmission station enables the location data obtained by the GNSS mobile station host to be transmitted to the fixed base station or other receiving equipment in real time and stably, which not only ensures the accuracy and integrity of the data, but also improves the data processing speed and efficiency, providing strong support for subsequent container management and analysis; by installing the GNSS reference station host on the top of the freight yard office building, the GNSS mobile station host is installed on the upper end of the gantry crane or reach stacker, and the flexible configuration of the data transmission station, the entire system has good flexibility and adaptability. This design can adapt to changes in different freight yard environments and operation requirements, and improves the practicality and reliability of the system.

[0060] Preferably, the GNSS mobile station host calculates the location information of the mobile station host through real-time differential positioning technology, specifically including:

[0061] Beidou satellites transmit dual-frequency signals, which are received simultaneously by the GNSS reference station host and the mobile station host;

[0062] The GNSS base station host and the mobile station host respectively calculate the received carrier phase information;

[0063] Perform differential calculation based on the carrier phase information of the GNSS base station host and the mobile station host to obtain the differential result;

[0064] Based on the differential results, the location information of the mobile station host is calculated in real time.

[0065] In this embodiment, by using the dual-frequency signals transmitted by Beidou satellites, the GNSS base station host and the mobile station host can simultaneously receive these signals and perform precise measurement of the carrier phase. Through differential calculation, the positioning error caused by factors such as differences in satellite signal propagation paths and atmospheric influences can be significantly reduced, thereby achieving sub-meter-level high-precision positioning, which is crucial for the precise management of containers in railway freight yards and stations, and can ensure the accuracy of container positions and improve operating efficiency; through real-time differential positioning technology, the position information of the mobile station host can be quickly calculated, which means that the position information of the gantry crane or front crane can be updated in real time during operation, providing timely and accurate data support for freight yard management. This helps to optimize the operating process, reduce waiting time, and improve overall operational efficiency; by using dual-frequency signals and differential positioning technology, the technical solution can still maintain high stability and reliability in complex environments, and even when the satellite signal is interfered with or blocked, the error can be reduced through differential calculation to ensure the accuracy of the positioning result, which is particularly important for railway freight yards and stations with complex environments and frequent operations.

[0066] Preferably, the Beidou RTK positioning module also includes:

[0067] The laser rangefinder is used to calculate the distance by emitting a laser beam and measuring the time it takes to be reflected back, so as to assist the positioning of the mobile station host. It is installed in conjunction with the GNSS mobile station host.

[0068] In this embodiment, the laser rangefinder determines the distance by emitting a laser beam and measuring the reflection time. This technology has the characteristics of high-precision and high-speed measurement. After being installed in conjunction with the GNSS mobile station host, the laser rangefinder can provide additional distance information to assist GNSS positioning, thereby further enhancing the positioning accuracy. In complex environments (such as severe occlusion, signal interference, etc.), the GNSS signal may be interfered with or lost, resulting in a decrease in positioning accuracy. At this time, the laser rangefinder can be used as a backup or supplementary means to ensure the continuity and stability of positioning. In environments such as railway freight yards and stations, the mobility of containers is large and operations are frequent. By integrating the laser rangefinder and the GNSS mobile station, the laser rangefinder can be used to ensure the continuity and stability of positioning. Station host, Beidou RTK positioning module can realize real-time monitoring and accurate recording of container operation process, which helps to optimize the operation process, reduce manual intervention and errors, and improve operation efficiency. At the same time, accurate location information also provides strong support for subsequent container management and transportation scheduling; the use of laser rangefinder and GNSS mobile station host can form a redundant design and improve the reliability of the entire positioning system. When the GNSS signal is interfered or lost, the laser rangefinder can play a role immediately to ensure the continuity and accuracy of positioning. In addition, the laser rangefinder can also verify and correct the GNSS positioning results to ensure the accuracy and reliability of the positioning results.

[0069] Preferably, the container number identification module includes:

[0070] A camera for collecting images of the container;

[0071] The industrial computer is used to process the image data collected by the camera and run the machine learning algorithm to pre-process, extract features and identify the images. It is installed in the gantry crane driver's cab.

[0072] Macro camera to capture detailed information of container numbers.

[0073] In this embodiment, the camera can collect images of containers in real time to provide basic data for subsequent recognition work. The industrial computer runs advanced machine learning algorithms to preprocess, extract features and recognize images, which can effectively cope with complex and changeable cargo yard environments and improve recognition accuracy and robustness. The macro camera further captures detailed information of the container number to ensure accurate recognition even when the container number is blurred or damaged, thereby significantly improving the overall recognition accuracy. The use of the macro camera reduces the need for multiple recognitions due to blurred container numbers, further improving recognition efficiency. By adjusting the parameters and positions of the camera and macro camera, it is possible to flexibly cope with different operating scenarios and container placement methods to ensure the stability and reliability of the recognition effect.

[0074] It should be noted that the installation position of the camera is flexibly set according to the freight yard environment and operation requirements. In the gantry crane scenario, the camera is installed at a position 1.5 meters protruding from the railing connection of the driver's cab, on the gantry crane column, and on the inside of the telescopic arm of the spreader. It is used to solve the capture and recognition of the three operations of loading and unloading trains, loading and unloading cars, and moving containers in the yard. In the reach crane scenario, the camera is installed on the inside of the telescopic arm of the spreader and on the 1m extension rod outside the driver's room, so as to capture the container number information on the top and side of the container; in addition, the installation position of the macro camera is customized according to the specific identification requirements and freight yard environment, but usually the macro camera is installed in a position where it can clearly capture the details of the container number.

[0075] Preferably, the data transmission module includes:

[0076] Wireless bridge, used to transmit satellite signal data between the gantry crane mobile base station and the fixed base station by wireless means;

[0077] The switch is used to connect the wireless bridge and the collector and is installed in the cargo yard office building or in the control room near the gantry crane;

[0078] The collector is used to obtain the weighing data of overload or eccentric load of the gantry crane or reach crane. The weighing data of overload or eccentric load is used as the trigger signal for starting and ending the positioning operation, and is installed near the weighing system of the gantry crane or reach crane.

[0079] In this embodiment, the application of the wireless bridge enables the satellite signal data between the gantry crane mobile base station and the fixed base station to be transmitted wirelessly in real time, without being restricted by wired lines, thereby improving the flexibility and efficiency of data transmission; the switch, as a network connection device, can efficiently connect the wireless bridge and the collector to achieve rapid forwarding and processing of data, which helps to ensure the real-time and accuracy of the positioning data and provide strong support for the precise positioning of the container; the collector can obtain the overload and unbalanced weighing data of the gantry crane or the front loaders in real time. These data serve as trigger signals for the start and end of the positioning operation, ensuring the accurate collection of the positioning data and the smooth progress of the operation process. Through the precise capture of the collector, false alarms and missed alarms can be effectively avoided, thereby improving the operation efficiency; the data transmission module adopts a combination of wireless and wired methods, which not only ensures the flexibility of data transmission, but also enhances the stability and reliability of the system. In the complex and changeable cargo yard environment, this design helps to cope with various emergencies and ensure the continuous and stable operation of the system.

[0080] Preferably, the visual analysis module draws an electronic map of the cargo space of the containers in the cargo yard, specifically including:

[0081] Obtain the specific layout and geographical location of the freight yard;

[0082] Establish a coordinate conversion model and electronic map platform based on the specific layout and geographical location of the freight yard;

[0083] According to the coordinate conversion model, the location information obtained by the Beidou RTK positioning module is converted into coordinate data inside the freight yard;

[0084] Import the internal coordinate data of the freight yard obtained through the conversion model and the container number information identified by the container number identification module into the electronic map platform;

[0085] By utilizing the drawing function of the electronic map platform, the positions of the containers are drawn one by one on the electronic map according to the internal coordinate data of the freight yard and the container number information, thus obtaining an electronic map of the freight location.

[0086] In this embodiment, by converting the location information obtained by the Beidou RTK positioning module into coordinate data inside the freight yard, and drawing the location of the container one by one on the electronic map, the freight yard manager can intuitively see the specific location of each container, which greatly improves the management efficiency; the cargo electronic map not only shows the location of the container, but also combines the container number information identified by the container number recognition module, so that the manager can quickly and accurately find the container with a specific container number, optimizing the container search and scheduling process; the technical solution supports real-time monitoring function, which can update the location and status information of the container in real time (such as whether it has been unloaded, loaded, put into storage or out of storage, etc.), which helps the manager to respond to various emergencies in time and ensure the smooth and safe operation of the freight yard; through the drawing function of the electronic map platform, the real-time dynamics of the container, such as movement trajectory, operation status, etc., can be presented, providing managers with richer data visualization effects, which helps them better understand and analyze the operation of the freight yard; combined with the collection of container number recognition, operation start position and end position, the technical solution can realize the precise positioning of the container in the freight yard, thereby optimizing the management of the container yard, and improving the efficiency and accuracy of container transportation scheduling by reducing manual intervention and errors.

[0087] It should be noted that according to the specific layout and geographical location of the freight yard, a coordinate conversion model from satellite latitude and longitude coordinates to freight yard internal coordinates is established. The specific steps include:

[0088] According to the actual layout of the freight yard, including roads, yard areas, warehouse locations, etc., key locations are clearly marked on the map;

[0089] Collect the satellite latitude and longitude coordinates of these key locations as the basic data for the conversion model;

[0090] Set the coordinate system inside the freight yard. Usually, a fixed point of the freight yard is selected as the origin, and the directions of the X-axis and Y-axis are set according to the layout of the freight yard.

[0091] Through mathematical methods, such as linear transformation or polynomial fitting, a conversion formula or model from satellite latitude and longitude coordinates to internal coordinates of the cargo yard is established.

[0092] In addition, an electronic map platform is established based on the specific layout and geographical location of the freight yard. The specific steps include:

[0093] Develop an electronic map system that supports custom layers and coordinate systems;

[0094] According to the layout and geographic information of the freight yard, basic map data such as roads and building outlines are imported to obtain an electronic map platform.

[0095] A method for positioning and identifying containers in a freight yard based on Beidou RTK positioning, specifically comprising:

[0096] Beidou RTK positioning steps: Using Beidou satellite RTK positioning technology, based on dual-frequency GPS technology and carrier phase observation technology, the position and speed information of the gantry crane or reach stacker is solved in real time. Specifically, the mobile base station of the gantry crane satellite positioning uses the transmission method of the radio station combined with the satellite signal data of the fixed base station. By analyzing the satellite data, the real-time position data of the gantry crane trolley position, the trolley position and the height of the spreader are obtained, thereby providing accurate real-time position information for the container, including the container's operation start position, end position and movement process position;

[0097] Container number recognition step: The image of the container is collected through the camera, and the collected image is preprocessed and feature extracted using machine learning technology to identify the container number. Specifically, the collected container image is randomly divided into a training set, a validation set, and a test set according to a certain ratio (such as 6:2:2). The images in the training set are trained using machine learning technology to obtain a detection model and a recognition model. The trained model is then used to infer the test set. The model is optimized by increasing the training set data and changing the model parameters, and finally a model that meets the production scenario is determined;

[0098] Data transmission step: The location information obtained by the Beidou RTK positioning module and the container number information identified by the container number recognition module are transmitted to the visualization analysis module through the data transmission module. Specifically, the gantry crane mobile base station and the fixed base station transmit satellite signal data through a radio station. The real-time location information of the height of the gantry crane trolley, car and spreader is transmitted to the industrial computer in the gantry crane driver's cab through a wireless bridge. At the same time, the collector is used to obtain the weighing data of the gantry crane overload and unbalanced load as the trigger signal for the start and end of the positioning operation. The recognition model transmits the recognition result to the front-end visualization analysis module through the TCP / IP protocol.

[0099] Visualization analysis steps: In the visualization analysis module, draw an electronic map of the cargo space of the cargo yard containers, and convert the satellite latitude and longitude data map into the corresponding distribution of container cargo space.

[0100] A computing device comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the method for positioning and identifying cargo containers in a freight yard based on Beidou RTK positioning are implemented.

[0101] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the above-mentioned method for positioning and identifying cargo containers in a freight yard based on Beidou RTK positioning.

[0102] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A cargo yard container positioning and identification system based on Beidou RTK positioning, characterized in that: include: Beidou RTK positioning module, used to obtain real-time position information of gantry crane or reach stacker; Container number recognition module, used to automatically identify the container number; A data transmission module, used to transmit the location information obtained by the Beidou RTK positioning module and the container number information identified by the container number identification module to the visualization analysis module; The visual analysis module is used to draw an electronic map of the cargo space of containers in the cargo yard.

2. According to the Beidou RTK positioning-based freight yard container positioning and identification system of claim 1, it is characterized in that: The Beidou RTK positioning module includes: The GNSS base station host is used to receive and process signals from Beidou satellites and is installed on the top of the freight yard office building; The GNSS mobile station host is used to receive signals from the GNSS base station host and Beidou satellites, calculate the location information of the mobile station host through real-time differential positioning technology, and is installed on the upper end of the gantry crane or reach crane; GNSS antennas, used to receive radio signals transmitted by Beidou satellites, are installed on the GNSS base station host and the GNSS mobile station host respectively; The data transmission radio is used to transmit the position data obtained by the GNSS mobile station host to the fixed base station or other receiving equipment in real time, and is installed on the gantry crane or reach crane.

3. According to claim 2, a cargo yard container positioning and identification system based on Beidou RTK positioning is characterized in that: The GNSS mobile station host calculates the location information of the mobile station host through real-time differential positioning technology, specifically including: Beidou satellites transmit dual-frequency signals, which are received simultaneously by the GNSS reference station host and the mobile station host; The GNSS base station host and the mobile station host respectively calculate the received carrier phase information; Perform differential calculation based on the carrier phase information of the GNSS base station host and the mobile station host to obtain the differential result; Based on the differential results, the location information of the mobile station host is calculated in real time.

4. According to the cargo yard container positioning and identification system based on Beidou RTK positioning according to claim 3, it is characterized in that: The Beidou RTK positioning module also includes: The laser rangefinder is used to calculate the distance by emitting a laser beam and measuring the time it takes to be reflected back, so as to assist the positioning of the mobile station host. It is installed in conjunction with the GNSS mobile station host.

5. The cargo yard container positioning and identification system based on Beidou RTK positioning according to claim 4 is characterized in that: The container number identification module includes: A camera for collecting images of the container; The industrial computer is used to process the image data collected by the camera and run the machine learning algorithm to pre-process, extract features and identify the images. It is installed in the gantry crane driver's cab. Macro camera to capture detailed information of container numbers.

6. A cargo yard container positioning and identification system based on Beidou RTK positioning according to claim 5, characterized in that: The data transmission module comprises: Wireless bridge, used to transmit satellite signal data between the gantry crane mobile base station and the fixed base station by wireless means; The switch is used to connect the wireless bridge and the collector and is installed in the cargo yard office building or in the control room near the gantry crane; The collector is used to obtain the weighing data of overload or eccentric load of the gantry crane or reach crane. The weighing data of overload or eccentric load is used as the trigger signal for starting and ending the positioning operation, and is installed near the weighing system of the gantry crane or reach crane.

7. A cargo yard container positioning and identification system based on Beidou RTK positioning according to claim 6, characterized in that: The visual analysis module draws an electronic map of the cargo space of the cargo yard containers, specifically including: Obtain the specific layout and geographical location of the freight yard; Establish a coordinate conversion model and electronic map platform based on the specific layout and geographical location of the freight yard; According to the coordinate conversion model, the location information obtained by the Beidou RTK positioning module is converted into coordinate data inside the freight yard; Import the internal coordinate data of the freight yard obtained through the conversion model and the container number information identified by the container number identification module into the electronic map platform; By utilizing the drawing function of the electronic map platform, the positions of the containers are drawn one by one on the electronic map according to the internal coordinate data of the freight yard and the container number information, thus obtaining an electronic map of the freight location.

8. A method for positioning and identifying containers in a freight yard based on Beidou RTK positioning, characterized in that: Specifically include: Beidou RTK positioning steps: Using Beidou satellite RTK positioning technology, based on dual-frequency GPS technology and carrier phase observation technology, the position and speed information of the gantry crane or reach crane is calculated in real time; Container number recognition steps: The camera collects images of the container, and uses machine learning technology to pre-process and extract features of the collected images to identify the container number; Data transmission step: The location information obtained by the Beidou RTK positioning module and the container number information identified by the container number identification module are transmitted to the visualization analysis module through the data transmission module; Visualization analysis steps: In the visualization analysis module, draw an electronic map of the cargo space of the cargo yard containers, and convert the satellite latitude and longitude data map into the corresponding distribution of container cargo space.

9. A computing device, characterized in that The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the method for positioning and identifying cargo yard containers based on Beidou RTK positioning as described in claim 8 are implemented.

10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, which, when executed by a processor, implements the steps of the method for positioning and identifying cargo containers in a freight yard based on Beidou RTK positioning as described in claim 8.

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