A container automated loading and unloading yard facility

Abstract

This invention belongs to the field of container yard technology, specifically a container yard facility for automated loading and unloading. It includes parallel bridge rails, longitudinal moving mechanisms slidably connected to each bridge rail, a lateral moving mechanism connected between the two longitudinal moving mechanisms, and a lifting mechanism mounted on the lateral moving mechanism. The longitudinal moving mechanism includes a first base plate, a first roller, and a longitudinal moving motor; the lateral moving mechanism includes a second base plate, a second roller, a lateral moving motor, and lateral moving rails. The facility also includes an intelligent control system. Its environmental perception module is equipped with a three-dimensional vision sensor and a laser rangefinder sensor, and the motion control module generates coordinated motion commands for each motor through an anti-sway trajectory planning algorithm. This invention simplifies the control model by mechanically decoupling the longitudinal and lateral movements. Combined with intelligent perception and anti-sway control, it achieves automated and smooth container loading and unloading, significantly improving the efficiency and intelligence level of yard operations.

Description

Technical Field

[0001] This invention relates to the field of container yard technology, and more particularly to a container yard facility with automated loading and unloading capabilities. Background Technology

[0002] In ports, railway freight stations, and large logistics parks, container yards are the core nodes for cargo transshipment and storage. Currently, the mainstream container yard loading and unloading equipment mainly includes rail-mounted gantry cranes, rubber-tired gantry cranes, and reach stackers. Taking rail-mounted gantry cranes as an example, they typically include a main beam spanning the yard, a trolley traveling along the main beam, and a lifting mechanism. Through the longitudinal movement of the main beam and the lateral movement of the trolley, combined with the lifting and lowering of the spreader, the stacking and unloading of containers are achieved.

[0003] However, such equipment generally suffers from the following problems: First, the large beam structure requires long-distance parallel tracks in the yard, resulting in high civil engineering costs, and the beam itself is heavy and energy-intensive. Second, during operation, the lateral and longitudinal movements of the spreader are inertially coupled, especially when simultaneous adjustments in both directions are needed after lifting, making operation complex and highly dependent on operator skills. Third, the automated control of existing equipment is mostly based on preset paths and manual confirmation, lacking the ability to adapt to dynamic changes in the operating environment (such as vehicle parking deviations and container placement deviations), making it difficult to achieve truly unmanned and intelligent operations. Therefore, there is an urgent need for a more compact, motion-decoupled, and autonomously perceptual and decision-making container automated loading and unloading yard facility. Summary of the Invention

[0004] Based on the technical problems existing in the prior art, this invention proposes a container yard facility with automated loading and unloading.

[0005] The present invention proposes a container yard facility for automatic loading and unloading, including a bridge rail, a longitudinal movement mechanism, a transverse movement mechanism and a lifting mechanism. The bridge rail is arranged in parallel with two rails, and a longitudinal movement mechanism is provided on each bridge rail. The longitudinal movement mechanism includes a first base plate, a first roller, and a longitudinal movement motor. The first base plate is slidably connected to the bridge guide rail. At least two first rollers are mounted on the first base plate, and at least two longitudinal movement motors are fixed to the side of the first base plate. The output shaft of the longitudinal movement motor is connected to the wheel axle of the corresponding first roller. The two longitudinal movement mechanisms are connected by a transverse movement mechanism; the transverse movement mechanism includes a second base plate, a second roller, a transverse movement motor and a transverse movement guide rail. The two transverse movement guide rails are fixed in parallel between the two first base plates. Each second base plate is slidably mounted on the corresponding transverse movement guide rail. Each second base plate is equipped with multiple second rollers. A transverse movement motor is mounted on the side of each second base plate. The output shaft of the transverse movement motor is connected to the wheel axle of the corresponding second roller. The lifting mechanism is mounted on the traversing mechanism; The yard facility also includes an intelligent control system, which includes an environmental perception module and a motion control module. The environmental perception module includes a three-dimensional vision sensor mounted on the bottom of the second base plate and a laser rangefinder mounted on the fixture. The motion control module receives data from the environmental perception module and generates coordinated motion commands for the longitudinal movement motor, the transverse movement motor and the winding motor through an anti-sway trajectory planning algorithm.

[0006] Preferably, the lifting mechanism includes a mounting plate, a drum, a cable, a winding motor, and a clamp. Two mounting plates are fixed in parallel between two second base plates. A drum is rotatably connected to each mounting plate. A winding motor is fixed to the end of the mounting plate. The output shaft of the winding motor is connected to the end of the drum. The cable is wound around the drum. The clamp is fixed to the free ends of multiple cables.

[0007] Preferably, the bottom of the first substrate is provided with a guide groove that matches the track cross-section of the cable tray guide rail, and the first roller is located on the side of the guide groove.

[0008] Preferably, the bottom surface of the transverse guide rail is flush with the bottom surface of the first substrate.

[0009] Preferably, the surface of the drum is provided with a spiral groove, and the cable is a steel wire rope.

[0010] Preferably, the clamp is a telescopic container spreader with a twist-lock mechanism at each of its four corners and a positioning sensor.

[0011] Preferably, the intelligent control system further includes a real-time Ethernet bus, which connects the drivers of the longitudinal traverse motor, the transverse traverse motor, and the winding motor, with a communication cycle of no more than two milliseconds.

[0012] Preferably, the anti-sway trajectory planning algorithm uses an S-shaped velocity curve and input shaping technology to dynamically adjust the acceleration threshold based on the cable length and load mass.

[0013] Preferably, the three-dimensional vision sensor is a composite device of a binocular camera and a structured light projector, and the laser rangefinder detects the distance at a frequency higher than 100 Hz when the clamp approaches the target.

[0014] Preferably, the intelligent control system further includes a scheduling optimization module, which is based on a reinforcement learning model and uses the shortest total operation time or the lowest energy consumption as the objective function to output the stacking position and equipment movement strategy.

[0015] Compared with the prior art, the present invention provides a container yard facility for automated loading and unloading, which has the following advantages: 1. By setting up independent longitudinal and transverse movement mechanisms, with the longitudinal movement mechanism directly supported on the ground cable tray guide rail and the transverse movement mechanism connected between the two longitudinal movement mechanisms, the mechanical decoupling of longitudinal and transverse movement is achieved, simplifying the complexity of the motion control model. At the same time, the traditional large gantry is eliminated, reducing the overall structure and civil engineering costs.

[0016] 2. By setting up an environmental perception module consisting of a 3D vision sensor and a laser rangefinder, the 3D pose of the work object can be acquired in real time. Combined with the automatic trajectory planning of the motion control module, adaptive grasping and placement of vehicle parking deviations and container stacking deviations are realized, which significantly improves the adaptability to complex working environments.

[0017] 3. By adopting an anti-sway trajectory planning algorithm that combines S-shaped speed curves and input shaping technology, and using a real-time Ethernet bus to achieve multi-axis nanosecond-level synchronization, the load sway during lifting and operation is effectively suppressed, the loading and unloading speed and positioning accuracy are improved, and the safety of operation is ensured.

[0018] 4. By introducing a reinforcement learning-based scheduling optimization module and combining it with a digital twin model, the system can dynamically optimize yard space utilization and equipment operation paths, reducing empty runs and waiting times. This achieves a leap from single-machine automation to optimal overall system energy efficiency, demonstrating outstanding overall innovation. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the installation structure between the longitudinal and transverse movement mechanisms of the present invention; Figure 3 This is a schematic diagram of the installation structure between the lateral movement mechanism and the lifting mechanism of the present invention.

[0020] In the diagram: 1. Cable tray guide rail; 2. Longitudinal movement mechanism; 21. First base plate; 22. First roller; 23. Longitudinal movement motor; 3. Transverse movement mechanism; 31. Second base plate; 32. Second roller; 33. Transverse movement motor; 34. Transverse movement guide rail; 4. Lifting mechanism; 41. Mounting plate; 42. Drum; 43. Cable; 44. Winding motor; 45. Clamp. Detailed Implementation

[0021] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0022] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0023] Reference Figures 1-3 A container yard facility for automated loading and unloading includes a bridge rail 1, a longitudinal movement mechanism 2, a transverse movement mechanism 3, and a lifting mechanism 4.

[0024] The cable tray guide rail 1 consists of two parallel steel rails laid on the yard floor. Its cross-section is I-shaped, providing high bending and torsional stiffness. The length direction of the cable tray guide rail 1 is the direction in which the containers are stacked and arranged, which is also the longitudinal direction (X-direction) of this equipment.

[0025] Each of the two cable tray guide rails 1 is equipped with a longitudinal movement mechanism 2. Each longitudinal movement mechanism 2 includes a first base plate 21, a first roller 22, and a longitudinal movement motor 23. A guide groove is provided at the bottom of the first base plate 21 at the contact position with the cable tray guide rail 1. The cross-sectional shape of the guide groove matches the head of the cable tray guide rail 1 to ensure alignment during longitudinal movement. A first roller 22 is installed at each end of the first base plate 21. The inner side of the rim of the first roller 22 is in contact with the side of the cable tray guide rail 1, allowing it to withstand both vertical loads and lateral guiding forces. Two longitudinal movement motors 23 are fixed to one or both sides of the first base plate 21. The longitudinal movement motors 23 are servo motors with reducers and brakes. The output shaft of each longitudinal movement motor 23 is directly connected to the axle of one of the first rollers 22 via a coupling. When the longitudinal movement motor 23 rotates, it drives the corresponding first roller 22 to rotate, thereby causing the entire longitudinal movement mechanism 2 and the transverse movement mechanism 3 above it to move longitudinally along the cable tray guide rail 1. The two longitudinal movement mechanisms 2 are decoupled but coordinated in terms of control. That is, the longitudinal movement motor 23 of each longitudinal movement mechanism 2 can independently receive position commands and achieve synchronous movement through electronic gears, ensuring that the two longitudinal movement mechanisms 2 always maintain a perpendicular orientation to the cable tray guide rail 1 when moving longitudinally.

[0026] The two longitudinal movement mechanisms 2 are connected by a transverse movement mechanism 3, which is the core component for the lateral transfer (Y direction) of containers from the yard area to above the transport vehicles. Specifically, the transverse movement mechanism 3 includes a second base plate 31, a second roller 32, a transverse movement motor 33, and transverse movement guide rails 34. There are two transverse movement guide rails 34, which are arranged in parallel and fixed at both ends to the opposite inner surfaces of the two first base plates 21 by bolts and positioning pins. The bottom surface of the transverse movement guide rails 34 is flush with the bottom surface of the first base plates 21. The length of the transverse movement guide rails 34 determines the lateral travel of the transverse movement mechanism 3, and is usually designed to cover the width of a row of containers in the yard plus the parking area of ​​the transport vehicles. Each transverse movement guide rail 34 has a second base plate 31 slidably mounted on it. The second base plate 31 is an L-shaped or U-shaped casting, and its bottom surface is machined with V-shaped or rectangular grooves that mate with the transverse movement guide rails 34. Each second base plate 31 is equipped with four second rollers 32, which are symmetrically arranged to clamp the transverse guide rail 34 in the middle, effectively withstanding the overturning moment from the lifting mechanism 4. A transverse motor 33 is fixed to the side of each second base plate 31. The transverse motor 33 is also a servo motor with a high-precision encoder, and its output shaft is connected to the axle of one of the second rollers 32 via gears or directly. When the transverse motor 33 rotates, it drives the second roller 32 to roll along the transverse guide rail 34, thereby causing the second base plate 31 and a portion of the lifting mechanism 4 mounted on it to move laterally. The two second base plates 31 are connected as a rigid unit by the mounting plate 41 of the lifting mechanism 4; therefore, the two transverse motors 33 also need to be synchronously controlled to ensure that the lifting mechanism 4 does not skew during lateral movement.

[0027] The lifting mechanism 4 is mounted on the transverse mechanism 3 and is used to achieve vertical lifting (Z direction) of the container. The lifting mechanism 4 includes a mounting plate 41, a drum 42, a cable 43, a winding motor 44, and a clamp 45. There are two mounting plates 41, both of which are rectangular thick steel plates and are fixed in parallel between two second base plates 31. A drum 42 is rotatably connected to each mounting plate 41 via a bearing seat. The drum 42 is a slender cylinder with spiral rope grooves machined on its surface to ensure that the cable 43 is arranged in an orderly manner and to prevent compression and tangling when multiple layers are wound. A winding motor 44 is fixed to the end of each mounting plate 41 via a motor bracket. The winding motor 44 is a variable frequency speed control motor or a servo motor with an electromagnetic brake, and its output shaft is connected to the end of the drum 42 via a spline or a tensioning sleeve. The cable 43 is made of high-strength, low-elongation galvanized steel wire rope, with a total of four ropes. Two of them are fixed at one end and wound around one drum 42, and the other two are wound around another drum 42. The free ends of each cable 43 extend downwards and eventually connect together at the four corners of the clamp 45. The clamp 45 is preferably a telescopic container spreader with a high-strength steel frame as its main body. It can be extended and retracted by hydraulic or electric push rods to accommodate containers of different lengths, such as 20 feet and 40 feet. A twist-locking mechanism is installed on the inner side of the four corners of the clamp 45. The twist-locking mechanism can automatically rotate 90 degrees to lock the corner fittings of the container upon confirmation by the positioning sensor.

[0028] This invention also includes an intelligent control system, which comprises not only hardware configuration but also control algorithms and software architecture specifically designed for this mechanical structure. Specifically, the intelligent control system includes a hardware layer, an algorithm layer, and an application layer.

[0029] The hardware layer includes an industrial controller (PLC or PC-based motion controller) that connects to the drivers of two longitudinal motors 23, two transverse motors 33, and two take-up motors 44 via a real-time Ethernet bus (e.g., EtherCAT, communication cycle no greater than two milliseconds) to achieve high-precision synchronization across six axes. The hardware layer also includes an environmental sensing module, the core of which consists of a 3D vision sensor mounted on the bottom of the second substrate 31 and laser rangefinders mounted at the four corners of the fixture 45. The 3D vision sensor is a composite device of a binocular camera and a structured light projector, providing high-resolution depth images and enabling operation in harsh conditions such as nighttime or strong light. The laser rangefinders have a sampling frequency higher than 100 Hz, providing precise distance redundancy when approaching the target.

[0030] The algorithm layer includes: An anti-sway trajectory planning algorithm is presented. This algorithm runs as a background task in an industrial controller. Its inputs are: target position (P_target), current cable length (L), and estimated load mass (m). First, based on optimal control theory, the algorithm generates an S-shaped velocity curve from the current position to the target position, which defines the upper speed limit of each motor at each moment. Then, the algorithm uses an input shaper to perform convolution filtering on the speed command. The input shaper consists of a series of pulses with specific times and amplitudes, the frequency of which is matched to the system damping frequency (a function related to L and m). The shaped speed command effectively suppresses residual load sway. Experimental calibration shows that the algorithm ensures that the residual sway angle of the clamp is less than 0.5 degrees after the motion is completed.

[0031] Visual servo positioning algorithm. This algorithm processes point cloud data from a 3D vision sensor, fits the container corner plane and the vehicle flat plane using a random sampling consistency algorithm, and outputs pose deviations (dx, dy, dz, dθ). These pose deviations are fed back to the motion control module in real time, forming a closed loop.

[0032] The application layer includes a scheduling optimization module. This module runs on a host computer server and internally creates a digital twin model of the storage yard. The digital twin model synchronizes the physical storage yard status in real time, including whether each container location is occupied, the container number, and the arrival time. The core of the scheduling optimization module is a pre-trained reinforcement learning model. This model takes the storage yard status, equipment status (current location, idle status), and the queue of tasks to be processed as input, and uses minimizing the total operation time or total energy consumption as the reward function. It outputs the optimal next action instruction through a deep Q-network algorithm (e.g., move to row A, column B, level C to retrieve a container, and then move it to row D, column E, level F for placement). This action instruction is decomposed into a series of position sequences and sent to the industrial controller for execution.

[0033] When the entire equipment is in operation, the application layer's scheduling and optimization module generates a macro-level work sequence based on real-time tasks; the algorithm layer's anti-sway and visual positioning algorithms convert the macro-level sequence into smooth, oscillating motor control commands; and the hardware layer's servo drivers and sensors ensure that the commands are executed accurately and reliably. This three-layer collaborative operation achieves comprehensive intelligence, from motion control of individual devices to scheduling of the entire yard's operations.

[0034] Working principle: In the initial state, clamp 45 is raised to its highest position, and the lateral movement mechanism 3 is in its initial position closest to one side (e.g., above the central aisle of the yard). When container loading operations are required (loading containers from the yard onto transport vehicles), the operation process is as follows: Step 1: Environmental Perception and Positioning. The 3D vision sensor in the intelligent control system (installed on the bottom of the second base plate 31) acquires real-time depth and color images of the yard and vehicle area. Through a built-in deep learning model, it identifies the outline and corner positions of the target container, as well as the position and orientation of the chassis flatbed of the vehicle to be transported. Simultaneously, a laser rangefinder (installed on the bottom surface of the clamp 45) begins high-frequency ranging to assist in determining the distance between the clamp 45 and surrounding obstacles. The control system fuses this perceived data with a pre-set electronic map of the yard to calculate the precise 3D coordinates (X, Y, Z) and azimuth deviation of the target container and vehicle.

[0035] Step Two: Coarse Positioning and Grabbing. The scheduling optimization module generates the optimal movement path based on the current positions of each longitudinal movement mechanism 2 and transverse movement mechanism 3. First, the control system sends instructions to the two longitudinal movement motors 23, driving the entire device to move longitudinally along the bridge guide rail 1 to the X-coordinate area corresponding to the target container. Upon arrival, the transverse movement motor 33 starts, driving the second base plate 31 to move laterally along the transverse guide rail 34, aligning the center of the clamp 45 with the target container in the Y direction. During coarse positioning, the control system uses an S-shaped speed curve to control the acceleration and deceleration of the motors to avoid swaying of the clamp 45 due to sudden acceleration changes. After coarse positioning is completed, the winding motor 44 releases the cable at a low speed, causing the clamp 45 to descend vertically. When the positioning sensor at the bottom of the clamp 45 contacts the top surface of the container, the control system records the descent height and continues to release the cable a short distance, so that the twist-lock mechanism just falls into the corner fitting hole of the container. The twist-lock mechanism automatically rotates and locks, and the positioning sensor confirms the locking status again.

[0036] Step 3: Anti-sway Lifting and Transportation. After the control system confirms a secure grip, the winding motor 44 begins winding the cable to lift the container. During the lifting process, the anti-sway trajectory planning algorithm collects real-time feedback from the encoder of the winding motor 44 (obtaining the actual cable length) and the container sway angle data from the 3D vision sensor. Based on input shaping technology, the algorithm model decomposes the originally single acceleration command into several small pulse sequences to eliminate the container's natural frequency vibration during lifting and acceleration. Simultaneously, the algorithm dynamically adjusts the maximum acceleration and deceleration based on the load mass (calculated from the current of the winding motor 44). After the container is lifted to a safe height (e.g., 0.5 meters above the highest point of surrounding containers), the control system first instructs the lateral movement motor 33 to move the container laterally to the target Y-coordinate above the transport vehicle. During the lateral movement start-up, constant speed, and deceleration processes, the anti-sway algorithm continuously operates to ensure that the container has almost no sway at the end of the lateral movement. If there is still a longitudinal deviation, the longitudinal movement motor 23 can be fine-tuned.

[0037] Step Four: Precise Positioning and Unloading. After the clamp 45 is moved laterally to directly above the transport vehicle, the 3D vision sensor re-confirms the vehicle, and if necessary, uses a laser rangefinder for millimeter-level distance measurement. The control system performs final position corrections on the winding motor 44, the lateral motor 33, and the longitudinal motor 23. After correction, the winding motor 44 releases the cable at a stable speed, smoothly lowering the container to the vehicle's flatbed. Once the container is seated on the flatbed, the lock mechanism automatically unlocks, and the positioning sensor confirms successful unlocking. The winding motor 44 then retracts the cable, raising the clamp 45 to a safe height. This completes one container loading operation.

[0038] The unloading and stacking process is similar to the steps described above, but with the actions reversed: first, a 3D vision sensor identifies the position and orientation of the containers to be unloaded on the transport vehicle, then lifts them and moves them to a designated empty space in the yard. During stacking, the scheduling optimization module automatically selects an optimal empty space based on the current yard occupancy map (digital twin model). This selection takes into account the convenience of subsequent container retrieval, minimizing energy consumption for equipment movement, and yard stability rules (such as loaded containers at the bottom and empty containers at the top).

[0039] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A container yard facility for automated loading and unloading, comprising a bridge rail (1), a longitudinal movement mechanism (2), a transverse movement mechanism (3), and a lifting mechanism (4), characterized in that, The cable tray guide rails (1) are arranged in parallel as two, and each cable tray guide rail (1) is provided with a longitudinal movement mechanism (2). The longitudinal movement mechanism (2) includes a first base plate (21), a first roller (22) and a longitudinal movement motor (23). The first base plate (21) is slidably connected to the bridge guide rail (1). At least two first rollers (22) are mounted on the first base plate (21). At least two longitudinal movement motors (23) are fixed to the side of the first base plate (21). The output shaft of the longitudinal movement motor (23) is connected to the wheel axle of the corresponding first roller (22). The two longitudinal movement mechanisms (2) are connected by a transverse movement mechanism (3); the transverse movement mechanism (3) includes a second base plate (31), a second roller (32), a transverse movement motor (33) and a transverse movement guide rail (34). The two transverse movement guide rails (34) are fixed in parallel between the two first base plates (21). Each second base plate (31) is slidably mounted on the corresponding transverse movement guide rail (34). Each second base plate (31) is equipped with multiple second rollers (32). Each second base plate (31) is equipped with a transverse movement motor (33) on its side. The output shaft of the transverse movement motor (33) is connected to the wheel axle of the corresponding second roller (32). The lifting mechanism (4) is mounted on the transverse mechanism (3); The yard facility also includes an intelligent control system, which includes an environmental perception module and a motion control module. The environmental perception module includes a three-dimensional vision sensor installed on the bottom of the second base plate (31) and a laser rangefinder installed on the fixture (45). The motion control module receives data from the environmental perception module and generates coordinated motion commands for the longitudinal traverse motor (23), the transverse traverse motor (33), and the winding motor (44) through an anti-sway trajectory planning algorithm.

2. A container yard facility for automated loading and unloading according to claim 1, characterized in that, The lifting mechanism (4) includes a mounting plate (41), a drum (42), a cable (43), a winding motor (44), and a clamp (45). Two mounting plates (41) are fixed in parallel between two second base plates (31). A drum (42) is rotatably connected to each mounting plate (41). A winding motor (44) is fixed to the end of the mounting plate (41). The output shaft of the winding motor (44) is connected to the end of the drum (42). The cable (43) is wound on the drum (42). The clamp (45) is fixed to the free end of multiple cables (43).

3. A container yard facility for automated loading and unloading according to claim 1, characterized in that, The bottom of the first substrate (21) is provided with a guide groove that matches the track cross section of the bridge rail (1), and the first roller (22) is located on the side of the guide groove.

4. A container yard facility for automated loading and unloading according to claim 1, characterized in that, The bottom surface of the transverse guide rail (34) is flush with the bottom surface of the first substrate (21).

5. A container yard facility for automated loading and unloading according to claim 2, characterized in that, The surface of the drum (42) is provided with a spiral rope groove, and the cable (43) is a steel wire rope.

6. A container yard facility for automated loading and unloading according to claim 2, characterized in that, The clamp (45) is a telescopic container spreader with a rotary locking mechanism at each of its four corners and a positioning sensor.

7. A container yard facility for automated loading and unloading according to claim 1, characterized in that, The intelligent control system also includes a real-time Ethernet bus, which connects the drivers of the longitudinal traverse motor (23), the transverse traverse motor (33), and the winding motor (44), with a communication cycle of no more than two milliseconds.

8. A container yard facility for automated loading and unloading according to claim 1, characterized in that, The anti-sway trajectory planning algorithm uses an S-shaped velocity curve and input shaping technology to dynamically adjust the acceleration threshold based on the cable length and load mass.

9. A container yard facility for automated loading and unloading according to claim 1, characterized in that, The three-dimensional vision sensor is a composite device of a binocular camera and a structured light projector. The laser rangefinder detects the distance at a frequency higher than 100 Hz when the fixture (45) approaches the target.

10. A container yard facility for automated loading and unloading according to claim 1, characterized in that, The intelligent control system also includes a scheduling optimization module, which is based on a reinforcement learning model and uses the shortest total operation time or the lowest energy consumption as the objective function to output the stacking position and equipment movement strategy.

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