A Transportation Control Method for Suspended Monorail Container Systems Based on Train Formation

Abstract

The application discloses a marshalling-based suspension monorail container system transportation control method, relates to the field of rail transit, and comprises the following steps: loading containers onto a transport vehicle through a loading and unloading system in a departure hoisting area, and performing wireless marshalling and dispatching on the transport vehicle; unloading the containers to a specified position by the loading and unloading system at a drop-off point, and performing unmarshalling on the transport vehicle; and forming a transportation cycle at an uplink departure hoisting area and a downlink departure hoisting area; the transport vehicle is marshalled, the high-transport-amount requirement of container transportation can be met, the wireless marshalling mode provides sufficient flexibility for the system, and the whole system is more intelligent and efficient.

Description

Technical Field

[0001] This invention relates to the field of rail transit, and specifically to a transport control method for a suspended monorail container system based on train formation. Background Technology

[0002] The statements in this section are provided only as background information in connection with this disclosure and may not constitute prior art.

[0003] Suspended monorail container freight is an emerging container transportation mode. Developed from passenger monorail systems, it features flexible installation, dedicated right-of-way, large carrying capacity, safety and reliability, energy efficiency and environmental friendliness, full automation, and intelligence, making it a completely new freight transport model. Suspended container transport systems, such as those used in ports, railway freight yards, and logistics distribution centers, suspend containers under box-girder beams, organically connecting with existing facilities and achieving efficient and rapid container transfer and distribution through dedicated right-of-way.

[0004] Currently, some ports have begun to use suspended transport systems for container transshipment; however, the technical approach involves top corner bracket transport with an integral spreader. While existing technologies for vehicle-adapted bottom corner bracket transport systems are suitable for long-distance, high-speed container transport, they do not currently provide a complete transport control system, resulting in low transport efficiency and limited system flexibility. Summary of the Invention

[0005] The purpose of this invention is to provide a transportation control method for a suspended monorail container system based on grouping, thereby improving its transportation efficiency and system flexibility and solving the aforementioned problems, in order to address the problems existing in the prior art.

[0006] The technical solution of the present invention is as follows:

[0007] A transportation control method for a suspended monorail container system based on train formation includes:

[0008] Step S1: After the container arrives at the upstream departure hoisting area, the loading and unloading system in the upstream departure hoisting area will load the container onto the transport vehicle.

[0009] Step S2: After all transport vehicles are loaded, wireless grouping and dispatch are carried out;

[0010] Step S3: After the transport arrives, the transport vehicles are decoupled, and then the individual transport vehicles are matched one by one and the goods are unloaded.

[0011] Step S4: After unloading, the transport vehicle turns back or turns around and then arrives at the downstream departure hoisting area, where the loading and unloading system completes the loading of the container.

[0012] Step S5: After all transport vehicles are loaded, wireless grouping and dispatch are carried out;

[0013] Step S6: After the transport arrives, the transport vehicles are decoupled, and then the individual transport vehicles are matched one by one and the goods are unloaded.

[0014] Step S7: After unloading, the transport vehicle turns back or turns around and then arrives at the upstream departure hoisting area. The loading and unloading system in the upstream departure hoisting area completes the loading of the container, forming a transportation cycle.

[0015] Furthermore, the transport control method for the suspended monorail container system is based on the cooperation between the train control system and the loading and unloading system.

[0016] Furthermore, the train control system includes the following subsystems:

[0017] Automatic train monitoring module, on-board control equipment, turnout control system, automatic train protection module, data communication system, data storage unit, maintenance support system;

[0018] The automatic train monitoring module is used to issue dispatching commands and monitor the performance of the entire train of transport vehicles after wireless assembly.

[0019] The on-board control equipment corresponds one-to-one with the transport vehicle and communicates with other subsystems through a data communication system to control the movement of the transport vehicle; the on-board control equipment can receive dispatch commands from the automatic train monitoring module through the data communication system and control the movement of the transport vehicle based on the dispatch commands.

[0020] The turnout control system is used to switch the position of the turnout and change the direction of the turnout's operation.

[0021] The automatic train protection module sends speed limit commands to the on-board control equipment based on the position between transport vehicles and the status of the switches.

[0022] The data storage unit provides data recording and retrieval for each subsystem;

[0023] The maintenance support system provides monitoring, troubleshooting and handling functions for each subsystem.

[0024] Furthermore, the loading and unloading system includes:

[0025] Microcomputer, keyhole positioning system, loading and unloading control cabinet and lifting equipment;

[0026] The keyhole positioning system includes: a loading and unloading positioning computer, a vision camera, and a matrix laser;

[0027] The loading and unloading control cabinet corresponds one-to-one with the lifting equipment and communicates with the microcomputer through the loading and unloading local area network. The loading and unloading control cabinet includes: a drive frequency converter and a human-machine display device.

[0028] The microcomputer is connected to the data communication system of the train control system via Ethernet.

[0029] At the same time, the microcomputer can also drive the motor on the lifting equipment through the drive frequency converter, enabling the lifting equipment to complete lifting and slight horizontal displacement;

[0030] The microcomputer can also collect signals from the keyhole positioning system and sensor hard wires, and display them on the human-machine interface device.

[0031] The keyhole positioning system is used to generate the coordinates of the center of the corner fitting holes on the top of the container.

[0032] Further, steps S1 and S4 include:

[0033] Ground-based VGA trolleys or railway locomotives will transport the containers to the departure and hoisting area.

[0034] The loading and unloading system locks the center of the corner fitting hole on the top of the container through the lock hole positioning system, generating the first coordinate set;

[0035] The loading and unloading system controls the spreader equipment to move to the first coordinate group and align it with the center of the corner fitting hole on the top of the container;

[0036] The onboard control equipment of the transport vehicle identifies its own position and moves to the first coordinate group;

[0037] The loading and unloading system controls the spreader equipment to continuously correct itself based on the first coordinate set and various parameters, completes the container placement, and generates the second coordinate set of the center of the corner fitting holes on the top of the container after placement;

[0038] After the lifting equipment of the loading and unloading system completes the container placement and turn lock detection, it begins to lift. After being lifted into place, the transport vehicle makes slight adjustments to its position according to the second coordinate set and completes the container loading.

[0039] After the loading and inspection are completed, the lifting equipment of the loading and unloading system begins to unlock and retract.

[0040] Furthermore, the loading and unloading system continuously calibrates the lifting equipment based on the first coordinate set and various parameters, including:

[0041] The loading and unloading system uses the first coordinate group as the target and the real-time images captured by the vision camera and the stroke of the spreader equipment as feedback to control the adjustment of the spreader equipment's boom, so as to ensure that the hook of the spreader equipment can enter the corner fitting hole on the top of the container; the adjustment includes: horizontal displacement and angular offset;

[0042] The second coordinate set for generating the center of the corner fitting holes on the top of the container after loading includes:

[0043] Once it is confirmed that the hooks of the lifting equipment are all locked in place, the second coordinate set is obtained by subtracting the increased adjustment amount from the first coordinate set;

[0044] The transport vehicle slightly corrects its position based on the second coordinates, including:

[0045] Using onboard control equipment, the transport vehicle is driven to approach the second coordinate group.

[0046] Furthermore, the unloading of goods in steps S3 and S6 includes:

[0047] As the transport vehicle carrying the container approaches the unloading point, it stops precisely according to the stopping point provided by the train control system. After stopping, the brakes are applied, and the unloading point is set as the first coordinate group.

[0048] The loading and unloading system locks the center of the corner fitting hole on the top of the container through the lock hole positioning system, generating a second coordinate set;

[0049] The loading and unloading system controls the spreader equipment to move to the second coordinate group and align it with the center of the corner fitting hole on the top of the container.

[0050] After the loading and unloading system controls the spreader equipment to complete the container docking and turn lock detection, the transport vehicle begins to unlock the hook and complete the unloading of the container;

[0051] The lifting boom of the loading and unloading system control spreader equipment begins to descend and continuously corrects itself from the second coordinate group to the first coordinate group;

[0052] Once lowered into position, the hook of the loading and unloading system is unlocked, and the boom is retrieved.

[0053] Furthermore, the wireless grouping in steps S2 and S5 includes:

[0054] After the transport vehicles are loaded, they enter the marshalling area, and after checking the communication and train data, they enter the virtual marshalling working mode.

[0055] In the virtual grouping mode, the transport vehicles implement a control strategy of following the vehicle in front, retaining only the gap caused by braking and control errors, and the gap becomes smaller.

[0056] When communication is abnormal or train data is incomplete, the system enters the traditional CBTC working mode, where the transport vehicles maintain sufficient braking distance and safety margin, and the spacing becomes larger.

[0057] If communication is restored and train data is normal during the traditional CBTC working mode, then switch back to the virtual train formation working mode.

[0058] Furthermore, the shipment in steps S2 and S5 includes:

[0059] When the entire train of transport vehicles approaches the turnout, if it is in wireless virtual formation mode, the lead car in the entire train of transport vehicles will request the turnout to open in the direction of the route. If the entire train of transport vehicles is in traditional CBTC working mode, the control center will issue a turnout opening command to the turnout control system through the automatic train monitoring module.

[0060] Furthermore, the decompilation in steps S3 and S6 includes:

[0061] Once the transport vehicle enters the decoupling area, the train control system completes the vehicle decoupling, awaits the control command from the loading and unloading system, and then enters the container loading and unloading workflow.

[0062] Compared with existing technologies, the advantages of this invention are:

[0063] A transport control method for a suspended monorail container system based on grouping is proposed. By grouping transport vehicles, the high capacity requirements of container transport can be met. At the same time, its wireless grouping method provides sufficient flexibility for the system, making it more intelligent and efficient as a whole. Attached Figure Description

[0064] Figure 1 A flowchart of a transport control method for a grouped suspended monorail container system;

[0065] Figure 2 Block diagrams of the train control system and loading / unloading system;

[0066] Figure 3 Flowchart of container loading process;

[0067] Figure 4 Flowchart of container unloading process;

[0068] Figure 5 This is a schematic diagram illustrating the use of a transport control method for a group-based suspended monorail container system.

[0069] Figure 6 This is a schematic diagram of wireless grouping;

[0070] Figure 7 This is a flowchart of the wireless grouping process.

[0071] Attached reference numerals: 1-Container, 2-Transport vehicle, 3-Lifting equipment. Detailed Implementation

[0072] It should be noted that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0073] The features and performance of the present invention will be further described in detail below with reference to embodiments.

[0074] Example 1

[0075] Please see Figure 1 A transportation control method for a suspended monorail container system based on train formation, oriented towards end-to-end up and down dual-track monorail lines, and employing moving block system for automated operation within the mainline section, specifically includes the following steps:

[0076] Step S1: After the container arrives at the upstream departure hoisting area, the loading and unloading system in the upstream departure hoisting area will load the container onto the transport vehicle.

[0077] Step S2: After all transport vehicles are loaded, wireless grouping and dispatch are carried out;

[0078] Step S3: After the transport arrives, the transport vehicles are decoupled, and then the individual transport vehicles are matched one by one and the goods are unloaded.

[0079] Step S4: After unloading, the transport vehicle turns back or turns around and then arrives at the downstream departure hoisting area, where the loading and unloading system completes the loading of the container.

[0080] Step S5: After all transport vehicles are loaded, wireless grouping and dispatch are carried out;

[0081] Step S6: After the transport arrives, the transport vehicles are decoupled, and then the individual transport vehicles are matched one by one and the goods are unloaded.

[0082] Step S7: After unloading, the transport vehicle turns back or turns around and then arrives at the upstream departure hoisting area. The loading and unloading system in the upstream departure hoisting area completes the loading of the container, forming a transportation cycle.

[0083] Preferably, the transport vehicle can adopt a communication-based train control method during transportation to achieve intelligent, safe, and green container transfer. It should be noted that the communication-based train control method is also known as the traditional CBTC working mode, which has been maturely applied in urban rail transit and will not be elaborated here.

[0084] In this embodiment, specifically, the transport control method for the suspended monorail container system is based on the cooperation between the train control system and the loading and unloading system.

[0085] In this embodiment, specifically, such as Figure 2 As shown, the train control system includes the following subsystems:

[0086] Automatic train monitoring module, on-board control equipment, turnout control system, automatic train protection module, data communication system, data storage unit, maintenance support system;

[0087] The automatic train monitoring module is used to issue dispatching commands and monitor the performance of the entire train of transport vehicles after wireless assembly.

[0088] The on-board control equipment corresponds one-to-one with each transport vehicle and communicates with other subsystems via a data communication system to control the movement of the transport vehicles. The on-board control equipment can receive dispatch commands from the automatic train monitoring module through the data communication system and control the movement of the transport vehicles based on these commands; that is, each transport vehicle is equipped with a separate on-board control device. Preferably, the data communication system includes: multiple backbone switches and trackside vehicle-to-ground communication equipment; the specific communication connection method can be found in [reference needed]. Figure 2 This will not be elaborated upon further here;

[0089] The turnout control system is used to switch the position of the turnout and change the direction of the turnout's operation.

[0090] The automatic train protection module sends speed limit commands to the on-board control equipment based on the position between transport vehicles and the status of the switches.

[0091] The data storage unit provides data recording and retrieval for each subsystem;

[0092] The maintenance support system provides monitoring, troubleshooting and handling functions for each subsystem.

[0093] In this embodiment, for details, please refer to... Figure 2 The loading and unloading system includes:

[0094] Microcomputer, keyhole positioning system, loading and unloading control cabinet and lifting equipment;

[0095] The keyhole positioning system includes: a loading and unloading positioning computer, a vision camera, and a matrix laser;

[0096] The loading and unloading control cabinet corresponds one-to-one with the lifting equipment and communicates with the microcomputer through the loading and unloading local area network. The loading and unloading control cabinet includes: a drive frequency converter and a human-machine display device.

[0097] The microcomputer is connected to the data communication system of the train control system via Ethernet; preferably, the microcomputer is connected to the data communication system of the train control system via a broadcast Ethernet switch.

[0098] At the same time, the microcomputer can also drive the motor on the lifting equipment through the drive frequency converter, enabling the lifting equipment to complete lifting and slight horizontal displacement;

[0099] The microcomputer can also collect signals from the keyhole positioning system and sensor hard wires, and display them on the human-machine interface device.

[0100] The keyhole positioning system is used to generate the coordinates of the center of the corner fitting holes on the top of the container;

[0101] Preferably, it also includes a remote control device, which enables manual adjustment of the lifting equipment.

[0102] In this embodiment, for details, please refer to... Figure 3 and Figure 5 Steps S1 and S4 include:

[0103] Ground-based VGA trolleys or railway locomotives will transport the containers to the departure and hoisting area.

[0104] The loading and unloading system locks the center of the corner fitting holes on the top of the container through the lock hole positioning system, generating the first coordinate group (the coordinate group refers to the set of coordinates of the four corner fitting holes on the top of the container); that is, the loading and unloading system generates positioning coordinates and performs weighted processing through matrix laser ranging and vision camera to lock the center of the corner fitting holes on the top of the container and generate the first coordinate group.

[0105] The loading and unloading system controls the spreader equipment to move to the first coordinate group and align it with the center of the corner fitting hole on the top of the container;

[0106] The onboard control equipment of the transport vehicle identifies its own position and moves to the first coordinate group;

[0107] The loading and unloading system controls the spreader equipment to continuously correct itself based on the first coordinate set and various parameters, completes the container placement, and generates the second coordinate set of the center of the corner fitting holes on the top of the container after placement;

[0108] After the lifting equipment of the loading and unloading system completes the container placement and turn lock detection, it begins to lift. After being lifted into place, the transport vehicle makes slight adjustments to its position according to the second coordinate set and completes the container loading.

[0109] After the loading and inspection are completed, the lifting equipment of the loading and unloading system begins to unlock and retract;

[0110] In this embodiment, specifically, the loading and unloading system continuously calibrates the lifting equipment based on the first coordinate set and various parameters, including:

[0111] The loading and unloading system uses the first coordinate group as the target and the real-time images captured by the vision camera and the stroke of the spreader equipment as feedback to control the adjustment of the spreader equipment's boom, so as to ensure that the hook of the spreader equipment can enter the corner fitting hole on the top of the container; the adjustment includes: horizontal displacement and angular offset;

[0112] The second coordinate set for generating the center of the corner fitting holes on the top of the container after loading includes:

[0113] Once it is confirmed that all the hooks of the lifting equipment are locked in place, the second coordinate group is obtained by subtracting the increased adjustment amount from the first coordinate group. It should be noted that after entering the lock hole, the signal of the proximity switch, the rotation angle of the turn lock gear, and other parameters are used as the basis for determining that the hooks at all four corners are locked in place.

[0114] The transport vehicle slightly corrects its position based on the second coordinates, including:

[0115] The transport vehicle is driven to approach the second coordinate group by relying on the on-board control equipment; preferably, if there has been no longitudinal displacement before, the transport vehicle does not need to move.

[0116] In this embodiment, please refer to Figure 4 and Figure 5 First, it should be noted that when a container-loaded transport vehicle enters the loading and unloading area (which includes multiple unloading points), the train control system performs a wireless unloading operation and hands over control of the transport vehicle to the loading and unloading system. Specifically, the unloading of goods in steps S3 and S6 includes:

[0117] As the transport vehicle carrying the container approaches the unloading point, it stops precisely according to the stopping point provided by the train control system. After stopping, the brakes are applied, and the unloading point is set as the first coordinate group.

[0118] The loading and unloading system locks the center of the corner fitting hole on the top of the container through the lock hole positioning system, generating a second coordinate set. That is, the loading and unloading system generates positioning coordinates through matrix laser ranging and vision camera, and performs weighted processing to lock the center of the corner fitting hole on the top of the container and generate a second coordinate set. It should be noted that the purpose of generating a second coordinate set is: because the transport vehicle carrying the container is heavy and its large inertial mass is not easy to move accurately, the transport vehicle cannot be directly aligned with the first coordinate set. Therefore, accurate positioning can be achieved by modifying the second coordinate set.

[0119] The loading and unloading system controls the spreader equipment to move to the second coordinate group and align it with the center of the corner fitting hole on the top of the container.

[0120] After the loading and unloading system controls the spreader equipment to complete the container docking and turn lock detection, the transport vehicle begins to unlock the hook and complete the unloading of the container;

[0121] The loading and unloading system controls the boom of the spreader to begin descending, and continuously corrects itself from the second coordinate group to the first coordinate group; it should be noted that the spreader is equipped with an adjustment device, which can make slight adjustments continuously during the process of gripping and lowering the container;

[0122] Once lowered into position, the hook of the loading and unloading system is unlocked, and the boom is retrieved.

[0123] In this embodiment, for details, please refer to... Figure 6 and Figure 7 After loading, the transport vehicles are assembled in the marshalling area. Before being assembled, the transport vehicles are moved to the fixed marshalling area by the train control system using vehicle-to-ground communication. In the marshalling area, the transport vehicles communicate with each other. After the handshake is successful, the lead car is responsible for the automatic train control function, receives instructions from the control center and issues them to other transport vehicles. The other transport vehicles perform synchronous acceleration and deceleration according to the instructions of the lead car.

[0124] Specifically, the wireless grouping in steps S2 and S5 includes:

[0125] After the transport vehicles are loaded, they enter the marshalling area, and after checking the communication and train data, they enter the virtual marshalling working mode.

[0126] In the virtual grouping mode, the transport vehicles implement a control strategy of following the vehicle in front, retaining only the gap caused by braking and control errors, and the gap becomes smaller.

[0127] When communication is abnormal or train data is incomplete, the system enters the traditional CBTC working mode, where the transport vehicles maintain sufficient braking distance and safety margin, and the spacing becomes larger.

[0128] If communication is restored and train data is normal during the traditional CBTC working mode, then switch back to the virtual train formation working mode.

[0129] In this embodiment, specifically, the shipment in steps S2 and S5 includes:

[0130] When the entire train of transport vehicles approaches the turnout, if it is in wireless virtual formation mode, the lead car in the entire train of transport vehicles will request the turnout to open in the direction of the route. If the entire train of transport vehicles is in traditional CBTC working mode, the control center will issue a turnout opening command to the turnout control system through the automatic train monitoring module.

[0131] In this embodiment, specifically, the decompilation in steps S3 and S6 includes:

[0132] Once the transport vehicle enters the decoupling area, the train control system completes the vehicle decoupling, awaits the control command from the loading and unloading system, and then enters the container loading and unloading workflow.

[0133] The embodiments described above merely illustrate specific implementation methods of this application, and while the descriptions are detailed and specific, they should not be construed as limiting the scope of protection of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the technical solution of this application, and these modifications and improvements all fall within the scope of protection of this application.

[0134] This background section is provided to generally present the context of the invention. The work of the currently named inventors, the work to the extent described in this background section, and aspects of this section that did not constitute prior art at the time of application are neither expressly nor impliedly acknowledged as prior art to the invention.

Claims

1. A marshalling-based suspended monorail container system transportation control method, characterized by, Comprise: Step S1: when the container arrives at the uplink departure hoisting area, the container is loaded onto the transport vehicle by the handling system of the uplink departure hoisting area; Step S2: when the transport vehicle is fully loaded, wireless marshalling and shipment are carried out; Step S3: when the transport arrives, the transport vehicle is unmarshalled, and then the single transport vehicle after unmarshalling is aligned one by one and the goods are unloaded; Step S4: the transport vehicle after unloading is turned back or turned around, and then arrives at the downlink departure hoisting area, and the handling system of the downlink departure hoisting area completes the loading of the container; Step S5: when the transport vehicle is fully loaded, wireless marshalling and shipment are carried out; Step S6: when the transport arrives, the transport vehicle is unmarshalled, and then the single transport vehicle after unmarshalling is aligned one by one and the goods are unloaded; Step S7: the transport vehicle after unloading is turned back or turned around, and then arrives at the uplink departure hoisting area, and the handling system of the uplink departure hoisting area completes the loading of the container, forming a transport cycle; The wireless marshalling in steps S2 and S5 comprises: After the transport vehicle is fully loaded, it drives into the marshalling area, checks the communication and train data, and then enters the virtual marshalling working mode; In the virtual marshalling working mode, the transport vehicle executes the control strategy of the rear vehicle tracking the front vehicle, and only keeps the spacing caused by the brake and control error, and the spacing becomes smaller; When the communication is abnormal or the train data is incomplete, the traditional CBTC working mode is entered, and the transport vehicle keeps enough brake distance and safety amount, and the spacing becomes larger; If the communication is restored and the train data is normal during the traditional CBTC working mode, the virtual marshalling working mode is switched back; The steps S1 and S4 comprise: The ground VGA trolley or the railway main line locomotive pulls the container to the departure hoisting area; The handling system locks the container top corner piece hole center through the lock hole positioning system, and generates a first coordinate group; The handling system of the handling system moves to the first coordinate group and aligns with the container top corner piece hole center; The on-board control device of the transport vehicle identifies its own position and moves to the first coordinate group; The handling system controls the handling device to continuously correct according to the first coordinate group and various parameters, completes the container setting, and generates a second coordinate group of the container top corner piece hole center after setting; After the setting detection and the lock detection of the handling device of the handling system are completed, the handling device starts to rise, and after rising to the position, the transport vehicle slightly corrects its own position according to the second coordinate group and completes the container loading; After the loading detection is completed, the handling device of the handling system starts to unlock and retract.

2. The marshalling-based suspended monorail container system transportation control method according to claim 1, characterized in that, The suspension type monorail container system transport control method is completed based on the cooperation of the train control system and the handling system.

3. The marshalling-based suspended monorail container system transportation control method according to claim 2, characterized in that, The train control system comprises the following subsystems: Automatic train monitoring module, on-board control device, turnout control system, automatic train protection module, data communication system, data storage unit, maintenance support system; The automatic train monitoring module is used for dispatching command issuing and monitoring the performance of the whole transport vehicle after wireless marshalling; The vehicle-mounted control device corresponds to the transport vehicle one by one, and communicates with other subsystems through a data communication system to control the movement of the transport vehicle; the vehicle-mounted control device can receive a dispatching command sent by an automatic train monitoring module through the data communication system, and control the movement of the transport vehicle based on the dispatching command; The turnout control system is used to switch the position of the turnout and change the opening direction of the turnout; The automatic train protection module sends a speed limit command to the vehicle-mounted control device according to the position between the transport vehicles and the state information of the turnout; The data storage unit provides data recording and reading for each subsystem; The maintenance support system provides monitoring, fault diagnosis and processing functions for each subsystem.

4. The marshalling-based suspended monorail container system transportation control method according to claim 3, characterized in that, The loading and unloading system comprises: A microcomputer, a locking hole positioning system, a loading and unloading control cabinet and a lifting device; The locking hole positioning system comprises a loading and unloading positioning computer, a visual camera and a matrix laser; The loading and unloading control cabinet corresponds to the lifting device one by one and communicates with the microcomputer through a loading and unloading local area network; the loading and unloading control cabinet comprises a drive frequency converter and a man-machine display device; The microcomputer accesses the data communication system of the train control system through Ethernet; Meanwhile, the microcomputer can drive the motor on the lifting device through the drive frequency converter, so that the lifting device can complete lifting and slight horizontal displacement; The microcomputer can also collect the locking hole positioning system and sensor hard-wire signals and display them on the man-machine display device; The locking hole positioning system is used to generate the coordinates of the center of the container top corner fitting hole.

5. The marshalling-based suspended monorail container system transportation control method according to claim 4, characterized by, The loading and unloading system continuously corrects the lifting device according to the first coordinate group and various parameters, including: The loading and unloading system takes the first coordinate group as the target, uses the pictures taken by the visual camera in real time and the lifting device stroke as feedback to control the adjustment amount of the lifting boom of the lifting device, so that the hook head of the lifting device can enter the container top corner fitting hole; the adjustment amount includes horizontal displacement and angular offset; The second coordinate group of the center of the container top corner fitting hole after loading is generated, including: When it is determined that the hook head of the lifting device is locked in place, the second coordinate group is obtained by subtracting the increased adjustment amount from the first coordinate group; The transport vehicle slightly corrects its own position according to the second coordinate, including: The vehicle-mounted control device drives the transport vehicle to approach the second coordinate group.

6. The marshalling-based suspended monorail container system transportation control method according to claim 4, characterized by, The cargo unloading in steps S3 and S6 includes: The transport vehicle carrying the container approaches the unloading point, accurately parks at the parking point provided by the train control system, applies the brake after parking, and sets the unloading point as the first coordinate group; The loading and unloading system locks the center of the container top corner fitting hole through the locking hole positioning system to generate the second coordinate group; The loading and unloading system controls the lifting device to move to the second coordinate group and align with the center of the container top corner fitting hole; After the loading and unloading system controls the lifting device to complete the loading detection and locking detection, the transport vehicle starts to unlock the hook head and completes the container unloading; The lifting boom of the loading and unloading system starts to descend and continuously corrects to the first coordinate group according to the second coordinate group; After descending to the position, the hook head of the loading and unloading system is unlocked, and the lifting boom is recovered.

7. The marshaling-based suspended monorail container system transportation control method according to claim 1, wherein, The shipment in steps S2 and S5 includes: When the whole train approaches the turnout, if it is in the wireless virtual marshalling state, the head car in the whole train requests the turnout to open to the route direction, and if the whole train is in the traditional CBTC working mode, the control center issues the turnout opening command to the turnout control system through the automatic train monitoring module.

8. The marshalling-based suspended monorail container system transportation control method according to claim 1, wherein, The step S3 and the step S6 include: When the train enters the unmarshalling area, the train unmarshalling is completed by the train control system, the control command of the loading and unloading system is waited, and the container loading and unloading working process is entered.

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