A container yard automation crossing path control system

Abstract

The application discloses an automatic container yard crossing path control system, which belongs to a subsystem under a unmanned horizontal transportation control system (VMS), and the system comprises the unmanned horizontal transportation control system, the automatic container yard crossing path control system and an AVG trolley, wherein the automatic container yard crossing path control system comprises a train operation information acquisition system; the train operation information acquisition system is used for acquiring a starting time and a continuous occupation time length of a crossing occupied by a train or a locomotive; the AVG trolley is used for sending position information of the AVG trolley to the unmanned horizontal transportation control system in real time; and the unmanned horizontal transportation control system is used for replanning a driving path of the AVG trolley based on the starting time and the continuous occupation time length of the crossing occupied by the train or the locomotive and the position information of the AVG trolley, and sending the starting time and the continuous occupation time length of the crossing occupied by the train or the locomotive and the replanned driving path to the AVG trolley. The application realizes safe transportation of crossings in an automatic container railway freight yard.

Description

Technical Field

[0001] This invention relates to the field of automatic control of railway freight yards, and more specifically to an automated level crossing path control system for container freight yards. Background Technology

[0002] Railway crossings at conventional freight yards, dockside loading and unloading lines, and large logistics parks are controlled according to conventional railway crossing systems, with manned vehicles and busy crossings using a manually guarded and protected mode. Automated railway container yards and automated container terminal loading and unloading lines are enclosed areas. Horizontal transport within these enclosed areas is automated, driverless, and loading and unloading equipment is automated and unmanned. Railway crossings within these areas require automated, unmanned safety protection and AGV (Automated Guided Vehicle) path management; currently, this area lacks such systems. Summary of the Invention

[0003] In view of the technical defects and drawbacks existing in the prior art, embodiments of the present invention provide an automated level crossing control system for container yards that overcomes or at least partially solves the above problems, the specific solution of which is as follows:

[0004] An automated level crossing path control system for a container yard, the system comprising an unmanned horizontal transport control system, an automated container yard level crossing path control system, and an AVG trolley, wherein the automated container yard level crossing path control system includes a train operation information acquisition system;

[0005] The train operation information acquisition system is used to acquire the start time and duration of a train or locomotive occupying a level crossing; the AGV trolley is used to send the AGV trolley's location information to the unmanned horizontal transport control system in real time.

[0006] The unmanned horizontal transport control system is used to replan the travel path of the AGV based on the start time and duration of the train or locomotive occupying the level crossing, as well as the location information of the AGV, and sends the start time and duration of the train or locomotive occupying the level crossing, as well as the replanned travel path, to the AGV.

[0007] Furthermore, the train operation information acquisition system is specifically used to: acquire the distance, direction of travel, length and speed of the train or locomotive to the level crossing, and calculate the start time and duration of the train or locomotive occupying the level crossing based on the distance, direction of travel, length and speed of the train or locomotive to the level crossing.

[0008] Furthermore, the train operation information acquisition system includes a signal and a train detector. The signal is used to direct the operation of railway trains, and the train detector is used to collect the direction of travel, length, and speed of the train or locomotive.

[0009] Furthermore, the automated container yard access control system also includes an image recognition system and an automatic log-blocking machine;

[0010] The image recognition system is used to collect images of the level crossing area and identify whether there are vehicles in the level crossing area based on the images. The vehicles include trains, locomotives and AGVs. The automated container yard level crossing path control system is used to determine whether to open or close the automatic log barrier based on the start time and duration of the train or locomotive occupying the level crossing and whether there are vehicles in the level crossing area, and sends the corresponding open or close command to the automatic log barrier.

[0011] Furthermore, the automated container yard access control system's determination of whether to open or close the automatic log barrier specifically includes:

[0012] During the start and duration of a train or locomotive occupying a level crossing, if the image recognition system confirms that there are no AGV trolleys in the crossing area, it will deactivate the automatic barrier at the level crossing to prevent the AGV trolleys from waiting outside the barrier, thus ensuring the safe passage of the train through the level crossing. Outside the start and duration of a train or locomotive occupying a level crossing, the automatic barrier at the level crossing will be activated.

[0013] Furthermore, the level crossing includes Level Crossing 1, Level Crossing 2, and the container loading and unloading area of ​​the port station located between Level Crossing 1 and Level Crossing 2. A train detection point A is set at a predetermined distance outside Level Crossing 1. When a train or locomotive arrives at point A from the connecting station, the train operation information acquisition system will send the acquired train or locomotive running direction, length, and speed to the automated container yard level crossing path control system.

[0014] The automated container yard level crossing path control system is specifically used for: determining whether a train or locomotive is heading towards the port station based on its direction of travel; if it is heading towards the port station, the train or locomotive arrives at point A, indicating that it is approaching the level crossing; using the time when the train or locomotive arrives at point A as the time when level crossing 1 is ready to close; predicting the time when the train or locomotive arrives at the level crossing based on the train's speed and the distance between point A and point B, i.e., the start time when the train or locomotive occupies level crossing 1, where point B is the center point of level crossing 1; predicting the estimated duration for which the train or locomotive will continuously occupy the level crossing based on the train's speed and length; and sending the time when level crossing 1 is ready to close, the start time for the train or locomotive to occupy level crossing 1, and the estimated duration for which the train or locomotive will continuously occupy level crossing 1 to the unmanned horizontal transport control system.

[0015] The unmanned horizontal transport control system is specifically used to: after receiving information from the automated container yard level crossing path control system regarding the time when level crossing 1 is about to close, the start time of train or locomotive occupying level crossing 1, and the estimated duration of continuous occupation of level crossing 1, re-plan the route of the AGV trolley in transit according to the principle of transport timeliness, so as to achieve the purpose of pre-avoidance.

[0016] Furthermore, the unmanned horizontal transport control system replans the route of the AGV vehicle in transit according to the principle of transport timeliness, including: dividing the location of the AGV vehicle into an area within the crossing area and outside the crossing area; if the AGV vehicle is within the crossing area, it is controlled to leave the crossing area along the original route; if the AGV vehicle is outside the crossing area, it is controlled to wait outside the crossing area to pass through the crossing or detour to another crossing.

[0017] Furthermore, the automated container yard level crossing path control system is also used to: when a train enters the container loading and unloading area of ​​the port station and comes to a stop, and confirms through the image recognition system and the train detector at point B that there is no train in the level crossing area, control the automatic log barrier at level crossing one to open, and upload the level crossing one opening status to the unmanned horizontal transport control system.

[0018] The unmanned horizontal transport control system is also used to, upon receiving the open status of the access point from the automated container yard access control system, re-plan the route of the AGV vehicle in transit based on the transport time, so that the AGV vehicle can pass through the access point area normally.

[0019] Furthermore, the automated container yard level crossing path control system is also used to: when a locomotive is preparing to leave the container loading and unloading area of ​​the port station from level crossing 2, based on the locomotive's departure request, calculate the estimated time and duration of the locomotive's occupation of level crossing 2, and send the information on preparing to close level crossing 2 and the estimated time and duration of the locomotive's occupation of level crossing 2 to the unmanned horizontal transport control system. After confirming through the image recognition system that no AGV vehicle is occupying the area of ​​level crossing 2, control the automatic log barrier of level crossing 2 to close, control the exit signal to open, and when the locomotive separates from the train and the locomotive passes the train detector point of level crossing 2 and enters the dead end line, turns back and completely passes the switch and level crossing 2 before entering an empty track, control the automatic log barrier of level crossing 2 to open.

[0020] Furthermore, the automated container yard level crossing path control system is also used to: when a locomotive pulls a train back to the docking station from the container loading and unloading area of ​​the port station, based on the locomotive's departure request, calculate the estimated time and duration of the locomotive's occupation of level crossing 2, send the information on preparing to close level crossing 1 and the estimated time and duration of the locomotive's occupation of level crossing 1 to the unmanned horizontal transport control system, and after confirming through the image recognition system that no AGV vehicle is occupying the area of ​​level crossing 1, control the automatic log barrier of level crossing 1 to close and control the exit signal to open. When the train detector detects that all trains have passed level crossing 1, control the automatic log barrier of level crossing 1 to open.

[0021] The present invention has the following beneficial effects:

[0022] This invention solves the problem of the operation of container rail-water intermodal railway trains and AGV trolleys of the fully automated port container management system at level crossings, and realizes safe transportation of automated container railway freight yards. Attached Figure Description

[0023] Figure 1 A schematic diagram illustrating the composition and information transmission of an automated level crossing control system for container yards, provided in an embodiment of the present invention;

[0024] Figure 2 A railway freight yard structure diagram provided for an embodiment of the present invention. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] like Figure 1 As shown in the figure, an automated level crossing path control system for container yards provided by this invention includes an unmanned horizontal transport control system (VMS) and an automated container yard level crossing path control system (ACCS). The ACCS is a subsystem under the VMS and includes signal controllers, train detectors, an image recognition system, and an automatic logger. Figure 1 The middle arrow indicates the direction of information transmission.

[0027] Among them, the signal is an indicator light that directs the operation of railway trains. By collecting the dynamic information of the signal and transmitting it to the ACCS, it is used to calculate the start time and duration of the train passing through the level crossing, providing a basis for AGV path calculation.

[0028] like Figure 2 As shown, the ACCS system has train detectors at points A, B, C, IG, 2G, and J. These detectors are mainly used to collect information such as the length, speed, position, and direction of travel of trains or train sets and upload it to the ACCS. The ACCS then transmits this information, along with the estimated time and duration of the train's occupation of the level crossing, to the VMS. Point C is the arrival point of the level crossing and is used to detect the train's exit and the position information of the occupied level crossing.

[0029] The image recognition system is used to collect data on whether there are AGVs in the level crossing area and upload the image information to the ACCS. The ACCS then determines whether the automatic log barrier can be turned off based on the AGV occupancy status in the level crossing area to prevent the AGVs from being trapped inside the level crossing. This subsystem can also upload the occupancy status of trains or train sets to the ACCS to determine whether the automatic log barrier can be turned on. The ACCS then sends an open or close command to the automatic log barrier to achieve the purpose of intercepting AGVs.

[0030] The automatic barrier gate is the actuator of the ACCS, used to prevent AGV vehicles from entering the road crossing. The automatic barrier gate opens and closes the crossing according to the instructions of the ACCS, and uploads the status after execution to the ACCS for monitoring. When the automatic barrier gate is open, the AGV vehicle is allowed to pass through the crossing; when it is closed, the AGV vehicle is prohibited from passing through the crossing.

[0031] The VMS plans the route based on the information transmitted by the ACCS and the location information uploaded by the AGV, and then transmits the estimated time, duration, and planned route for the train to pass through the level crossing area to the AGV.

[0032] The ACCS system proposed in this invention can automatically notify and monitor the status of railway trains occupying level crossings, and can detect the planned time and duration for trains entering and leaving the loading and unloading area of ​​a port station. The entire operation process of train cargo handling includes: the locomotive pulling the train from the connecting station to the port station and entering the loading and unloading area to wait for loading and unloading operations; the locomotive and the train are uncoupled and driven into the dead end line to turn back; the locomotive leaves the port station through the switches and empty tracks and returns to the connecting station to wait; after the train has completed the loading and unloading operations on the loading and unloading line, the locomotive enters the port station from the connecting station and connects with the train, pulling the train away from the port station to transport the port containers to the connecting station. In the entire operation process of train cargo handling, this invention can predict the start time and duration of each step of the operation, as well as the start time and duration of level crossing occupation, based on the train route (running direction), train length (car length), and train speed, and transmit the information to the VMS for AGV path planning.

[0033] For ease of understanding, all front-end devices included in ACCS are labeled as follows: Figure 2The diagram illustrates this. The system's workflow is explained in detail below, including vehicle delivery and retrieval processes:

[0034] The vehicle delivery operation specifically includes:

[0035] (1) When the train enters the container loading and unloading area of ​​the port station from the connecting station

[0036] Figure 2 In this system, point A is the detection point, point B is the center point of level crossing one, and point J is the center point of level crossing two. When a train arrives at point A, the train detector sends the collected information, such as train length, speed, and direction of travel, to the ACCS. The ACCS then determines whether the train is heading towards the port station based on its direction of travel. If it is heading towards the port station, the train's arrival time at point A is the time when level crossing one is about to close. The ACCS predicts the train's arrival time at the level crossing based on the train's speed and the distance between points A and B, and predicts the duration the train will occupy the level crossing based on the train's speed and length. The ACCS then sends the estimated closing time of the level crossing, the estimated arrival time of the train or locomotive at point B, and the estimated duration of the train's occupation of level crossing one to the VMS. If the train is heading towards the connecting station, no train information is transmitted.

[0037] The purpose of the train detector in detecting the train length is to predict and calculate the time and duration of the train or locomotive occupying the level crossing, and to send this information, along with the time the train or locomotive arrives at point B, to the VMS. After receiving the information from the ACCS about the train or locomotive approaching the level crossing barrier, the approach time, and the expected duration of the level crossing occupation, the VMS will re-plan the route of the AGV trolley in transit according to the principle of transportation timeliness, so as to achieve the purpose of pre-avoidance.

[0038] The location of the AGV that receives the VMS command is divided into the area within Level 1 and the area outside Level 1. The AGV within Level 1 leaves Level 1 along its original route. The AGV outside Level 1 has two routes to choose from based on the transportation time: waiting to pass through Level 1 or detouring through Level 2.

[0039] Once the image recognition system confirms that there are no AGV trolleys in the area of ​​Level Crossing 1, it shuts down the automatic barrier at Level Crossing 1 to intercept subsequent AGV trolleys. AGV trolleys that have chosen the path at Level Crossing 1 wait outside the barrier at the level crossing to ensure the safe passage of trains through the level crossing.

[0040] (2) After the train enters the container loading and unloading area of ​​the port station

[0041] When the train enters the container loading and unloading area of ​​the port station and comes to a stop at IG or 2G, and the train detector and image recognition system at point B or B' confirm that there is no train in the level crossing area, the level crossing barrier is opened. The ACCS uploads the level crossing opening status to the VMS. The VMS replans the route of the AGV trolley in transit based on the transportation time. At this time, the AGV trolley can pass through the level crossing area normally.

[0042] (3) When the locomotive is preparing to leave the container loading and unloading area

[0043] After the train stops at the loading / unloading line IG or 2G, the locomotive needs to separate from the train and leave the loading / unloading line track, sending a message to the ACCS indicating departure via level crossing 2. The ACCS prepares to close level crossing 2 and sends the estimated time and duration of the level crossing occupation information to the VMS. The VMS replans the route of the AGV trolleys in transit to avoid the level crossing 2 area. After the image recognition system confirms that no AGV trolleys are occupying the level crossing 2 area, the logging machine at level crossing 2 is closed, the departure signal XI or X2 is opened, the locomotive separates from the train, and the locomotive passes the level crossing 2 detector J or J' point and enters the dead end line. Level crossing 2 remains closed, and the locomotive turns back through the switch and enters an empty track at level crossing 2. When the turning locomotive passes the level crossing 2 arrival point C2 or C2' detector, level crossing 2 is opened.

[0044] When the locomotive continues towards level crossing one after passing point J or J', the detector at point J or J' sends information such as the locomotive's speed, direction, and length to the ACCS. The ACCS then controls the level crossing barrier to close and simultaneously notifies the VMS of the estimated closing time and duration. The VMS replans the AGV's route. Once the level crossing barrier closes, the departure signal SI or S2 opens, and the locomotive returns to the receiving station. Level crossing one opens when the locomotive passes the arrival point detector C1 or C1'.

[0045] The vehicle retrieval process specifically includes:

[0046] (1) When the locomotive enters the container loading and unloading area of ​​the port station from the connecting station to pull the train

[0047] The process of locomotives entering the loading and unloading area of ​​the port station to pull train vehicles using IG or 2G locomotives is the same as the train delivery process (1), except that the locomotive length and train length are different, and the time spent occupying the crossing is different.

[0048] (2) The locomotive pulls the vehicle back from the port loading and unloading area to the docking station.

[0049] The locomotive enters the loading / unloading area and connects to the railway vehicles via IG or 2G to prepare for returning to the docking station. The locomotive issues a departure request, and the ACCS prepares to close level crossing 1. The ACCS sends information about the closure of level crossing 1, the closure time, and the estimated closure duration to the VMS. The VMS replans the travel paths of different AGV trolleys based on the estimated closure time and duration and sends this information to the AGV trolleys. After the ACCS confirms through the image recognition system that there are no vehicles occupying level crossing 1, it closes the log barrier at level crossing 1, and the departure signal SI or S2 opens. The train departs the container loading / unloading area according to the signal instructions. Level crossing 1 is opened when all trains have passed the arrival point C1 or C1' of level crossing 1.

[0050] When the level crossing barriers are closed, the VMS dynamically plans the AGV routes based on the expected opening time of the level crossing and prioritizes container pickup and delivery efficiency, allowing the AGVs to pass through the level crossing area efficiently.

[0051] The above is the complete operational process for trains entering and leaving the port's container loading and unloading area. The details and innovative aspects of the process are explained below:

[0052] The calculation methods for the start time and duration of train or locomotive occupation of a level crossing include:

[0053] (1) Detection point: When the train detector at detection point A detects the train, that is, the train has arrived at detection point A, point B is the central detection point of the level crossing, and the approach distance L is the distance between point A and point B, thus:

[0054] L = T1 × V × 3.6 + L ZD

[0055] T1 = T AGV +T LM

[0056]

[0057]

[0058]

[0059] L1 = l1 + l2

[0060] in:

[0061] L is the approach distance from the train to level crossing 1, in meters;

[0062] T1 is the approach time of the train at the prescribed speed to level crossing 1, measured in seconds.

[0063] T2 is the approach time of the train at the prescribed speed to level crossing 2, measured in seconds.

[0064] V represents the permitted operating speed of the train or trainset, measured in km / h.

[0065] L ZD Emergency braking distance of a train or trainset, measured in meters (m).

[0066] T AGV The longest time it takes for an AGV to pass through a level crossing, measured in seconds.

[0067] T LM The time of the log-blocking machine's action is measured in seconds (s).

[0068] L1 is the length from the arrival point to the boundary of the crossing, in meters;

[0069] l1 is the length of the container, in meters (m).

[0070] l2 is the distance from the last pair of wheelsets to the end of the train body, in meters (m).

[0071] L2 is the length of the AGV (Automated Guided Vehicle), in meters (m).

[0072] L3 is the distance between the centerlines of the two railway lines, in meters;

[0073] L4 is the width of the road surface at the crossing, in meters;

[0074] L5 represents the width of the two road surfaces at the intersection, in meters.

[0075] L6 is the distance between level crossing 1 and level crossing 2, in meters;

[0076] V AGV The average running speed of the AGV is expressed in m / s.

[0077] V S The actual operating speed of a train or trainset as it passes through a detection point, expressed in km / h.

[0078] T S The actual operating speed V of the train or trainset at the detection point. S Predicted time to cross the level crossing, in seconds.

[0079] (2) Level crossing region: Define the level crossing region as quadrilateral DEFG, and obtain,

[0080] L DG =L EF =L2×2+L3

[0081] L DE =L GF =L1×2+L4

[0082] Define the second region of the crossing as quadrilateral MNPQ, and we get:

[0083] L NP =L MQ =L2×2+L3

[0084] L MN =L PQ =L1×2+L5

[0085] Cameras are installed at the four corners of the level crossing area 1 and level crossing 2 to monitor whether vehicles (including trains, locomotives, train sets, and AGVs) are occupying the level crossings.

[0086] (3) Arrival point: The arrival points C1 and C1' of Level Crossing 1 are both located at a distance of L1 from the edge of Level Crossing DG line. Combined with the image recognition of the camera, it is used to determine whether the train has left the Level Crossing 1 area.

[0087] The arrival points C2 and C2' of Level Crossing 2 are both located at L1, a distance from the edge of Level Crossing NP line. Combined with image recognition from the camera, this is used to determine whether the train occupies the area of ​​Level Crossing 2.

[0088] (4) Automatic obstacle avoidance machine: Since the AGV has the characteristic of automatic obstacle avoidance, one automatic obstacle avoidance machine is set up at the GF and DE lines of Level Crossing 1, and the MN and PQ lines of Level Crossing 2. When the ACCS receives the command to close the automatic obstacle avoidance machine, the obstacle avoidance machine is lowered. When the AGV approaches the obstacle avoidance machine, it will automatically identify the obstacle and stop in front of the obstacle, thereby achieving the purpose of intercepting the AGV and ensuring the safety of trains in the level crossing area.

[0089] When the ACCS receives the command to activate the automatic log barrier, the barrier is raised, and the AGV will automatically drive along the planned path if it cannot detect the obstacle.

[0090] It is important to note that the automatic log barrier should be closed within the anti-collision system recognition area of ​​the AGV, while the automatic log barrier should be open with sufficient safety height for the AGV to load containers.

[0091] (5) Level Crossing Control Box: A level crossing control box is installed near the level crossing area to house the ACCS hardware. Information is transmitted via cable connections to the train detector, camera, automatic logger, signal, and VMS.

[0092] In addition, this invention proposes a concept of pre-avoidance, which differs from existing AGV obstacle avoidance modes. Compared with traditional obstacle avoidance modes, the pre-avoidance mode significantly improves the transportation efficiency and collision avoidance success rate of AGVs, as detailed below:

[0093] When a train or locomotive arrives at the detection point, based on the direction, speed, and length of the train or locomotive detected by the train detector, time (tc) can be calculated. The VMS then replans the AGV route based on the predicted time (tc) that the train will cause the level crossing to close. It can calculate the remaining time (tcs) between the start of the AGV's delivery of goods and the level crossing closure. This time is a dynamic value: when the train's approach time to point A is the same as the AGV's start time, tcs is the train's total travel time (tc), and tw is zero; when the train's approach time to point A is later than the AGV's start time, tw is a negative value; when the train's approach time to point A is earlier than the AGV's start time, tw is a positive value. The calculation formula is as follows:

[0094] tcs = tc + tw

[0095] Where tc is the time the level crossing is closed (the time between the train approaching alarm, the lowering of the barrier, and the train passing through the level crossing and the barrier being opened).

[0096] tcs is the remaining time before the gate closes when the AGV starts transporting goods at the starting point;

[0097] tw is the time difference between the train's passage through point A and the AGV's start-up time.

[0098] An AGV travels a distance of X1 and takes time tx1 from the starting point to the first intersection area via path one. The distance from the first intersection to the destination is X2 and the time is tx2. The normal travel time for path one is tx = tx1 + tx2. Similarly, an AGV travels a distance of Y1 and takes time ty1 from the starting point to the second intersection area via path two. The distance from the second intersection to the destination is Y2 and the time is ty2. The normal travel time for path two is ty = ty1 + ty2.

[0099] Therefore, the AGV path selection method in the avoidance mode is as follows:

[0100] (1) When no train is approaching the crossing, the path calculation compares path one tx and path two ty, and the path with the shorter time is the optimal path.

[0101] (2) When a train approaches the level crossing, and the train approaches point A later than the AGV trolley starts from its starting point, tw is a negative value:

[0102] If tcs > tx1, then the dynamic time of path one is txs = tcs + tx2 - 2tw; the dynamic time of path two is tys = ty1 + ty2 + tw. The path with the shorter time is the optimal path.

[0103] If tcs≤tx1, then the dynamic time of path one is txs=tx1+tx2-2tw; the dynamic time of path two is tys=ty1+ty2+tw. The path with the shorter time is the optimal path.

[0104] (3) When a train approaches the level crossing, and the train approaches point A before the AGV starts, tw is a positive value:

[0105] If tcs > tx1, then the dynamic time of path one is txs = tcs + tx2; the dynamic time of path two is tys = ty1 + ty2. The path with the shorter time is the optimal path.

[0106] If tcs≤tx1, then the dynamic time of path one is txs=tx1+tx2; the dynamic time of path two is tys=ty1+ty2, and the path with the shorter time is the optimal path.

[0107] 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 within the protection scope of the present invention.

Claims

1. A container yard automation crossing path control system, characterized by, The system comprises an unmanned horizontal transportation control system, an automatic container yard crossing path control system and an AGV trolley, the automatic container yard crossing path control system comprises a train operation information acquisition system; The train operation information acquisition system is used to acquire the starting time and the continuous occupation time length of the train or the locomotive occupying the crossing; the AGV trolley is used to send the position information of the AGV trolley to the unmanned horizontal transportation control system in real time; The unmanned horizontal transportation control system is used to re-plan the driving path of the AGV trolley based on the starting time, the continuous occupation time length of the train or the locomotive occupying the crossing and the position information of the AGV trolley, and send the starting time and the continuous occupation time length of the train or the locomotive occupying the crossing and the re-planned driving path to the AGV trolley; The train operation information acquisition system is specifically used to acquire the distance of the train or the locomotive to the crossing, the running direction, the train length and the running speed, and calculate the starting time and the continuous occupation time length of the train or the locomotive occupying the crossing based on the distance of the train or the locomotive to the crossing, the running direction, the train length and the running speed; The train operation information acquisition system comprises a signal machine and a train detector, the signal machine is used to direct the train operation, and the train detector is used to collect the running direction, the train length and the running speed of the train or the locomotive; The automatic container yard crossing path control system further comprises an image recognition system and an automatic barrier machine; The image recognition system is used to collect the crossing area image and identify whether there is a vehicle in the crossing area based on the crossing area image, the vehicle comprises a train, a locomotive and an AGV trolley, the automatic container yard crossing path control system is used to determine whether to open or close the automatic barrier machine according to the starting time and the continuous occupation time length of the train or the locomotive occupying the crossing and whether there is a vehicle in the crossing area, and send the corresponding opening or closing command to the automatic barrier machine; The crossing comprises a crossing one, a crossing two and a port station container loading and unloading area located between the crossing one and the crossing two, a train detection point A is arranged at a preset distance outside the crossing one, when the train or the locomotive arrives at the point A from the junction station, the train operation information acquisition system sends the acquired running direction, the train length and the running speed of the train or the locomotive to the automatic container yard crossing path control system; The automatic container yard crossing path control system is specifically used to determine whether to run to the port station according to the running direction of the train or the locomotive, if yes, when the train or the locomotive arrives at the point A, it is judged that the train or the locomotive approaches the crossing, the time when the train or the locomotive arrives at the point A is taken as the time when the crossing one is ready to be closed, the time when the train or the locomotive arrives at the crossing is predicted according to the train running speed and the distance between the point A and a point B, i.e. the starting time of the train or the locomotive occupying the crossing one, wherein the point B is the crossing center point of the crossing one, the predicted time length of the train or the locomotive continuously occupying the crossing is predicted according to the train running speed and the train length, and the time when the crossing one is ready to be closed, the starting time of the train or the locomotive occupying the crossing one and the predicted time length of the train or the locomotive continuously occupying the crossing one are sent to the unmanned horizontal transportation control system; The unmanned horizontal transportation control system is specifically used for: after receiving the information of the time when the automatic container yard crossing path control system sends the crossing to be closed, the start time when the train or locomotive occupies the crossing and the estimated duration of occupying the crossing, re-planning the route of the AGV trolley in transit according to the principle of transportation timeliness, so as to achieve the purpose of pre-avoiding.

2. The container yard automation gate path control system of claim 1, wherein, The automatic container yard crossing path control system specifically comprises: During the start time and the duration of the train or locomotive occupying the crossing, the image recognition system confirms that there is no AGV trolley in the crossing area, and then the automatic barrier of the crossing is closed to intercept the AGV trolley outside the crossing barrier and ensure the safety of the train passing through the crossing; and during the time outside the start time and the duration of the train or locomotive occupying the crossing, the automatic barrier of the crossing is opened.

3. The container yard automation gate path control system of claim 1, wherein, The unmanned horizontal transportation control system re-plans the route of the AGV trolley in transit according to the principle of transportation timeliness, which comprises: dividing the position of the AGV trolley into the crossing area and the area outside the crossing area, if the AGV trolley is in the crossing area, controlling the trolley to drive away from the crossing area along the original path, and if the AGV trolley is in the area outside the crossing area, controlling the AGV trolley to wait outside the crossing or to detour to another crossing.

4. The container yard automation gate path control system of claim 1, wherein, The automatic container yard crossing path control system is further used for: when the train enters the container loading and unloading area of the port station and stops stably, confirming that there is no train in the crossing area through the image recognition system and the train detector at point B, controlling the automatic barrier of the crossing to be opened, and uploading the open state of the crossing to the unmanned horizontal transportation control system. The unmanned horizontal transportation control system is further used for: after receiving the open state of the crossing uploaded by the automatic container yard crossing path control system, re-planning the route of the AGV trolley in transit according to the principle of transportation timeliness, so that the AGV trolley can normally pass through the crossing area.

5. The container yard automation gate path control system of claim 1, wherein, The automatic container yard crossing path control system is further used for: when the locomotive is ready to drive away from the container loading and unloading area of the port station through the crossing two, based on the locomotive departure request, calculating the estimated time and duration of the locomotive occupying the crossing two, sending the information of the crossing two to be closed, the estimated time and duration of the locomotive occupying the crossing two to the unmanned horizontal transportation control system, and after confirming that there is no AGV trolley in the crossing two area through the image recognition system, controlling the automatic barrier of the crossing two to be closed, controlling the exit signal to be opened, and after the locomotive drives into the terminal track through the crossing two train detector point, turning back and completely passing through the turnout and the crossing two, and then entering the idle track, controlling the automatic barrier of the crossing two to be opened.

6. The container yard automation gate path control system of claim 1, wherein, The automatic container yard crossing path control system is also used for: when the locomotive pulls the train from the port station container loading and unloading area back to the junction station, based on the departure request of the locomotive, calculating the expected time and occupation time length information of the locomotive occupying crossing two, sending the expected time and occupation time length information of the preparation of closing crossing one and the locomotive occupying crossing one to the unmanned horizontal transportation control system, and after confirming that there is no AGV vehicle occupying the crossing one area through the image recognition system, controlling the automatic wood blocking machine of crossing one to close, controlling the outbound signal to open, and when detecting that the train has completely crossed crossing one through the train detector, controlling the automatic wood blocking machine of crossing one to open.

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