Railway loading and unloading line transfer car operation and automatic yard bridge dynamic protection system

Abstract

A kind of railway loading and unloading line transfer car operation and automatic yard bridge dynamic protection system, comprising: railway signal route control system CIS and yard bridge control system ECS;Railway signal route control system CIS is used to plan to arrange column and adjust car route to corresponding track of loading and unloading line, to yard bridge control system ECS application operation control right, and after the completion of car operation in corresponding track of loading and unloading line, exit railway operation mode, to yard bridge control system ECS hand over corresponding track operation control right of loading and unloading line;Yard bridge control system ECS is used to stop corresponding track loading operation after receiving the operation control right application of railway signal route control system CIS, corresponding track operation control right is handed over to railway signal route control system, lose corresponding track operation control right, and according to operation plan, carry out the loading and unloading operation of adjacent track or area with operation control right.The operation authorization and operation mode change of the application are automatically carried out without manual intervention, and adapt to automatic container loading and unloading operation system.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of railway transportation or port handling machinery, in particular to a railway loading and unloading line taking and delivering car operation and automatic gantry dynamic protection system. BACKGROUND

[0002] 1. Currently, there is no connection between the container automatic wharf system and the railway loading and unloading line interlocking system, and the safety protection between the systems is achieved by manual intervention and the protection measures of equipment shutdown. Manual intervention has a great impact on the safety of the automatic system.

[0003] 2. When the railway loading and unloading line is operating, the influence of the incoming and outgoing trains needs to be stopped to ensure that the spreaders and goods do not collide with the moving train. This inevitably reduces the efficiency of the railway freight yard loading and unloading operation. If the gantry operation is not limited or only protected by manual operation, it cannot meet the requirements of automatic operation, and it cannot guarantee that the gantry spreader does not collide with the railway train. In order to ensure the safety of the operation and improve the loading and unloading efficiency, the control system of the equipment and the operation method must be improved, and the automatic equipment must be managed and controlled.

[0004] 3. The shutdown protection measures of the gantry system ECS seriously affect the automatic gantry loading and unloading efficiency of the railway loading and unloading line, and the maximum reduction of the loading and unloading efficiency is close to half. SUMMARY

[0005] In view of the technical defects and technical disadvantages in the prior art, the present application provides a railway loading and unloading line taking and delivering car operation and automatic gantry dynamic protection system to overcome the above problems or at least partially solve the above problems, and the specific scheme is as follows:

[0006] A railway loading and unloading line taking and delivering car operation and automatic gantry dynamic protection system, the system comprises: a railway signal route control system CIS and a gantry control system ECS;

[0007] The railway signal route control system CIS is used for applying for operation control right to the gantry control system ECS when planning to arrange the train route on the corresponding track of the loading and unloading line, and exiting the railway operation mode after the train operation on the corresponding track of the loading and unloading line is completed, and handing over the operation control right of the corresponding track of the loading and unloading line to the gantry control system ECS;

[0008] The gantry control system ECS is used for stopping the loading and unloading operation of the corresponding track after receiving the operation control right application of the railway signal route control system CIS, and the spreader and goods exit the corresponding track, and the operation control right of the corresponding track is handed over to the railway signal route control system, and the operation control right of the corresponding track is lost, and the adjacent track or area is loaded and unloaded according to the operation plan.

[0009] Further, the system further comprises a yard management system BMS, which is configured to formulate a work plan and issue the corresponding work plan to the portal crane control system ECS and the railway signal route control system CIS, and receive the work progress and equipment state of the portal crane control system ECS and the railway signal route control system CIS.

[0010] Further, the portal crane control system ECS comprises a portal crane active protection system, which is configured to control the portal crane machinery to actively avoid the construction limit of the corresponding track when there is no work control right of the corresponding track, wherein the portal crane machinery comprises a portal crane trolley, a lifting tool and corresponding cargo.

[0011] Further, the portal crane active protection system comprises a lifting position monitoring device T, which is configured to detect the dynamic three-dimensional spatial coordinates of the portal crane machinery and upload the dynamic three-dimensional spatial coordinates to the portal crane control system ECS, and the portal crane control system ECS is configured to obtain the position of the portal crane machinery in real time according to the dynamic three-dimensional spatial coordinates, and determine whether the portal crane machinery meets the active safety protection requirements based on the position of the portal crane machinery, that is, whether the portal crane machinery has avoided the construction limit of the track without work control right.

[0012] Further, the lifting position monitoring device T is composed of multiple groups of three-dimensional radar cameras, which are configured to detect the dynamic three-dimensional spatial coordinates of the portal crane machinery.

[0013] Further, the railway signal route control system CIS comprises a vehicle number recognition device SB, which is arranged at the entrance of each loading and unloading line and is configured to recognize and determine the vehicle number, type and running direction of the locomotive and vehicle entering or exiting the corresponding loading and unloading line, determine whether there is a shunting locomotive or other track power machinery in the corresponding loading and unloading line according to the locomotive number characteristics, and determine whether the loading and unloading line railway vehicle is in danger of being moved.

[0014] Further, the railway signal route control system CIS comprises a turnout device Z, which is configured to control the route turnout switching and turnout position monitoring, receive the control of the railway signal route control system CIS and upload the turnout position and state to the railway signal route control system CIS.

[0015] Further, the railway signal route control system CIS comprises a track circuit device G, which is configured to detect the state of the loading and unloading line track and turnout section and the position of the track locomotive and vehicle, and upload the state of the loading and unloading line track and turnout section and the position of the track locomotive and vehicle to the railway signal route control system CIS, wherein the state of the loading and unloading line track and turnout section includes idle and occupied.

[0016] Further, the railway signal route control system CIS comprises a signal D for receiving a control opening or closing signal of the railway signal route control system CIS, directing a switching locomotive to enter and exit a corresponding loading and unloading line based on the control opening or closing signal, and uploading a signal state to the railway signal route control system CIS in real time.

[0017] The present application has the following advantages:

[0018] 1. The existing car delivery operation takes 20 minutes (handling route starts from the train entering the loading and unloading line to the locomotive exiting the loading and unloading line), the yard bridge stops for 20 minutes, four yard bridges load and unload a train for 1 hour, the car taking operation takes 20 minutes (handling route starts from the locomotive entering to the train exiting the loading and unloading line), the yard bridge stops for 20 minutes, and the car taking and delivering operation causes the loading and unloading operation efficiency to be 60%; after the dynamic protection system is added, the car delivery operation takes 20 minutes, the yard bridge does not stop for operation, four yard bridges load and unload a train for 1 hour, the car taking operation takes 20 minutes, the yard bridge does not stop for operation, and the car taking and delivering operation causes the loading and unloading operation efficiency to be 80-90%;

[0019] 2. The operation authorization and operation mode change are automatically performed without manual intervention, and are suitable for an automatic container loading and unloading operation system;

[0020] 3. The vehicle number recognition device is used to monitor whether the railway track power machine is on the railway loading and unloading line as the main control condition for the operation control authority transfer, which can effectively avoid the conflict between the yard bridge machine and the railway switching locomotive, and is an effective method for safety control between automatic systems.

[0021] 4. The construction limit method of the yard bridge control system actively avoiding the railway operation line can not interrupt the yard bridge loading and unloading operation on other tracks when the railway is operating on a certain track, greatly improves the operation efficiency of the yard bridge system, and is an innovation. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 A railway loading and unloading line car taking and delivering operation and an automatic yard bridge dynamic protection system structure diagram is provided for the embodiment of the present application.

[0023] Figure 2 A railway loading and unloading area signal arrangement scheme diagram is provided for the embodiment of the present application. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.

[0025] As Figure 1 shown, the railway loading and unloading line car handling operation and automatic yard bridge dynamic protection system provided by the embodiment of the application comprises a yard management system BMS, a railway signal route control system CIS and a yard bridge control system ECS.

[0026] The yard management system BMS is used to formulate an operation plan, and issue the corresponding operation plan to the yard bridge control system ECS and the railway signal route control system CIS, and receive the operation progress and equipment state of the yard bridge control system ECS and the railway signal route control system CIS.

[0027] The railway signal route control system CIS is used to apply for operation control right to the yard bridge control system ECS when planning to arrange a shunting route to the corresponding track of the loading and unloading line, and exit the railway operation mode after the shunting operation of the corresponding track of the loading and unloading line is completed, and hand over the operation control right of the corresponding track of the loading and unloading line to the yard bridge control system ECS.

[0028] The yard bridge control system ECS is used to stop the loading and unloading operation of the corresponding track after receiving the operation control right application of the railway signal route control system CIS, exit the corresponding track, and hand over the operation control right of the corresponding track to the railway signal route control system, lose the operation control right of the corresponding track, and perform loading and unloading operation on adjacent tracks or regions according to the operation plan.

[0029] The railway signal route control system CIS is composed of a car number recognition device SB, a turnout device Z, a track circuit device G, a signal machine D and a yard bridge protection interface (token transfer interface), one set of car number recognition device SB (SB1 or SB2) is arranged at each loading and unloading line track, one set of track circuit device G (H1G or H2G) is arranged at each loading and unloading line, and one set of turnout device Z1 is arranged at the turnout area, and the signal machine D1 and the track circuit D1G, Z1G for entering the loading and unloading line are arranged. The CIS system has route control interlocking operation control and token transfer functions.

[0030] The car number recognition device SB is a mature railway locomotive and vehicle detection and recognition device arranged at the entrance end of each loading and unloading line, which can recognize and judge the car number, type and running direction of the locomotive and vehicle entering or exiting the loading and unloading line by using radio frequency reflection or video recognition technology; and can determine whether there is a shunting locomotive or other track power mechanical in the loading and unloading line according to the number characteristics of the power locomotive, and determine whether the railway vehicle in the loading and unloading line is in danger of being moved.

[0031] The turnout conversion device Z is a mature power machine for controlling the conversion and position monitoring of the approach turnout, receiving the control of the railway signal approach control system CIS and uploading the turnout position and state to the railway signal approach control system CIS.

[0032] The track circuit G is a mature track detection device that can detect the position and moving direction of the rail vehicle in different technical ways, and is used for monitoring the position of the rail vehicle in the range of the loading and unloading line. The track circuit G detects the idle and occupation of the loading and unloading line track and turnout section and the position of the rail vehicle, and uploads it to the railway signal approach control system CIS.

[0033] The signal D is used to guide the entry and exit of the shunting locomotive into the loading and unloading line, and the white light allows the signal to be crossed, and the blue light prohibits the signal to be crossed; the signal D receives the control of the railway signal approach control system CIS to open or close the signal, and uploads the signal state to the railway signal approach control system CIS.

[0034] The yard crane control system ECS is composed of the yard crane machinery, the lifting position monitoring device T and the yard crane protection interface (token transfer interface) with the railway signal approach control system CIS, and the yard crane control system receives the operation plan of the yard management system (BMS), uploads the working state and operation progress of the yard crane machinery.

[0035] The yard crane machinery is controlled by the yard crane control system ECS, which is a standard automatic device and function of the automatic container yard bridge crane (referred to as yard crane), and has the functions of automatic positioning, automatic loading and unloading, automatic container storage and retrieval in the yard, and automatic passive obstacle avoidance.

[0036] The yard crane lifting position monitoring device T is a multi-angle three-dimensional image monitoring device composed of multiple three-dimensional radar cameras installed on the basis of the existing automatic yard crane, which can comprehensively detect the dynamic three-dimensional spatial coordinates of the yard crane trolley, the lifting appliance and the goods, and upload the three-dimensional spatial image coordinates to the yard crane control system ECS, and the yard crane control system ECS is used to obtain the position of the yard crane machinery in real time according to the dynamic three-dimensional spatial coordinates, and judge whether it meets the active safety protection requirements based on the position of the yard crane machinery, that is, whether the yard crane machinery has avoided the building limit of the track without operation control right.

[0037] In the above embodiment, the yard crane control system ECS is an active collision avoidance function added on the basis of the existing automatic container automatic loading and unloading control function, that is, on the track without loading right (token), the lifting appliance and goods actively avoid the protective limit of the track, and do not invade the specified safety limit, regardless of whether there is a locomotive vehicle parked (even if it is an idle track without any vehicle).

[0038] The active protection clearance of the track of the railway is the national standard railway construction clearance. A set of construction clearances is set according to the track height and track center of each track. When the railway protection state, the hoist and goods of the active protection system of the yard bridge actively avoid the construction clearance of the track, and the railway vehicle can enter or exit the track for operation, and other tracks can continue to carry out loading and unloading operation. For example, when the H2G plan has the railway vehicle entering, the hoist and goods of the yard bridge can continue to carry out loading and unloading operation in H1G, or move the goods in the upper area of the construction clearance of H2G under the monitoring of the detection system; when the yard bridge is in the protection state, the railway signal cannot open the track into the protection track of the yard bridge, and the yard bridge can safely carry out loading and unloading operation in the protection track. For example, when H1G is in the protection state of the yard bridge, the shunting signal D1 of the railway signal route control system CIS cannot open into H1G, and the shunting vehicle cannot enter H1G.

[0039] The protection type of the automatic yard bridge protection system of the application is divided into a railway operation mode and a yard bridge operation mode. Each track of the loading and unloading line is provided with a set of independent railway operation mode or yard bridge operation mode state. Each track can only work in one mode state;

[0040] The yard bridge operation mode is that the yard bridge is in the protection state, the railway signal route control system CIS locks the shunting operation route of the track, the railway vehicle cannot enter or exit the track for operation, the yard bridge has the control power of the loading and unloading operation of the track of the railway loading and unloading line, and the hoist and goods have the right to move in the operation area space of the track. It can enter the construction clearance range of the track of the railway for operation. The operation control right (token) of the yard bridge operation mode is in the yard bridge control system ECS.

[0041] The railway operation mode is that the railway signal route control system CIS is in the operation state, the yard bridge control system ECS locks the construction clearance of the track, and the yard bridge machinery actively avoids the construction clearance of the locked track under the monitoring of the hoisting position monitoring device T to carry out loading and unloading operation in the adjacent track or area according to the operation area specified by the yard bridge control system ECS. The operation control right (token) of the railway operation mode is in the railway signal route control system ECS.

[0042] The railway signal route control system CIS is in the initial state because the railway vehicle power dispatching right is in the railway side. From the safety angle of the yard bridge, it is required to not have the operation control right of the track of the railway loading and unloading line. Therefore, the yard bridge control system ECS has the operation control right of the railway loading and unloading line in the initial state of starting, and the operation control right (token) is in the yard bridge control system, which is called the yard bridge operation mode.

[0043] The space of the rail-mounted gantry crane to the loading and unloading line track is not limited in the rail-mounted gantry crane operation mode, the spreader and the cargo can enter the building gauge and the vehicle gauge of the loading and unloading line track for normal loading and unloading operation, the railway signal route control system CIS cannot arrange the shunting route in and out of the loading and unloading line track, the shunting locomotive and other track power machines cannot enter the loading and unloading line track, the rail-mounted gantry crane control system ECS initializes the rail-mounted gantry crane operation mode; the railway operation mode refers to that the railway signal route control system CIS can arrange the shunting route in and out of the loading and unloading line track, the shunting locomotive and other track power machines can normally enter and exit the loading and unloading line track, the spreader and the cargo of the rail-mounted gantry crane cannot invade the building gauge of the protected railway loading and unloading line track, but can continue other loading and unloading operations above (outside) the building gauge of the protected railway loading and unloading line track; the railway operation mode needs the authorization of the rail-mounted gantry crane control system ECS, and the railway signal route control system CIS can obtain the right to enter the loading and unloading line track. The railway signal route control system CIS automatically exits the railway operation mode after detecting that the loading and unloading line track shunting operation is completed, the locomotive exits the loading and unloading line, the route is unlocked, the control right of the loading and unloading line track is handed over to the rail-mounted gantry crane control system, the rail-mounted gantry crane control system ECS obtains the control right, and the system switches to the rail-mounted gantry crane operation mode.

[0044] The rail-mounted gantry crane operation mode and the railway operation mode can be converted to each other.

[0045] When the rail-mounted gantry crane operation mode is converted to the railway operation mode:

[0046] When the railway signal route control system CIS plans to arrange the shunting route in and out of the loading and unloading line track, the rail-mounted gantry crane control system ECS applies for the operation control right, the rail-mounted gantry crane control system ECS authorizes (token) the railway signal route control system CIS according to the loading and unloading operation plan to stop the loading and unloading operation control right of the track, the rail-mounted gantry crane control system ECS loses the rail-mounted gantry crane operation control right after handing over the control right (token) to the railway signal route control system CIS, the railway signal route control system CIS can control the turnout control device Z to switch the turnout after being authorized, arrange the shunting route in and out of the loading and unloading line track, open the signal D, the locomotive and the vehicle enter and exit the loading and unloading line track with the railway operation control right according to the display of the signal D, and the car number recognition device SB records the car number and the running direction of the locomotive and the vehicle entering and exiting the loading and unloading line track. The route state continuously maintains the railway operation control right when the loading and unloading line track has the shunting locomotive or the track power machine is detected by the car number recognition device SB.

[0047] When the railway operation mode is converted to the rail-mounted gantry crane operation mode:

[0048] When the railway signal route control system CIS obtains the control right of the railway loading and unloading line track and the car taking and delivering operation is completed, the railway signal route control system CIS checks the turnout Z section track circuit vacancy, the car taking and delivering and the train shunting route unlocking, the signal D is closed, the car number recognition device SB detects that there is no shunting locomotive and other track power machines in the loading and unloading line track, and then the loading and unloading line track is locked, the railway operation control right is automatically abandoned, the operation control right (token) is handed over to the yard crane control system ECS, and the yard crane control system ECS converts into the yard crane operation mode after receiving the operation control right.

[0049] As shown in Figure 2 , the railway loading and unloading area signal arrangement scheme diagram provided by the embodiment of the present application, the operation flow of the present application is specifically described below with the signal arrangement scheme diagram. Figure 2 The whole operation flow includes the car delivering operation and the car taking operation.

[0050] The car delivering operation includes:

[0051] ①The system is in the yard crane operation mode, and the car is delivered to the idle track of the loading and unloading line according to the operation plan (taking the car delivery to the H2G track as an example). The shunting locomotive pushes the vehicle at D1G, the railway signal route control system CIS arranges the D1 signal to the shunting operation route of the H2G track, checks the turnout conversion device Z1 at the straight track position, checks Z1DG vacancy and locks the route, and applies to the yard crane control system ECS to enter the operation control right of the loading and unloading line H2G through the protection interface.

[0052] ②The yard crane control system ECS receives the application of the railway signal route control system CIS to enter the H2G car delivery, locks the loading and unloading line H2G building limit boundary according to the operation progress of the yard crane mechanical (yard crane 1 to yard crane 4), opens the lifting position monitoring device, and controls the yard crane mechanical to avoid the H2G building limit.

[0053] ③After the yard crane control system ECS sets the yard crane protection to be completed, the yard crane control system ECS enters the H2G operation authorization to the railway signal route control system CIS.

[0054] ④The railway signal route control system CIS receives the operation authorization control signal (token) to enter the railway operation mode, the D1 signal opens to control the shunting locomotive to push the vehicle to pass through the D1 signal, Z1DG track section, Z1 turnout and the car number recognition device SB2 to enter the H2G (empty line), the D1 signal is closed, the pushing route is completed, and the route is unlocked. The car number recognition device SB2 records the direction, sequence and car number of the locomotive vehicle entering the H2G, identifies and records the shunting locomotive in the H2G, the railway signal route control system CIS continuously has the railway operation control right, and is still in the railway operation mode.

[0055] ⑤ When the railway shunting locomotive stops braking and uncouples the vehicle, and applies to leave the H2G, the railway signal route control system (CIS) arranges the shunting locomotive to leave the H2G route, and the D5 signal is opened.

[0056] ⑥ The shunting locomotive exits the H2G loading / unloading line via the car number identification devices SB2, Z1DG, Z1, and D1G, and the route is unlocked. The car number identification device SB2 detects that the shunting locomotive has exited H2G;

[0057] ⑦ The railway signal route control system (CIS) detects that the loading and unloading line H2G route has been unlocked and the shunting locomotive has also exited H2G. Since there is no track power unit on the loading and unloading line H2G, it is in a safe state. The railway signal route control system (CIS) blocks H2G and hands over the operation control to the yard crane control system (ECS).

[0058] ⑧ The yard crane control system ECS receives the H2G operation control authority and releases the yard crane machinery (yard crane 1 to yard crane 4) from the H2G railway construction clearance, allowing normal loading and unloading operations, and the system enters the yard crane operation mode.

[0059] The vehicle retrieval process includes:

[0060] ① The system is normally in yard bridge operation mode. According to the operation plan, it picks up cars from the tracks with cars on the loading and unloading line (taking the H1G track as an example). The shunting locomotive waits in D1G. The railway signal route control system CIS arranges the D1 signal to the shunting operation route to H1G, checks that the turnout switching device Z1 is in the curved track position, Z1DG is idle and locks the route, and applies to the yard bridge control system ECS for operation control right to enter the loading and unloading line H1G through the protection interface.

[0061] ② The yard crane control system ECS receives the railway signal route control system CIS's application to enter H1G for car delivery. According to the operation progress instructions of the yard crane machinery, the yard crane machinery (yard crane 1 to yard crane 4) locks the construction clearance boundary of the loading and unloading line H1G, activates the hoisting position monitoring device, and controls the yard crane machinery to avoid the construction clearance of H1G.

[0062] ③ After the yard bridge protection is set by the yard bridge control system ECS, H1G operation authorization is sent to the railway signal route control system CIS;

[0063] IV. Railway signal route control system CIS receives operation authorization control signal (token) to enter railway operation mode, D1 signal machine opens control shunting locomotive to push vehicle through D1 signal machine, Z1DG track section, Z1 turnout and car number recognition device SB1 to enter H1G (car line), D1 signal machine closes, shunting route is completed, and the route is unlocked. Car number recognition device SB1 records the direction, sequence and car number of the locomotive entering H1G, identifies and records the shunting locomotive in H1G, railway signal route control system CIS continuously has railway operation control right, and is still in railway operation mode;

[0064] V. Railway shunting locomotive stops, car coupler is connected, and exit from H1G is applied. Railway signal route control system CIS arranges shunting locomotive exit route of H1G, and D3 signal machine opens;

[0065] VI. Shunting locomotive exits H1G loading and unloading line through car number recognition device SB1, Z1DG, Z1 and D1G, and the taking route is unlocked. Car number recognition device SB1 detects shunting locomotive and vehicle exiting H1G;

[0066] VII. Railway signal route control system CIS detects that the taking and sending vehicle operation exits the loading and unloading line H1G route unlocking, shunting locomotive also exits H1G, and the loading and unloading line H1G has no track power device in a safe state. Railway signal route control system CIS locks H1G, and hands over operation control right to field bridge control system ECS;

[0067] VIII. Field bridge control system ECS receives H1G operation control right release, field bridge machinery (field bridge 1 to field bridge 4) enters the locking of H1G railway building limit, and normal loading and unloading operation can be carried out. System enters H1G field bridge operation mode, and the system enters normal state.

[0068] The above only describes the preferred embodiments of the present application, and is not used to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A dynamic protection system for railway loading and unloading line car handling and automated yard bridge operations, characterized in that, The system includes: a railway signal route control system (CIS) and a yard bridge control system (ECS); The railway signal route control system (CIS) is used to apply for operation control rights from the yard crane control system (ECS) when planning to arrange shunting routes to the corresponding tracks of the loading and unloading line. After the shunting operation on the corresponding tracks of the loading and unloading line is completed, it exits the railway operation mode and hands over the operation control rights of the corresponding tracks of the loading and unloading line to the yard crane control system (ECS). The ECS (Electronic Control System) is used to stop loading and unloading operations on the corresponding track after receiving a request for operation control from the CIS (Cyber ​​Railway Signal and Route Control System), hand over the operation control of the corresponding track to the CIS, lose the operation control of the corresponding track, and carry out loading and unloading operations on adjacent tracks or areas with operation control according to the operation plan. The yard crane control system (ECS) includes a yard crane active protection system, which is used to control the yard crane machinery to actively avoid the construction clearance of the corresponding track when there is no control over the operation of the corresponding track. The yard crane machinery includes a yard crane trolley, a lifting device, and corresponding cargo. The active protection system for the yard bridge includes a hoisting position monitoring device T. The hoisting position monitoring device T detects the dynamic three-dimensional spatial coordinates of the yard bridge machinery and uploads the dynamic three-dimensional spatial coordinates to the yard bridge control system ECS. The yard bridge control system ECS is used to obtain the position of the yard bridge machinery in real time based on the dynamic three-dimensional spatial coordinates, and to determine whether the position of the yard bridge machinery meets the active safety protection requirements, that is, to determine whether the yard bridge machinery has avoided the building clearance of the track without operation control. The hoisting position monitoring device T consists of multiple sets of three-dimensional radar cameras, which detect the dynamic three-dimensional spatial coordinates of the yard crane machinery.

2. The dynamic protection system for railway loading and unloading line car handling and automated yard bridge operations according to claim 1, characterized in that, The system also includes a yard management system (BMS), which is used to formulate work plans and issue corresponding work plans to the yard crane control system (ECS) and the railway signaling route control system (CIS), and to receive work progress and equipment status from the yard crane control system (ECS) and the railway signaling route control system (CIS).

3. The dynamic protection system for railway loading and unloading line car handling and automated yard bridge operations according to claim 1, characterized in that, The railway signal route control system (CIS) includes a car number identification device (SB). The car number identification device (SB) is installed at the entrance of each loading and unloading line and is used to identify and determine the car number, type and direction of travel of locomotives and rolling stock entering or leaving the corresponding loading and unloading line. Based on the characteristics of the locomotive and rolling stock numbers, it determines whether there are shunting locomotives or other track power machinery in the corresponding loading and unloading line.

4. The dynamic protection system for railway loading and unloading line car handling and automated yard bridge operations according to claim 1, characterized in that, The railway signal route control system (CIS) includes a turnout device Z, which is used to control the turnout switching of the route and monitor the turnout position, receive control from the railway signal route control system (CIS), and upload the turnout position and status to the railway signal route control system (CIS).

5. The dynamic protection system for railway loading and unloading line car handling and automated yard bridge operations according to claim 1, characterized in that, The railway signal route control system (CIS) includes a track circuit device G, which is used to detect the status of the loading / unloading track and turnout section and the position of the locomotive and rolling stock, and upload the status of the loading / unloading track and turnout section and the position of the locomotive and rolling stock to the railway signal route control system (CIS). The status of the loading / unloading track and turnout section includes whether it is idle or occupied.

6. The dynamic protection system for railway loading and unloading line car handling and automated yard bridge operations according to claim 1, characterized in that, The railway signaling route control system (CIS) includes a signal D, which receives control open or close signals from the CIS, directs shunting locomotives to enter and exit the corresponding loading and unloading lines based on the control open or close signals, and uploads the signal status to the CIS in real time.

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