Storage yard control method and device of container transfer station, and electronic equipment

Abstract

The invention discloses a storage yard control method and device of a container transfer station and electronic equipment, and relates to the field of automatic container transfer, and the method comprises the steps: receiving an outer container truck operation instruction, sending a transfer queuing instruction to an outer container truck to be operated, placing the outer container truck in place to a loading and unloading parking space below a fixed yard bridge according to a transfer queuing queue, and carrying out the loading and unloading of the outer container truck. A container is unloaded from a to-be-operated outer container truck by a fixed yard crane and loaded to a CRGV marshalling train, the marshalling train is detected to complete boxing in any one transfer sub-area, the CRGV marshalling train is controlled to depart and drive into a specified container position of a storage yard area, and the movable yard crane is controlled to run to the specified container position. Loading and unloading operations of all vehicles in the CRGV marshalling train are completed by the mobile yard crane, and after the completion of the loading and unloading operations of the CRGV marshalling train is detected, a return instruction is sent. The technical problems that in a container highway transfer station in the related technology, container trucks need to go deep into a storage yard, the residence time in the storage yard is long, and the operation efficiency is low are solved.

Description

Technical Field

[0001] The present invention relates to the field of automated container transshipment or other related fields, and in particular to a yard control method and device and electronic equipment of a container transshipment station. Background Art

[0002] Container highway transfer stations serve to connect with port container terminals or railway container handling stations. They are usually located near transportation hubs, railways and highway trunk lines. They are a type of specialized logistics park. In the current automated container field, generally only automated container terminals are designed, and no container highway transfer stations are designed.

[0003] In the related technologies, container road transfer station yards generally adopt the mode of completing the stacking and unloading of containers by means of internal or external container trucks driving into the container area and then hoisting through the yard bridge. The automation level of the yard is not high, and this operation mode has many disadvantages: 1. Whether it is an external container truck traveling between the container road transfer station and the hinterland enterprises, or an internal container truck traveling between the container disassembly and assembly yard and the container yard, according to the conventional container yard layout, the container truck needs to go deep into the yard area, with a long driving path, slow speed (generally limited to 30km / h) and long stay time in the yard, and the probability of traffic accidents is high. 2. In view of the requirements of road-related regulations on intersection sight distance, spatial pressure and visibility, manned driving roads must have sufficient passage and vision space, especially considering that the manned container truck body is huge, its turning radius and reversing state occupy a large space, these factors together lead to the road in the yard occupying more yard land, reducing the effective area of ​​the yard.

[0004] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0005] The embodiment of the present invention provides a yard control method and device and electronic equipment of a container transfer station, so as to at least solve the technical problem in the related art that a container highway transfer station requires container trucks to go deep into the yard, have a long residence time in the yard and have low operating efficiency.

[0006] According to one aspect of an embodiment of the present invention, a method for controlling a container transshipment station yard is provided, which is applied to a transshipment system, wherein the transshipment system is connected to a storage yard area and a transshipment area respectively, and comprises: receiving an operation instruction of an external container truck, and sending a transshipment queue instruction to the external container truck to be operated, wherein the external container truck operation instruction is used for the external container truck to be operated to prepare to enter the gate of the container transshipment station, and the transshipment queue instruction is used to control the external container truck to be operated to drive to an idle transshipment sub-area of ​​the transshipment area to queue up; according to the transshipment queue queue, each external container truck to be operated is positioned at a loading and unloading parking space under a fixed yard crane, and the fixed yard crane transports the container from the storage yard to the loading and unloading parking space under the fixed yard crane. The cargo is unloaded from the external container truck to be operated and loaded onto the container rail-guided vehicle CRGV train; when it is detected that the train in any transfer sub-area has completed loading, the CRGV train is controlled to start and drive into the designated container position in the yard area, and the mobile yard crane is controlled to drive to the designated container position, and the mobile yard crane completes the loading and unloading operations in all vehicles in the CRGV train; after detecting that the loading and unloading operations of the CRGV train are completed, a return instruction is sent to the CRGV train, wherein the return instruction is used to drive the empty CRGV train back to the transfer area.

[0007] Optionally, after controlling the CRGV marshaling train to depart and drive into the designated container position in the yard area, it also includes: after detecting that the CRGV marshaling train leaves the transfer sub-area and completely enters the yard area, releasing the foreign container trucks that have completed loading and unloading in multiple batches at intervals of the gate.

[0008] Optionally, after sending a return instruction to the CRGV marshaling train, it also includes: detecting whether all the external container trucks that have completed loading and unloading have left the transfer sub-area; when it is detected that all the external container trucks that have completed loading and unloading have left the transfer sub-area, intercepting the external container trucks to be operated from entering the transfer area through gates and signal lights, and controlling all the CRGV marshaling trains to leave the yard area and return to their respective transfer sub-areas.

[0009] Optionally, the transfer area includes: F transfer sub-areas and a one-way entry and exit road, and horizontal transportation is carried out with the yard area through a transfer channel and a CRGV marshaling train, wherein the transfer area is isolated from the outside area by arranging an isolation fence, and F is a positive integer greater than 1.

[0010] Optionally, each of the transfer sub-areas is arranged with the fixed yard bridge on one side of the yard area, the CRGV marshaling train is arranged at the middle position under the fixed yard bridge, and the container truck loading and unloading positions are arranged at both sides of the fixed yard bridge.

[0011] Optionally, the transfer channel is a rail-type transfer channel, or the transfer channel is configured as an elevated bridge.

[0012] Optionally, the CRGV train is composed of head and tail powered locomotives and a middle unpowered flat car, and the CRGV train is positioned and navigated by a visual perception system.

[0013] Optionally, a double lane is set in the transfer sub-area and the yard area to accommodate the simultaneous operation of two CRGV marshaling trains.

[0014] According to another aspect of an embodiment of the present invention, a yard control device of a container transfer station is also provided, which is applied to a transfer system, wherein the transfer system is connected to a yard area and a transfer area respectively, and comprises: an instruction receiving unit, which is used to receive an operation instruction of an external container truck, and send a transfer queue instruction to the external container truck to be operated, wherein the external container truck operation instruction is used for the external container truck to be operated to prepare to enter the gate of the container transfer station, and the transfer queue instruction is used to control the external container truck to be operated to drive to an idle transfer sub-area of ​​the transfer area to queue; a container truck unloading unit, which is used to place each external container truck to be operated in a loading and unloading parking space under a fixed yard bridge according to the transfer queue, and the fixed yard bridge loads the container from The cargo is unloaded from the external container truck to be operated and loaded onto the container rail-guided vehicle CRGV train; the yard crane operation unit is used to control the CRGV train to start and drive into the designated container position in the yard area after detecting that the train in any transfer sub-area has completed loading, control the mobile yard crane to drive to the designated container position, and the mobile yard crane completes the loading and unloading operations in all vehicles in the CRGV train; the marshaling return unit is used to send a return instruction to the CRGV train after detecting that the loading and unloading operations of the CRGV train are completed, wherein the return instruction is used to drive the empty CRGV train back to the transfer area.

[0015] Optionally, the yard control device of the container transshipment station also includes: a container truck release unit, which is used to control the CRGV marshaling train to depart and drive into the designated container position in the yard area, and after detecting that the CRGV marshaling train has left the transfer sub-area and completely entered the yard area, release the foreign container trucks that have completed loading and unloading in multiple batches at gate intervals.

[0016] Optionally, the yard control device of the container transshipment station also includes: a detection unit, which is used to detect whether all the external container trucks that have completed loading and unloading have left the transfer sub-area after sending a return instruction to the CRGV marshaling train; a control unit, which is used to intercept the external container trucks to be operated from entering the transfer area through gates and signal lights when it is detected that all the external container trucks that have completed loading and unloading have left the transfer sub-area, and control all the CRGV marshaling trains to leave the yard area and return to their respective transfer sub-areas.

[0017] Optionally, the transfer area includes: F transfer sub-areas and a one-way entrance and exit road, and horizontal transportation is carried out with the yard area through a transfer channel and a CRGV marshaling train, wherein the transfer area is isolated from the outside area by arranging an isolation fence, and F is a positive integer greater than 1.

[0018] Optionally, each of the transfer sub-areas is arranged with the fixed yard bridge on one side of the yard area, the CRGV train set is arranged in the middle position under the fixed yard bridge, and the container truck loading and unloading positions are arranged on both sides under the fixed yard bridge.

[0019] Optionally, the transfer channel is a rail-type transfer channel, or the transfer channel is configured as an elevated bridge.

[0020] Optionally, the CRGV train is composed of head and tail powered locomotives and a middle unpowered flat car, and the CRGV train is positioned and navigated by a visual perception system.

[0021] Optionally, a double lane is set in the transfer sub-area and the yard area to accommodate the simultaneous operation of two CRGV marshaling trains.

[0022] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is further provided, wherein the computer-readable storage medium includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute any one of the above-mentioned methods for controlling a container transfer station.

[0023] According to another aspect of an embodiment of the present invention, there is also provided an electronic device, comprising one or more processors and a memory, wherein the memory is used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement any one of the above-mentioned methods for controlling a yard of a container transshipment station.

[0024] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps of the yard control method of a container transshipment station described above are implemented.

[0025] In the present disclosure, an external container truck operation instruction is received, and a transfer queue instruction is sent to the external container truck to be operated, wherein the external container truck operation instruction is used for the external container truck to be operated to prepare to enter the gate of the container transfer station, and the transfer queue instruction is used to control the external container truck to be operated to queue in the idle transfer sub-area of ​​the transfer area, and each external container truck to be operated is positioned at the loading and unloading parking space under the fixed yard bridge according to the transfer queue, and the fixed yard bridge unloads the container from the external container truck to be operated and loads it onto the container rail-guided vehicle CRGV marshaling train. After detecting that the marshaling train in any transfer sub-area has completed the loading, the CRGV marshaling train is controlled to start and drive into the designated container position in the yard area, and the mobile yard bridge is controlled to drive to the designated container position, and the mobile yard bridge completes the loading and unloading operations in all vehicles in the CRGV marshaling train; after detecting that the loading and unloading operations of the CRGV marshaling train are completed, a return instruction is sent to the CRGV marshaling train, wherein the return instruction is used to drive the empty CRGV marshaling train back to the transfer area.

[0026] In the present disclosure, container trucks do not need to go deep into the yard. A yard crane can be used to directly unload containers carried on the container trucks onto a marshalling train, and the transfer of containers can be completed by rail transportation. Under the premise of ensuring safety, the vehicle speed can be further increased, and horizontal transportation between the transfer area and the yard can be undertaken. The yard crane and container trucks can replace the long-distance horizontal transportation in the yard, improve operating efficiency and speed, and thus solve the technical problem in the related technology that container highway transfer stations require container trucks to go deep into the yard, stay in the yard for a long time, and have low operating efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0028] Figure 1 is a flow chart of an optional container transfer station yard control method according to an embodiment of the present invention;

[0029] Figure 2 is a schematic diagram of an optional layout of a container highway transfer station according to an embodiment of the present invention;

[0030] Figure 3 is a schematic cross-sectional view of an optional transfer zone according to an embodiment of the present invention;

[0031] Figure 4 It is a partial schematic diagram of an optional CRGV marshaling and transshipment sub-area for waiting for container truck unloading and transshipment according to an embodiment of the present invention;

[0032] Figure 5 This is a flow chart of an optional external container truck loading and entering station operation according to an embodiment of the present invention;

[0033] Figure 6 is a schematic diagram of an optional yard control device of a container transfer station according to an embodiment of the present invention;

[0034] Figure 7 The present invention is a hardware structure block diagram of an electronic device (or mobile device) for a yard control method of a container transfer station according to an embodiment of the present invention. DETAILED DESCRIPTION

[0035] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0036] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0037] To facilitate those skilled in the art to understand the present invention, some terms or nouns involved in the embodiments of the present invention are explained below:

[0038] A container highway transshipment station refers to a "bus station" that specializes in handling container transshipment and transportation services. It is located at a transportation hub or near a port or station with a large number of containers. Its main business is to sort and pack container goods, handle the consolidation of less than full containers, and the unpacking of full containers when the cargo owner is unable to receive or unload the full container; accept consignments, and handle intermodal transport services.

[0039] A yard crane refers to a container gantry crane, a type of loading and unloading equipment used for container loading and unloading operations in a container yard. According to the type of outrigger cantilever, it can be divided into non-cantilever, single-cantilever and double-cantilever yard cranes.

[0040] Container trucks are trucks that use containers to transfer goods, referred to as "container trucks". The driving modes of container trucks are divided into two types: "manned container trucks" and "unmanned container trucks". Manned container trucks refer to container trucks that are directly driven by the driver in the cab (including remote control); unmanned container trucks refer to unmanned container transport vehicles controlled by computer programs, such as unmanned container trucks with cabs, automated guided vehicles (AGVs), intelligent guided vehicles (IGVs), container shuttles (Shutt le Carriers, Shutt le), artificial intelligence transport robots (ARTs), unmanned container transport vehicles (AI Guided Transporter, AIGT), intelligent mobile transport flatbed vehicles (IMVs), etc.

[0041] Container flat cars are non-powered container flat cars that are widely used in the field of railway transportation. They are special flat cars designed to meet the requirements of railway container transportation. Their car bodies mainly include a chassis and container locking and door stop devices. The chassis is welded from plates or profiles into a frame structure or a herringbone structure. It generally has no bottom plate and requires a powered locomotive for transportation operations.

[0042] Container Rail Guided Vehicle, CRGV for short, is a rail-guided unmanned container transport vehicle that integrates the technologies of rail-guided vehicles (RGV) and automatic guided vehicles (AGV) in the field of stereoscopic warehouses and is applied to the present application. In the present application, CRGV and container flat cars are used to transport containers in a marshaling manner.

[0043] It should be noted that the yard control method and device of the container transshipment station in the present disclosure can be used in the field of automated container transshipment when realizing container road transshipment processing, and can also be used in any field except the technical field of automated container transshipment when realizing container road transshipment processing. The present disclosure does not limit the application field of the yard control method and device of the container transshipment station.

[0044] It should be noted that in the present disclosure, when collecting and analyzing customer information, corresponding operation entrances are provided for users to choose to agree or reject the automated decision results; if the user chooses to reject, the expert decision-making process is entered.

[0045] The following embodiments of the present invention can be applied to various yard control systems / applications / equipment of container transfer stations. The present invention improves the transportation efficiency and safety of container highway transfer stations by optimizing the yard layout and transportation mode.

[0046] The implementation scheme provided by the present invention can improve the problems of low horizontal transportation efficiency and long residence time in the yard of external container trucks. On the one hand, by reasonably arranging the transfer area, the driving distance of internal and external container trucks can be further shortened, and they can quickly enter and exit the yard; on the other hand, by optimizing the logistics organization of external container trucks and the layout of the transfer area, the container trucks can be avoided from reversing, so as to reduce the difficulty of container truck operation and waiting time, thereby improving the driving safety level. For external container truck owners and drivers, fast entry and exit avoids long waiting time in the station, saves a lot of time, and speeds up turnover; for the transfer station, the service level of internal and external container trucks is improved, and the turnover efficiency is improved, which can reduce the configuration of container trucks in the station, reduce manual intervention, and improve the level of automation.

[0047] At the same time, the implementation scheme provided by the present invention can improve the efficiency of horizontal transportation in the yard, and adopt rail transportation mode. Through precise control, the vehicle speed can be further increased under the premise of ensuring safety. In addition, elevated rail transportation mode can also be used to undertake horizontal transportation between the transfer area and the yard, which can replace the long-distance horizontal transportation of yard cranes and container trucks in the yard, achieving faster speed, more precise control, higher efficiency and safety reliability.

[0048] In addition, the implementation scheme provided by the present invention can improve the efficiency of horizontal transportation while maintaining the usable area of ​​the container area of ​​the yard. According to relevant road specifications, when designing manned truck lanes, it is necessary to have sufficient passage and vision space, especially the turning radius of large container trucks occupies a large space. The scheme proposed by the present invention requires that all internal and external container trucks do not enter the container area of ​​the yard, and its effect is reflected in two aspects: on the one hand, through the reasonable layout of traffic flow and transfer area, the setting of the transfer area reduces the container area to a certain extent, in exchange for the rapid entry and exit of external container trucks; on the other hand, the transfer system channel adopts a straight-line transportation mode and unmanned automatic control, with fast speed, few lines, narrow channels, and no turns, so that the container area, channel and yard bridge can be compactly arranged, which makes up for the lack of container area to a certain extent. Under the premise of not significantly reducing the usable area of ​​the container, traffic control or the arrangement of elevated tracks between the transfer area and the container area are adopted, so that the transfer system does not interfere with the driving of the container truck traffic flow, and the horizontal transportation efficiency is improved.

[0049] Furthermore, the implementation scheme provided by the present invention can provide a countermeasure for adding a loading and unloading operation process in the transfer area. In traditional automated container terminals, external container trucks travel to the bottom of the cantilever of the yard bridge in the container area of ​​the yard for loading and unloading operations. The implementation scheme provided by the present invention achieves a shortened driving distance for container trucks and a quick entry and exit of the terminal by setting up a transfer area and a transfer system, and improves the transportation efficiency of some links. The implementation scheme provided by the present invention improves the loading and unloading efficiency by increasing the speed of transfer vehicles, setting up vehicle formations, single-vehicle double-layer containers, and precise control of facilities and equipment, so as to compensate for the negative impact of adding a loading and unloading process in the transfer area. Since the transfer system vehicles that shuttle between the transfer area and the yard in the implementation scheme provided by the present invention travel back and forth in a straight line without turning, the vehicle driving difficulty is relatively low and easy to implement.

[0050] The present invention is described in detail below in conjunction with various embodiments.

[0051] Embodiment 1

[0052] According to an embodiment of the present invention, an embodiment of a yard control method for a container transshipment station is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0053] According to one aspect of an embodiment of the present invention, a yard control method of a container transshipment station is provided, which is applied to a transfer system, and the transfer system is connected to a yard area and a transfer area respectively.

[0054] Figure 1 is a flow chart of an optional container transfer station yard control method according to an embodiment of the present invention, such as Figure 1 As shown, the method comprises the following steps:

[0055] Step S101, receiving an external container truck operation instruction, and sending a transfer queuing instruction to the external container truck to be operated, wherein the external container truck operation instruction is used for the external container truck to be operated to prepare to enter the gate of the container transfer station, and the transfer queuing instruction is used to control the external container truck to be operated to travel to the idle transfer sub-area of ​​the transfer area to queue up.

[0056] Step S102, according to the transfer queue, each container truck to be operated is positioned at the loading and unloading parking space under the fixed yard crane, and the fixed yard crane unloads the container from the container truck to be operated and loads it onto the container rail guided vehicle CRGV train.

[0057] Step S103, when it is detected that the marshaling train in any transfer sub-area has completed loading, the CRGV marshaling train is controlled to start and drive to the designated container position in the yard area, and the mobile yard crane is controlled to drive to the designated container position, and the mobile yard crane completes the loading and unloading operations in all vehicles in the CRGV marshaling train.

[0058] In an embodiment of the present invention, after controlling the CRGV marshaling train to depart and drive into the designated container position in the yard area, it also includes: after detecting that the CRGV marshaling train has left the transfer sub-area and completely entered the yard area, releasing the foreign container trucks that have completed loading and unloading in multiple batches of gate intervals.

[0059] For example, once the transfer vehicle group leaves the transfer area and completely enters the yard area, the external container trucks that have completed loading and unloading are released in two batches at intervals through the gate. The reason for adopting this method is to ensure that the external container trucks leave the yard in an orderly manner. If they are released at one time, it is easy to cause a large number of vehicles leaving the yard, disorder, and congestion, which is not conducive to driving safety. After ensuring that all released external container trucks have left the transfer sub-area and do not affect the passage of the transfer vehicle group, the gate and signal lights are used to intercept the container trucks to be loaded and unloaded from leaving the loading and unloading sub-area. At this time, all transfer vehicle groups leave the yard area and return to their respective transfer sub-areas to enter the next cycle of operations.

[0060] From the above analysis, it can be seen that the transfer vehicle groups entering and exiting the yard and the container trucks leaving the yard are alternately driven through traffic control, achieving relative isolation in local time and space, taking into account both efficiency and safety; in addition, the time windows for transfer vehicles entering and exiting the yard area, container trucks leaving the yard, yard crane operation and loading and unloading overlap to varying degrees, further shortening the waiting time of conventional operating methods and improving efficiency.

[0061] Step S104, after detecting that the loading and unloading operation of the CRGV marshaling train is completed, a return instruction is sent to the CRGV marshaling train, wherein the return instruction is used to drive the empty CRGV marshaling train back to the transfer area.

[0062] It should be noted that, after sending a return instruction to the CRGV marshaling train, the embodiment of the present invention also includes: detecting whether all the external container trucks that have completed loading and unloading have left the transfer sub-area; when it is detected that all the external container trucks that have completed loading and unloading have left the transfer sub-area, the external container trucks to be operated are intercepted by gates and signal lights to enter the transfer area, and all CRGV marshaling trains are controlled to leave the yard area and return to their respective transfer sub-areas.

[0063] Through the above steps, the external container truck operation instruction can be received, and the transfer queue instruction can be sent to the external container truck to be operated, wherein the external container truck operation instruction is used for the external container truck to be operated to prepare to enter the gate of the container transfer station, and the transfer queue instruction is used to control the external container truck to be operated to queue in the idle transfer sub-area of ​​the transfer area. According to the transfer queue, each external container truck to be operated is positioned at the loading and unloading parking space under the fixed yard bridge, and the fixed yard bridge unloads the container from the external container truck to be operated and loads it onto the container rail-guided vehicle CRGV marshaling train. After detecting that the marshaling train in any transfer sub-area has completed the loading, the CRGV marshaling train is controlled to start and drive into the designated container position in the yard area, and the mobile yard bridge is controlled to drive to the designated container position. The mobile yard bridge completes the loading and unloading operations in all vehicles in the CRGV marshaling train; after detecting that the loading and unloading operations of the CRGV marshaling train are completed, a return instruction is sent to the CRGV marshaling train, wherein the return instruction is used to drive the empty CRGV marshaling train back to the transfer area. In this embodiment, container trucks do not need to go deep into the storage yard. A yard crane can be used to directly unload containers carried on the container trucks onto a marshalling train, and rail transportation can be used to complete the transfer of containers. Under the premise of ensuring safety, the vehicle speed can be further increased, and horizontal transportation between the transfer area and the storage yard can be undertaken, which can replace the long-distance horizontal transportation of the yard by the yard crane and container trucks, improve operating efficiency and speed, and thus solve the technical problem in the related technology that container highway transfer stations require container trucks to go deep into the storage yard, stay in the yard for a long time, and have low operating efficiency.

[0064] The embodiment of the present invention is described in detail below in combination with the above steps.

[0065] In the embodiment of the present invention, the layout of the container highway transfer station is first explained. The container highway transfer station in this embodiment includes a yard area, a transfer area, and a transfer system. The containers transported by external container trucks will queue outside the transfer area to enter the transfer area. The container trucks will be positioned at the loading and unloading parking space under the fixed yard crane. The fixed yard crane will unload the containers from the external container trucks to be operated and load them onto the marshaling train in the transfer area. The marshaling train will be transported horizontally to the edge of the yard area, and then the mobile yard crane will complete the loading and unloading operations of all vehicles in the CRGV marshaling train, unload the containers on the marshaling train to the yard area, and after detecting that the loading and unloading operations of the CRGV marshaling train are completed, the marshaling train is controlled to return to the transfer area.

[0066] Optionally, the transfer area includes: F transfer sub-areas and a one-way access road, and horizontal transportation is carried out with the yard area through the transfer channel and the CRGV marshaling train, wherein the transfer area is isolated from the outside of the area by arranging an isolation fence, and F is a positive integer greater than 1. In addition, in this embodiment, each transfer sub-area is arranged with a fixed yard bridge on one side of the yard area, the CRGV marshaling train is arranged in the middle position under the fixed yard bridge, and the container truck loading and unloading parking spaces are arranged on both sides under the fixed yard bridge.

[0067] Figure 2 FIG. 1 is a schematic diagram of an optional layout of a container highway transfer station according to an embodiment of the present invention. Figure 2 As shown, it includes container yard area and transshipment area, and the transshipment area includes 6 transshipment sub-areas, AF. The container yard area and transshipment area are separated by isolation fences, and the transshipment area and the yard area are connected by yard bridges, which are responsible for unloading containers from marshaling vehicles CRVG or AGV into the yard area.

[0068] The transport zone mainly includes the transport sub-zone (such as Figure 2 It is composed of the AF area in the yard and a one-way access road, which is separated from the outside of the area by a fence and connected to the yard area through a rail transfer channel and special vehicles for horizontal transportation.

[0069] The dedicated vehicle for the transfer channel (such as CRVG or AGV) in this embodiment is an unmanned automatic driving vehicle. It can achieve precise control through sensor positioning and navigation, and eliminates the adverse effects of manual driving in terms of physiology (fatigue, lack of concentration) and psychology (sense of oppression caused by space and visual distance). From the perspective of the operating principle of the container yard crane and the stacking method of the container area cross-section, it is the optimal layout method to arrange the driving channel in the middle of the yard crane and the container area cross-section without increasing the number of channels. This can minimize the sum of the horizontal walking distances of the yard crane hoisting operation in the cross-sectional direction. Figure 3 is a schematic cross-sectional view of an optional transfer zone according to an embodiment of the present invention, such as Figure 3 As shown in the figure, the fixed yard crane is fixed on the channel and above the container truck. Each transfer sub-area can be arranged with a container truck loading and unloading and waiting channel, a CRGV and flat car marshaling transfer channel, and a container truck loading and unloading and waiting channel. Through this layout, the sum of the horizontal walking distances of the yard crane hoisting operation in the cross-sectional direction is minimized.

[0070] The reason why most of the container truck transportation roads inside and outside the container yard that use yard crane operations are arranged on both sides of the strip box area is to ensure that the driver of the manned truck is in a safe driving area. In the related technology, when the road is arranged in the middle of the cross section of the yard and the boxes on both sides are high, it will cause the following negative effects on the driver of the manned truck: 1) Limited vision: When the boxes on both sides are high, the road will block the driver's sight, especially when turning or changing lanes; 2) Sense of oppression: When the boxes on both sides are high and close to the road, it brings a sense of oppression to the driver, making the driver anxious and nervous; 3) Dark light: When the boxes on both sides are high, they block the light and the road visibility is low; 4) Blind spot: Blind spots will be generated at the corners, making it difficult for the driver to see oncoming vehicles. In this embodiment, when an unmanned vehicle with full-field precise positioning, advanced sensors and visual systems is used for horizontal transportation, it is not affected by the negative impact of the driver during manual driving as mentioned above, and the driving channel in the middle position is the choice with the shortest sum of horizontal walking distances in the cross section of the yard crane lifting operation.

[0071] Figure 4 FIG. 1 is a partial schematic diagram of an optional CRGV marshaling and transshipment sub-area for waiting for truck unloading and transshipment according to an embodiment of the present invention, such as Figure 4 As shown, the upper and lower sides are manned container trucks, and the middle is a CRGV marshaled vehicle. The front and rear sides of the CRGV marshaled vehicle are empty (a fence is set up between the CRGV marshaled vehicle and the manned container truck), and the middle is a container flat car or trailer. The four crosses on the right represent the no-entry signals, and a gate lift bar is set in front of each vehicle. A single transfer sub-area is arranged with a fixed yard bridge on the side close to the yard, and the transfer-specific vehicles and container truck loading and unloading parking spaces are located in the middle and on both sides below the fixed yard bridge. The transfer-specific vehicles are composed of head and tail powered locomotives and a middle unpowered flat car. They shuttle back and forth in a straight line through the rail channel between the transfer area and the yard area to complete horizontal transportation; the container truck logistics is set in one direction, and the incoming container trucks enter the loading and unloading parking spaces in turn by queuing, and the traffic is organized through the gate lift bar and the traffic indicator light, and leave the yard after completing the loading and unloading.

[0072] The transfer channel track that runs through the transfer sub-area and the yard area is set as a concealed track with the top of the track basically flush with the ground, which not only meets the passage requirements of CRGV and container flat car marshalling vehicles, but also provides convenience for the travel of departing container trucks.

[0073] Optionally, the transfer channel is a rail-type transfer channel, or the transfer channel is configured as an elevated bridge.

[0074] In addition, in this embodiment, the transfer channel is arranged in the middle of the cross-section of the yard area. This layout minimizes the horizontal walking distance of the yard crane for lifting operations in the cross-section direction, and the transfer channel is not limited by the sight distance and turning radius of manually driven container trucks. The yard crane, container space and transfer track can be compactly arranged, thereby maximizing the yard utilization efficiency.

[0075] Optionally, the CRGV train is composed of head and tail powered locomotives and a middle unpowered flat car, and the CRGV train is positioned and navigated through a visual perception system.

[0076] Optionally, a double lane is set up in the transfer sub-area and the yard area to accommodate the simultaneous operation of two CRGV marshaling trains.

[0077] Another optional specific implementation is described in detail below.

[0078] Figure 5 FIG. 1 is a flow chart of an optional external container truck loading and unloading operation according to an embodiment of the present invention. Figure 5 As shown, the external container truck is controlled to be allowed to enter at the gate of the transfer station, and drives to the designated area (AF area) in the transfer area to queue up and wait. After queuing, the external container truck is in place at the loading and unloading parking space under the fixed yard crane, and the fixed yard crane unloads the container from the external container truck and loads it onto the CRGV marshaling train. Then, each RGV marshaling in the AF area completes a round of loading and unloading and waits for departure (at this time, the yard crane can be transferred to the designated container position, the yard crane drives to the designated container position and is in place, and all yard cranes complete the loading and unloading operations of all vehicles in each marshaling), the CRGV marshaling is dispatched and all enter the yard area, the CRGV marshaling drives to the designated container position and is in place, the CRGV marshaling in each transfer sub-area waits for the return instruction, and all CRGV marshaling returns to the transfer area. Among them, after the CRGV marshaling is dispatched and all enters the yard area, the external container truck gate is opened in two batches at intervals, and the external container truck leaves the transfer area in two batches, and all vehicles in this round of the loading and unloading parking space in the transfer area leave the transfer area.

[0079] exist Figure 5 In the illustrated process, once the transfer vehicle marshaling leaves the transfer area and completely enters the yard area, the external container trucks that have completed loading and unloading are released at intervals in two batches. The reason for adopting this method is to allow the external container trucks to leave the yard in an orderly manner. If they are released at one time, it is easy to cause a large number of vehicles leaving the yard, disorder, and congestion, which is not conducive to driving safety. Under the condition of ensuring that all released external container trucks have left the transfer sub-area and do not affect the passage of the transfer vehicle marshaling, the rear container trucks to be loaded and unloaded are intercepted by gates and signal lights to leave the loading and unloading sub-area. At this time, all transfer vehicle marshalings leave the yard area and return to their respective transfer sub-areas to enter the next cycle of operation. In addition, the entry and exit of the transfer vehicle marshaling and the departure of the container trucks are alternately driven through traffic control, achieving relative isolation in local time and space, taking into account efficiency and safety; in addition, the time windows for the entry and exit of the transfer vehicles in the yard area, the departure of the container trucks, the movement of the yard bridge and the loading and unloading have different degrees of overlap, which further shortens the waiting time of the conventional operation method and improves efficiency.

[0080] It should be noted that the process of picking up containers by external container trucks is opposite to the above-mentioned process of unloading containers by external container trucks; the process of delivering and picking up containers by internal container trucks that travel back and forth between the container loading and unloading yard and the automatic yard within the station is the same as the process of delivering and picking up containers by external container trucks.

[0081] From the moment the container is lifted by the fixed yard crane on the external container truck, the subsequent process enters the automatic control state, and unmanned automatic control operations are performed according to the preset automatic operation management system in the station. The transfer vehicle group can take into account the container trucks with full container delivery and empty container pickup operations under the fixed yard crane at the same time. The transfer vehicle group needs to carry the containers that need to be taken away when it returns to the transfer sub-area from the yard area. At this time, it is necessary to complete the loading and unloading of the containers before delivering and unloading the containers, which can meet the requirements of simultaneous delivery and retrieval operations. If the above functions are realized, it is necessary to enter the container loading status and purpose of the container truck into the automatic operation management system when the external container truck enters the gate or the internal container truck leaves the container loading and unloading yard, assign a designated transfer sub-area, and complete the operation through the coordination of the fixed yard crane, the yard yard crane and the transfer vehicle group. For the operational capacity of the unit transfer vehicle group, the total container load of the unit group can be adjusted by changing the number of vehicles in the unit group or loading a single multi-layer container. The overall acceleration and driving speed of the group can also be adjusted by adjusting the number of unpowered container flat cars and powered CRGV locomotives in the group. Because the transportation group vehicles do not interfere with the container trucks and there is no speed limit requirement, the group transfer efficiency can be further adjusted, with high flexibility, thereby reducing energy consumption. In addition, the transfer efficiency can be further improved by adjusting the number of transfer lanes in the transfer sub-area, and the transfer vehicles can be deployed according to the busyness.

[0082] Through the above implementation, it is proposed to divide the automated yard of the container highway transfer station into two functional areas: the transfer area and the yard area. The transfer system is designed to achieve linear reciprocating transportation between the two areas, solving the problem that the manual driving of container trucks in the existing technology needs to go deep into the yard area to operate, with a long driving path, slow speed and long residence time. The transfer system uses unmanned vehicles, which can achieve higher speed and precise control, shorten the time of container trucks on site, and improve service level and safety.

[0083] In addition, another transfer vehicle marshaling scheme is also provided in this embodiment - the AGV and tire trailer marshaling scheme. Compared with the CRGV and container flat car marshaling scheme in the related art, it may cause uneven settlement of the site, making the top surface of the track higher than the ground, and the container truck will fluctuate when crossing the track when leaving the site, which will have a certain negative impact on the departure efficiency and driving safety of the transfer marshaling vehicle. In the scheme provided in this embodiment, the AGV is a tire type, which is widely used in automated container terminals. This scheme sets up a double lane in the transfer sub-area and the yard area to meet the simultaneous operation of two vehicle marshalings. A single marshaling is a combination of powered AGVs at the front and rear and an unpowered trailer in the middle. The marshaling vehicle still maintains a linear reciprocating transport mode shuttling between the transfer area and the yard area. The transfer channel is set as a double lane, which can improve the transfer efficiency, and can also serve as emergency lanes for each other. Of course, it is technically feasible to set it as a single lane.

[0084] The AGV and tire trailer are grouped in a tire type, which is not as stable as the track type. The following analysis is conducted from the two aspects of positioning and navigation system and vehicle grouping technical solution, and the following countermeasures are proposed.

[0085] (1) Positioning and navigation system.

[0086] The advantages and disadvantages of the mainstream positioning and navigation systems of current unmanned container trucks are compared and analyzed based on the characteristics of the systems, as shown in Table 1.

[0087] Table 1 Analysis of the characteristics of the current positioning and navigation systems of unmanned container trucks

[0088]

[0089] Taking into account the characteristics of the magnetic field positioning system and the visual perception navigation system, the solution provided in this embodiment considers selecting appropriate positioning and navigation technologies according to specific application scenarios and requirements, and combining and configuring them to achieve safe and stable driving of the vehicle.

[0090] (2) Technical plan for vehicle assembly.

[0091] 1) Vehicle configuration: The front and rear vehicles have power and steering functions, while the middle trailer has no power and can only travel in a straight line.

[0092] 2) Positioning and navigation device: Positioning and navigation devices are installed on the marshaling vehicles to detect the vehicle position and route deviation in real time.

[0093] 3) Real-time route detection: The sensing device detects the positioning signal to determine the deviation of the vehicle centerline from the established route.

[0094] 4) Automatic adjustment function: The real-time communication system ensures information synchronization and coordinated actions between the leading and trailing vehicles. Once a vehicle deviates from the established route, the system will adjust the vehicle position synchronously through the power and steering functions of the leading and trailing vehicles to achieve route return. If the ground is uneven while the vehicle is driving, it may cause the vehicle to deviate, and the road surface needs to be leveled in time.

[0095] Through the above implementation plan, a technical solution for the marshaling of AGVs and tire trailers is proposed. Through vehicle configuration, real-time route detection and automatic adjustment functions, the driving stability and safety of the marshaled vehicles can be ensured, which can effectively improve the stability and safety of vehicle driving.

[0096] In addition, this embodiment also provides another transfer vehicle marshaling scheme - an elevated transfer channel scheme. Based on the above two schemes (including the CRGV and container flat car marshaling scheme, and the AGV and tire trailer marshaling scheme), this scheme sets the transfer channel as an elevated bridge, so that the container trucks traveling on the ground will not be subject to the traffic control constraints of the previous two schemes. When the fixed yard crane completes loading and unloading, it can immediately leave the yard area, further shortening the time the container trucks are on site. There are many forms of locomotive marshaling used on the upper part of the elevated channel.

[0097] The number of equipment and facility configurations provided in this embodiment can be obtained by establishing a computer system simulation model for calculation.

[0098] It should also be noted that, in the scheme provided in this embodiment, the operating capacity of the unit transfer vehicle formation of each scheme can be adjusted by changing the number of vehicles in the unit formation or loading multi-layer containers on a single vehicle to adjust the total container capacity of the unit formation, and can also be adjusted by adjusting the number of unpowered vehicles and powered vehicles in the formation to adjust the overall acceleration and driving speed of the formation. Because the driving of the transfer formation vehicles does not interfere with the container trucks and there is no speed limit requirement, the transfer efficiency of the formation can be further adjusted, with high flexibility, thereby reducing energy consumption.

[0099] Compared with the solution of setting up a transfer area in the automated container transfer station in the related art, the solution provided in this embodiment has the following advantages: the external container truck does not need to reverse in the transfer area and can quickly enter and exit the port; the transfer vehicle group can transport multiple containers at a time, the yard crane only needs to wait at the designated location, and the yard crane does not need to travel long distances, and the overall energy consumption is low and the efficiency is high. The non-cantilever RMG is arranged in the container area, and there is no need to arrange internal and external container truck roads. It is precisely controlled by the navigation and positioning system, without the influence of line of sight and turning radius, and the yard crane, container space and transfer track can be arranged closely, and the effective area of ​​the container space in the yard area accounts for a high proportion.

[0100] In the embodiment of the present invention, from a global perspective, although the traffic organization in the transfer area changes the reverse mode of the container trucks in the transfer area of ​​the automated container terminal to the forward turning mode, this change reduces the time the container trucks are on site, but it increases the road area accordingly, thereby compressing the space available for stacking containers. Therefore, in the actual design process, the decision-making end needs to comprehensively consider various factors, weigh efficiency and container stacking area, and make reasonable decisions.

[0101] In the embodiment of the present invention, the unmanned automation feature makes it an ideal choice for handling dangerous goods container yards, which can not only improve the safety and efficiency of operations, but also reduce long-term operating costs, mainly reflected in: 1. Improve safety. There are high safety risks in the storage and handling of dangerous goods containers, including flammable, explosive, toxic and other characteristics. These characteristics require strict compliance with safety regulations during the handling process. The technical solution provided by this embodiment, the unmanned automation solution can reduce the chance of personnel contacting dangerous goods and reduce the risk of accidents, thereby greatly improving the safety level of the entire yard. 2. Improve emergency handling efficiency, and be able to achieve 24-hour uninterrupted operation, which is particularly important for the handling of dangerous goods containers that require rapid response. It can ensure that even in an emergency, the transfer and storage of goods can be completed quickly and efficiently, significantly improving the overall operation efficiency. 3. Reduce human errors. Human operation errors are an important factor causing accidents. Especially when handling dangerous goods, through preset programs and precise control, it can greatly reduce errors caused by improper human operation and improve the accuracy of handling operations. 4. Strong environmental adaptability. Dangerous goods container yards often need to operate in special environments, such as open-air sites that are easily affected by weather or closed spaces that require special protection. This embodiment can be flexibly adjusted according to different environmental conditions to ensure stable operation in various environments. By reducing the possibility of accidents and avoiding high compensation and repair costs, the overall operating cost can be reduced throughout the life cycle of the system.

[0102] The present invention solves the technical problem of improving the transportation efficiency and safety of the automated yard of a container highway transfer station by means of system design and technical optimization, compared with the drawbacks existing in the related technologies.

[0103] The following is a detailed description in conjunction with another embodiment.

[0104] Embodiment 2

[0105] A yard control device for a container transfer station provided in this embodiment includes a plurality of implementation units, each of which corresponds to each implementation step in the above-mentioned first embodiment.

[0106] According to another aspect of an embodiment of the present invention, a yard control device of a container transfer station is provided, which is applied to a transfer system, and the transfer system is connected to the yard area and the transfer area respectively.

[0107] Figure 6 is a schematic diagram of an optional container yard control device for a container transfer station according to an embodiment of the present invention, such as Figure 6 As shown, the yard control device of the container transfer station may include: an instruction receiving unit 61, a container truck unloading unit 62, a yard bridge operation unit 63, and a marshaling return unit 64.

[0108] Among them, the instruction receiving unit 61 is used to receive the external container truck operation instruction and send the transfer queuing instruction to the external container truck to be operated. The external container truck operation instruction is used for the external container truck to be operated to prepare to enter the gate of the container transfer station, and the transfer queuing instruction is used to control the external container truck to be operated to travel to the idle transfer sub-area of ​​the transfer area to queue.

[0109] The container truck unloading unit 62 is used to place each external container truck to be operated in the loading and unloading parking space under the fixed yard crane according to the transfer queue, and the fixed yard crane unloads the container from the external container truck to be operated and loads it onto the container rail-guided vehicle CRGV train.

[0110] The yard crane operation unit 63 is used to control the CRGV marshaling train to depart and drive to the designated container position in the yard area when it detects that the marshaling train in any transfer sub-area has completed loading, and control the mobile yard crane to drive to the designated container position, and the mobile yard crane completes the loading and unloading operations in all vehicles in the CRGV marshaling train.

[0111] The marshaling return unit 64 is used to send a return instruction to the CRGV marshaling train after detecting that the loading and unloading operations of the CRGV marshaling train are completed, wherein the return instruction is used to drive the empty CRGV marshaling train back to the transfer area.

[0112] The yard control device of the container transfer station can receive the external container truck operation instruction through the instruction receiving unit 61, and send the transfer queue instruction to the external container truck to be operated. The external container truck operation instruction is used for the external container truck to be operated to prepare to enter the gate of the container transfer station. The transfer queue instruction is used to control the external container truck to be operated to queue in the idle transfer sub-area of ​​the transfer area. Through the container truck unloading unit 62, each external container truck to be operated is positioned at the loading and unloading parking space under the fixed yard bridge according to the transfer queue queue, and the fixed yard bridge unloads the container from the external container truck to be operated and loads it into the container rail carrier. On the guided vehicle CRGV train, when the yard bridge operation unit 63 detects that the train in any transfer sub-area has completed loading, the CRGV train is controlled to start and drive into the designated container position in the yard area, and the mobile yard bridge is controlled to drive to the designated container position. The mobile yard bridge completes the loading and unloading operations in all vehicles in the CRGV train. After detecting that the loading and unloading operations of the CRGV train are completed, the marshaling return unit 64 sends a return instruction to the CRGV train, where the return instruction is used to drive the empty CRGV train back to the transfer area. In this embodiment, container trucks do not need to go deep into the storage yard. A yard crane can be used to directly unload containers carried on the container trucks onto a marshalling train, and rail transportation can be used to complete the transfer of containers. Under the premise of ensuring safety, the vehicle speed can be further increased, and horizontal transportation between the transfer area and the storage yard can be undertaken, which can replace the long-distance horizontal transportation of the yard by the yard crane and container trucks, improve operating efficiency and speed, and thus solve the technical problem in the related technology that container highway transfer stations require container trucks to go deep into the storage yard, stay in the yard for a long time, and have low operating efficiency.

[0113] Optionally, the yard control device of the container transshipment station also includes: a container truck release unit, which is used to control the CRGV marshaling train to depart and drive into the designated container position in the yard area, and after detecting that the CRGV marshaling train has left the transfer sub-area and completely entered the yard area, release the foreign container trucks that have completed loading and unloading in multiple batches at gate intervals.

[0114] Optionally, the yard control device of the container transshipment station also includes: a detection unit, which is used to detect whether all the external container trucks that have completed loading and unloading have left the transfer sub-area after sending a return instruction to the CRGV marshaling train; a control unit, which is used to intercept the external container trucks to be operated from entering the transfer area through gates and signal lights when it is detected that all the external container trucks that have completed loading and unloading have left the transfer sub-area, and control all CRGV marshaling trains to leave the yard area and return to their respective transfer sub-areas.

[0115] Optionally, the transfer area includes: F transfer sub-areas and a one-way entry and exit road, and horizontal transportation is carried out with the yard area through transfer channels and CRGV marshaling trains, wherein the transfer area is isolated from the outside area by arranging an isolation fence, and F is a positive integer greater than 1.

[0116] Optionally, each transfer sub-area is arranged with a fixed yard bridge on one side of the yard area, the CRGV marshaling train is set in the middle position under the fixed yard bridge, and the container truck loading and unloading positions are set on both sides of the fixed yard bridge.

[0117] Optionally, the transfer channel is a rail-type transfer channel, or the transfer channel is configured as an elevated bridge.

[0118] Optionally, the CRGV train is composed of head and tail powered locomotives and a middle unpowered flat car, and the CRGV train is positioned and navigated through a visual perception system.

[0119] Optionally, a double lane is set up in the transfer sub-area and the yard area to accommodate the simultaneous operation of two CRGV marshaling trains.

[0120] The yard control device of the above-mentioned container transshipment station may also include a processor and a memory. The above-mentioned instruction receiving unit 61, container truck unloading unit 62, yard bridge operation unit 63, marshaling return unit 64, etc. are all stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to realize the corresponding functions.

[0121] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be provided, and the container transfer operation in the highway transfer station can be completed by adjusting the kernel parameters.

[0122] The above-mentioned memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash memory (fl ash RAM), and the memory includes at least one storage chip.

[0123] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is further provided, the computer-readable storage medium including a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the container transfer station yard control method of any one of the above-mentioned embodiments one.

[0124] According to another aspect of an embodiment of the present invention, there is also provided an electronic device, comprising one or more processors and a memory, wherein the memory is used to store one or more programs, wherein when the one or more programs are executed by one or more processors, the one or more processors implement the yard control method of the container transshipment station of any one of the above-mentioned embodiments one.

[0125] The present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the container transfer station yard control method described in each embodiment of the present application.

[0126] The present application also provides a computer program product, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the container transfer station yard control method described in each embodiment of the present application are implemented.

[0127] Figure 7 1 is a hardware structure block diagram of an electronic device (or mobile device) for a container transfer station yard control method according to an embodiment of the present invention. Figure 7 As shown, the electronic device may include one or more ( Figure 7 , 702a, 702b, ..., 702n are used to illustrate) a processor (the processor may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 704 for storing data. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the I / O interface), a network interface, a keyboard, a power supply and / or a camera. A person skilled in the art can understand that Figure 7 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 7 More or fewer components as shown, or with Figure 7 Different configurations are shown.

[0128] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0129] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0130] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0131] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0132] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0133] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0134] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A container yard control method for a container transfer station, characterized in that: Applied to the transfer system, the transfer system is connected to the yard area and the transfer area respectively, including: Receive an external container truck operation instruction, and send a transfer queuing instruction to the external container truck to be operated, wherein the external container truck operation instruction is used for the external container truck to be operated to prepare to enter the gate of the container transfer station, and the transfer queuing instruction is used to control the external container truck to be operated to travel to the idle transfer sub-area of ​​the transfer area to queue; According to the transfer queue, each truck to be operated is positioned at the loading and unloading parking space under the fixed yard crane, and the fixed yard crane unloads the container from the truck to be operated and loads it onto the container rail guided vehicle CRGV train; When it is detected that the marshaling train in any transfer sub-area has completed loading, the CRGV marshaling train is controlled to start and drive to the designated container position in the yard area, and the mobile yard crane is controlled to drive to the designated container position, and the mobile yard crane completes the loading and unloading operations in all vehicles in the CRGV marshaling train; After detecting that the loading and unloading operation of the CRGV train set is completed, a return instruction is sent to the CRGV train set, wherein the return instruction is used to drive the empty CRGV train set back to the transfer area.

2. The storage yard control method according to claim 1, characterized in that: After controlling the departure of the CRGV marshaling train and driving it into the designated container position in the yard area, it also includes: After detecting that the CRGV marshaling train leaves the transfer sub-area and completely enters the yard area, the foreign container trucks that have completed loading and unloading are released at intervals in multiple batches of gates.

3. The storage yard control method according to claim 1, characterized in that: After sending a return instruction to the CRGV marshaling train, the method further includes: Check whether all the external container trucks that have completed loading and unloading have left the transfer sub-area; When it is detected that all the external container trucks that have completed loading and unloading have left the transfer sub-area, the external container trucks waiting for operation are intercepted from entering the transfer area through gates and signal lights, and all the CRGV marshaling trains are controlled to leave the yard area and return to their respective transfer sub-areas.

4. The storage yard control method according to claim 1, characterized in that: The transfer area includes: F transfer sub-areas and one-way access roads are used for horizontal transportation with the yard area through transfer channels and CRGV train sets, wherein the transfer area is isolated from the outside area by arranging an isolation fence, and F is a positive integer greater than 1.

5. The storage yard control method according to claim 4, characterized in that: Each of the transfer sub-areas is provided with the fixed yard bridge on one side of the yard area, the CRGV marshaling train is arranged at the middle position under the fixed yard bridge, and the container truck loading and unloading positions are arranged at the two side positions under the fixed yard bridge.

6. The storage yard control method according to claim 4, characterized in that: The transfer channel is a rail-type transfer channel, or the transfer channel is configured as an elevated bridge.

7. The storage yard control method according to any one of claims 1 to 6, characterized in that: The CRGV train is composed of head and tail powered locomotives and a middle unpowered flat car, and the CRGV train is positioned and navigated by a visual perception system.

8. The storage yard control method according to claim 1, characterized in that: A double lane is set in the transfer sub-area and the yard area to meet the needs of simultaneous operation of two CRGV marshaling trains.

9. A yard control device for a container transfer station, characterized in that: Applied to the transfer system, the transfer system is connected to the yard area and the transfer area respectively, including: An instruction receiving unit is used to receive an external container truck operation instruction and send a transfer queuing instruction to the external container truck to be operated, wherein the external container truck operation instruction is used for the external container truck to be operated to prepare to enter the gate of the container transfer station, and the transfer queuing instruction is used to control the external container truck to be operated to travel to an idle transfer sub-area of ​​the transfer area to queue; The container truck unloading unit is used to place each container truck to be operated in the loading and unloading parking space under the fixed yard bridge according to the transfer queue, and the fixed yard bridge unloads the container from the container truck to be operated and loads it onto the container rail guided vehicle CRGV train; The yard crane operation unit is used to control the departure of the CRGV marshaling train and drive it to the designated container position in the yard area when detecting that the marshaling train in any transfer sub-area has completed loading, and control the mobile yard crane to drive to the designated container position, and the mobile yard crane completes the loading and unloading operations of all vehicles in the CRGV marshaling train; The marshaling return unit is used to send a return instruction to the CRGV marshaling train after detecting that the loading and unloading operations of the CRGV marshaling train are completed, wherein the return instruction is used to drive the empty CRGV marshaling train back to the transfer area.

10. An electronic device, characterized in that: It includes one or more processors and a memory, wherein the memory is used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the yard control method of the container transshipment station as described in any one of claims 1 to 7.

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