Unmanned intelligent storage scheduling monitoring system and method for railway port freight yard

Abstract

The invention relates to the technical field of warehouse scheduling, and discloses an unmanned intelligent warehouse scheduling monitoring system and method for a railway port freight yard, and the system comprises the steps: constructing a three-dimensional warehouse model through a comprehensive monitoring module, and displaying the dynamic operation information in the three-dimensional warehouse model in real time; the operation scheduling module reads shelf information and container basic information of storage containers, generates storage position information according to the shelf information and the container basic information, and generates equipment working information according to the storage position information and the equipment information; generating an equipment operation path through an equipment control module according to the equipment working information and the equipment operation information; storing and scheduling storage containers in the goods yard warehouse according to the equipment operation path by utilizing equipment in the goods yard warehouse, and generating equipment operation information in real time during storage and scheduling; according to the invention, the problems of large workload and low efficiency in dispatching and monitoring of the existing railway port freight yard storage are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of warehouse scheduling, and in particular to an unmanned intelligent warehousing scheduling monitoring system and method for a railway port freight yard. Background Art

[0002] With the continuous deepening of domestic digital construction, the railway industry's demand for efficient digital management is growing, and the warehousing scene has entered a more advanced era of digital transformation. As the core pillar of Industry 4.0, smart warehousing is an indispensable key link in the modern logistics system. The current traditional warehousing management model still faces many pain points and challenges in practice.

[0003] Railway freight yard warehousing is highly dependent on manual labor and inefficient: Traditional warehousing management relies heavily on manual operations. From inventory records, order processing to cargo picking and inventory, a lot of manual intervention is required. This not only leads to low operational efficiency, but also easily causes errors due to human factors, increasing management costs and time costs.

[0004] Railway freight yard storage inventory data is opaque and inaccurate: Due to the lack of automated and intelligent information systems and intelligent and automated loading and unloading equipment support, it is a common situation that inventory data cannot be updated in real time and loading and unloading efficiency is low, and accuracy is difficult to guarantee.

[0005] Unreasonable management of storage space and resources in railway freight yards: In terms of planning and management, the warehouse does not fully consider the characteristics of materials, storage requirements, and reasonable planning of goods storage and inflow, resulting in unreasonable planning and utilization of warehouse shelves and cargo spaces, chaotic placement of materials, and increased storage costs and management difficulties. At the same time, the wide variety of materials also increases the complexity of management.

[0006] Railway freight yards have slow warehousing response speed and lack of real-time monitoring: Faced with the automated operation of loading and unloading equipment and automated shelves in warehouses, there is a lack of real-time monitoring methods to ensure the safety and reasonable positioning of cargo loading and unloading, as well as consistency verification of the allocation of cargo space and the planned situation, which further affects the operational efficiency of railway freight yards.

[0007] In the railway freight yard storage, unmanned forklifts, AGVs, stacking robots, rail inspection robots, shared pallets and other on-site equipment are not uniformly dispatched and controlled, and no closed loop is formed in the system with the actual on-site operation situation. The staff needs to frequently operate to feedback the actual on-site operation information. When the accumulated error is large, manual full-site inspection is required to readjust the system data. It can be seen that the existing railway port freight yard storage has the problems of heavy workload and low efficiency in dispatching and monitoring. Summary of the invention

[0008] The present invention provides an unmanned intelligent warehousing dispatching and monitoring system and method for a railway port freight yard, so as to solve the problems of heavy workload and low efficiency in dispatching and monitoring of existing railway port freight yard warehousing.

[0009] In order to achieve the above object, the present invention is implemented by the following technical solutions: In a first aspect, the present invention provides an unmanned intelligent warehousing dispatching and monitoring system for a railway port freight yard, the system comprising: A comprehensive monitoring module, which is used to construct a three-dimensional warehouse model, and is also used to generate dynamic operation information according to the storage information of the freight yard warehouse and the equipment operation information, and to display the dynamic operation information in real time in the three-dimensional warehouse model; Wherein, the three-dimensional warehouse model includes shelf information of the cargo yard warehouse and equipment information of the cargo yard warehouse equipment; A job scheduling module, used to read the shelf information and the basic information of the storage box in the three-dimensional warehouse model, and generate storage location information according to the shelf information and the basic information of the box, and also used to read the equipment information in the three-dimensional warehouse model, and generate equipment working information according to the storage location information and the equipment information, and send the equipment working information to the equipment control module; An equipment control module, used for generating an equipment operation path according to the equipment working information and the equipment operation information, and sending the equipment operation path to the equipment in the cargo yard warehouse; The equipment in the freight yard warehouse is used to store and dispatch the storage containers in the freight yard warehouse according to the equipment operation path, and is also used to generate equipment operation information in real time during the storage and dispatch work, and send the equipment operation information to the comprehensive monitoring module; Among them, the equipment in the cargo yard warehouse includes: AGV guided vehicles, unmanned forklifts, palletizing robots and rail inspection robots; The data analysis module is used to read the freight yard warehouse storage information in the comprehensive monitoring module and the equipment operation path information in the equipment control module, generate and update the freight yard warehouse storage information according to the freight yard warehouse storage information and the equipment operation path information, and send the updated freight yard warehouse storage information to the comprehensive monitoring module.

[0010] Optionally, the data analysis module includes: a video acquisition submodule, a data acquisition submodule and a data analysis submodule; The video acquisition submodule is a camera covering the entire cargo yard warehouse, which is used to acquire images of all shelves in the cargo yard warehouse; The data acquisition submodule is used to acquire the three-dimensional warehouse model in the comprehensive monitoring module, and extract the storage information of the cargo yard warehouse from the three-dimensional warehouse model, and is also used to acquire the equipment operation path in the equipment control module, and is also used to acquire the shelf usage information from all shelf images; The shelf usage information includes shelf occupancy information of shelves on which cargo boxes are placed and shelf unoccupied information of shelves on which cargo boxes are not placed; The data analysis submodule is used to generate shelf occupancy information according to the shelf corresponding to the end point of the running path in the equipment running path, and is also used to generate and update the warehouse storage information of the cargo yard according to the shelf usage information and the shelf occupancy information; Among them, the shelf to be occupied information indicates that there is no cargo box placed on the current shelf, but the equipment in the cargo yard warehouse is transporting cargo boxes to the current shelf according to the equipment operation path.

[0011] Optionally, the comprehensive monitoring module includes: a model building processing submodule, a freight yard warehouse monitoring submodule and an equipment monitoring submodule; The model building processing submodule is used to build a three-dimensional warehouse model, and is also used to generate dynamic operation information according to the warehouse storage information and equipment operation information of the freight yard, and display the dynamic operation information in real time in the three-dimensional warehouse model; The freight yard warehouse monitoring submodule is used to obtain the freight yard warehouse storage information updated by the data analysis module, and send the updated freight yard warehouse storage information to the model building processing submodule; The equipment monitoring submodule is used to obtain equipment operation information generated by equipment in the freight yard warehouse, and send the equipment operation information to the model building processing submodule, and is also used to monitor the operation status of the equipment in the freight yard warehouse according to the equipment operation information, and generate alarm information for equipment with abnormal operation status, and send the alarm information to the model building processing submodule; The model building processing submodule is also used to locate equipment with abnormal operating conditions in the three-dimensional warehouse model according to the alarm information.

[0012] Optionally, the job scheduling module includes: an information processing submodule, a graphical display submodule, and a handheld terminal; The information processing submodule is used to read the shelf information and the basic information of the storage box in the three-dimensional warehouse model, and generate storage location information according to the shelf information and the basic information of the box, and is also used to read the equipment information in the three-dimensional warehouse model, and generate equipment working information according to the storage location information and the equipment information, and send the equipment working information to the equipment control module; The graphic display submodule is used to generate corresponding graphic information according to the device working information, and send the graphic information to the handheld terminal; The handheld terminal is used to modify and delete the device working information according to the graphical information.

[0013] Optionally, the device control module includes: a path planning submodule and a device anti-collision submodule; The path planning submodule is used to generate a device operation path according to the device working information and the device operation information, and send the device operation path to the device in the cargo yard warehouse; The device anti-collision submodule is used to determine whether there is a path intersection based on the device running path, and when there is a path intersection, obtain the device position and the device running speed on the intersecting path, and determine whether the device collides based on the running speed and the device position. When the device is about to collide, stop the operation of one of the devices in the intersecting path, and start the stopped device after the other device in the intersecting path completes the task.

[0014] In a second aspect, an embodiment of the present application provides an unmanned intelligent warehousing scheduling monitoring method for a railway port freight yard, the method comprising: A three-dimensional warehouse model is constructed through a comprehensive monitoring module, and dynamic operation information is generated according to the storage information of the freight yard warehouse and the equipment operation information, and the dynamic operation information is displayed in real time in the three-dimensional warehouse model; Wherein, the three-dimensional warehouse model includes shelf information of the cargo yard warehouse and equipment information of the cargo yard warehouse equipment; The job scheduling module reads the shelf information and the basic information of the storage boxes in the three-dimensional warehouse model, generates storage location information according to the shelf information and the basic information of the boxes, and reads the equipment information in the three-dimensional warehouse model at the same time, and generates equipment working information according to the storage location information and the equipment information; Generate a device operation path according to the device working information and the device operation information by a device control module; Using the equipment in the freight yard warehouse to store and dispatch the storage containers in the freight yard warehouse according to the equipment operation path, and generating equipment operation information in real time during the storage and dispatching work; Among them, the equipment in the cargo yard warehouse includes: AGV guided vehicles, unmanned forklifts, palletizing robots and rail inspection robots; The cargo yard warehouse storage information in the comprehensive monitoring module and the equipment operation path information in the equipment control module are read through the data analysis module, and the cargo yard warehouse storage information is generated and updated according to the cargo yard warehouse storage information and the equipment operation path information.

[0015] Beneficial effects: The unmanned intelligent warehousing dispatching and monitoring system for the railway port freight yard provided by the present invention constructs a three-dimensional warehouse model through a comprehensive monitoring module, generates dynamic operation information according to the warehousing information of the freight yard warehouse and the equipment operation information, and displays the dynamic operation information in real time in the three-dimensional warehouse model. The three-dimensional warehouse model is used to reflect the storage conditions and equipment working conditions in the freight yard warehouse in real time, so that the storage environment is clear at a glance.

[0016] At the same time, the job scheduling module reads the shelf information and the basic information of the storage boxes in the three-dimensional warehouse model, and generates the storage location information according to the shelf information and the basic information of the boxes, reads the equipment information in the three-dimensional warehouse model, and generates the equipment working information according to the storage location information and the equipment information; generates the equipment running path according to the equipment working information and the equipment running information through the equipment control module; uses the equipment in the cargo yard warehouse to store and schedule the storage boxes in the cargo yard warehouse according to the equipment running path, and generates the equipment running information in real time during the storage and scheduling work; reads the cargo yard warehouse storage information in the comprehensive monitoring module and the equipment running path information in the equipment control module through the data analysis module, generates and updates the cargo yard warehouse storage information according to the cargo yard warehouse storage information and the equipment running path information, so that the entire storage process is fully automated and unmanned, and does not require too much manpower to manage the storage environment. The fully automated process improves storage efficiency and greatly reduces the workload of staff. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a structural schematic diagram of an unmanned intelligent warehousing dispatching and monitoring system for a railway port freight yard according to a preferred embodiment of the present invention; Figure 2 This is a flow chart of the unmanned intelligent warehousing scheduling and monitoring method for railway port freight yard according to the preferred embodiment of the present invention. DETAILED DESCRIPTION

[0018] The technical solution of the present invention is described clearly and completely below. Obviously, the described embodiments are only a 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 are within the scope of protection of the present invention.

[0019] Unless otherwise defined, the technical terms or scientific terms used in the present invention shall have the usual meanings understood by persons with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one" or "one" do not indicate quantity restrictions, but indicate the existence of at least one. Words such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship also changes accordingly.

[0020] See also Figure 1 The embodiment of the present application provides an unmanned intelligent warehousing dispatching and monitoring system for a railway port freight yard, the system comprising: A comprehensive monitoring module, which is used to construct a three-dimensional warehouse model, and is also used to generate dynamic operation information according to the storage information of the freight yard warehouse and the equipment operation information, and to display the dynamic operation information in real time in the three-dimensional warehouse model; Wherein, the three-dimensional warehouse model includes shelf information of the cargo yard warehouse and equipment information of the cargo yard warehouse equipment; A job scheduling module, used to read the shelf information and the basic information of the storage box in the three-dimensional warehouse model, and generate storage location information according to the shelf information and the basic information of the box, and also used to read the equipment information in the three-dimensional warehouse model, and generate equipment working information according to the storage location information and the equipment information, and send the equipment working information to the equipment control module; An equipment control module, used for generating an equipment operation path according to the equipment working information and the equipment operation information, and sending the equipment operation path to the equipment in the cargo yard warehouse; The equipment in the freight yard warehouse is used to store and dispatch the storage containers in the freight yard warehouse according to the equipment operation path, and is also used to generate equipment operation information in real time during the storage and dispatch work, and send the equipment operation information to the comprehensive monitoring module; Among them, the equipment in the cargo yard warehouse includes: AGV guided vehicles, unmanned forklifts, palletizing robots and rail inspection robots; The data analysis module is used to read the freight yard warehouse storage information in the comprehensive monitoring module and the equipment operation path information in the equipment control module, generate and update the freight yard warehouse storage information according to the freight yard warehouse storage information and the equipment operation path information, and send the updated freight yard warehouse storage information to the comprehensive monitoring module.

[0021] In the above embodiment, a three-dimensional warehouse model is constructed through a comprehensive monitoring module, and dynamic operation information is generated according to the storage information of the cargo yard warehouse and the equipment operation information. The dynamic operation information is displayed in real time in the three-dimensional warehouse model. The three-dimensional warehouse model is used to reflect the storage conditions and equipment working conditions in the cargo yard warehouse in real time, so that the storage environment is clear at a glance.

[0022] At the same time, the job scheduling module reads the shelf information and the basic information of the storage boxes in the three-dimensional warehouse model, and generates the storage location information according to the shelf information and the basic information of the boxes, reads the equipment information in the three-dimensional warehouse model, and generates the equipment working information according to the storage location information and the equipment information; generates the equipment running path according to the equipment working information and the equipment running information through the equipment control module; uses the equipment in the cargo yard warehouse to store and schedule the storage boxes in the cargo yard warehouse according to the equipment running path, and generates the equipment running information in real time during the storage and scheduling work; reads the cargo yard warehouse storage information in the comprehensive monitoring module and the equipment running path information in the equipment control module through the data analysis module, generates and updates the cargo yard warehouse storage information according to the cargo yard warehouse storage information and the equipment running path information, so that the entire storage process is fully automated and unmanned, and does not require too much manpower to manage the storage environment. The fully automated process improves storage efficiency and greatly reduces the workload of staff.

[0023] Optionally, the data analysis module includes: a video acquisition submodule, a data acquisition submodule and a data analysis submodule; The video acquisition submodule is a camera covering the entire cargo yard warehouse, which is used to acquire images of all shelves in the cargo yard warehouse; The data acquisition submodule is used to acquire the three-dimensional warehouse model in the comprehensive monitoring module, and extract the storage information of the cargo yard warehouse from the three-dimensional warehouse model, and is also used to acquire the equipment operation path in the equipment control module, and is also used to acquire the shelf usage information from all shelf images; The shelf usage information includes shelf occupancy information of shelves on which cargo boxes are placed and shelf unoccupied information of shelves on which cargo boxes are not placed; The data analysis submodule is used to generate shelf occupancy information according to the shelf corresponding to the end point of the running path in the equipment running path, and is also used to generate and update the warehouse storage information of the cargo yard according to the shelf usage information and the shelf occupancy information; Among them, the shelf to be occupied information indicates that there is no cargo box placed on the current shelf, but the equipment in the cargo yard warehouse is transporting cargo boxes to the current shelf according to the equipment operation path.

[0024] In the above embodiment, the usage of the shelves in the cargo yard warehouse can be obtained in real time through the video acquisition submodule, so as to better help determine the usage of the shelves and locate the idle shelves according to the usage.

[0025] Optionally, the comprehensive monitoring module includes: a model building processing submodule, a freight yard warehouse monitoring submodule and an equipment monitoring submodule; The model building processing submodule is used to build a three-dimensional warehouse model, and is also used to generate dynamic operation information according to the warehouse storage information and equipment operation information of the freight yard, and display the dynamic operation information in real time in the three-dimensional warehouse model; The freight yard warehouse monitoring submodule is used to obtain the freight yard warehouse storage information updated by the data analysis module, and send the updated freight yard warehouse storage information to the model building processing submodule; The equipment monitoring submodule is used to obtain equipment operation information generated by equipment in the freight yard warehouse, and send the equipment operation information to the model building processing submodule, and is also used to monitor the operation status of the equipment in the freight yard warehouse according to the equipment operation information, and generate alarm information for equipment with abnormal operation status, and send the alarm information to the model building processing submodule; The model building processing submodule is also used to locate equipment with abnormal operating conditions in the three-dimensional warehouse model according to the alarm information.

[0026] Optionally, the job scheduling module includes: an information processing submodule, a graphical display submodule, and a handheld terminal; The information processing submodule is used to read the shelf information and the basic information of the storage box in the three-dimensional warehouse model, and generate storage location information according to the shelf information and the basic information of the box, and is also used to read the equipment information in the three-dimensional warehouse model, and generate equipment working information according to the storage location information and the equipment information, and send the equipment working information to the equipment control module; The graphic display submodule is used to generate corresponding graphic information according to the device working information, and send the graphic information to the handheld terminal; The handheld terminal is used to modify and delete the device working information according to the graphical information.

[0027] In the above embodiment, a modifiable window is provided for the equipment operation scheduling task through the graphical display submodule and the handheld terminal. Generating the equipment working information into corresponding graphical information can more intuitively understand the equipment's working task and further facilitate the modification of the task.

[0028] Optionally, the device control module includes: a path planning submodule and a device anti-collision submodule; The path planning submodule is used to generate a device operation path according to the device working information and the device operation information, and send the device operation path to the device in the cargo yard warehouse; The device anti-collision submodule is used to determine whether there is a path intersection based on the device running path, and when there is a path intersection, obtain the device position and the device running speed on the intersecting path, and determine whether the device collides based on the running speed and the device position. When the device is about to collide, stop the operation of one of the devices in the intersecting path, and start the stopped device after the other device in the intersecting path completes the task.

[0029] In the above embodiment, the path planning submodule can make an overall plan for the operation path of the equipment, find the fastest moving path between the equipment and the destination shelf, and at the same time, determine a safe path based on the paths of other working equipment to avoid collisions between equipment during operation.

[0030] When there are many devices working at the same time, the planned path will inevitably intersect with the working paths of other devices. At this time, the device anti-collision submodule can be used to warn of collisions. By obtaining the device position and the device's operating speed, it can be determined whether a collision will occur between devices at the current operating speed. When a collision occurs, a timely response is made to stop one of the devices, and the stopped device is started after the other device completes its work and exits the intersecting path, thus avoiding collision problems when the devices are working and improving the safety of the equipment's operation.

[0031] See also Figure 2 The embodiment of the present application also provides an unmanned intelligent warehousing dispatching and monitoring method for a railway port freight yard, the method comprising: A three-dimensional warehouse model is constructed through a comprehensive monitoring module, and dynamic operation information is generated according to the storage information of the freight yard warehouse and the equipment operation information, and the dynamic operation information is displayed in real time in the three-dimensional warehouse model; Wherein, the three-dimensional warehouse model includes shelf information of the cargo yard warehouse and equipment information of the cargo yard warehouse equipment; The job scheduling module reads the shelf information and the basic information of the storage boxes in the three-dimensional warehouse model, generates storage location information according to the shelf information and the basic information of the boxes, and reads the equipment information in the three-dimensional warehouse model at the same time, and generates equipment working information according to the storage location information and the equipment information; Generate a device operation path according to the device working information and the device operation information by a device control module; Using the equipment in the freight yard warehouse to store and dispatch the storage containers in the freight yard warehouse according to the equipment operation path, and generating equipment operation information in real time during the storage and dispatching work; Among them, the equipment in the cargo yard warehouse includes: AGV guided vehicles, unmanned forklifts, palletizing robots and rail inspection robots; The cargo yard warehouse storage information in the comprehensive monitoring module and the equipment operation path information in the equipment control module are read through the data analysis module, and the cargo yard warehouse storage information is generated and updated according to the cargo yard warehouse storage information and the equipment operation path information.

[0032] The preferred specific embodiments of the present invention are described in detail above. It should be understood that a person skilled in the art can make many modifications and changes based on the concept of the present invention without creative work. Therefore, any technical solution that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the concept of the present invention on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. An unmanned intelligent warehousing dispatching monitoring system for railway port freight yard, characterized in that: The system comprises: A comprehensive monitoring module, which is used to construct a three-dimensional warehouse model, and is also used to generate dynamic operation information according to the storage information of the freight yard warehouse and the equipment operation information, and to display the dynamic operation information in real time in the three-dimensional warehouse model; Wherein, the three-dimensional warehouse model includes shelf information of the cargo yard warehouse and equipment information of the cargo yard warehouse equipment; A job scheduling module, used to read the shelf information and the basic information of the storage box in the three-dimensional warehouse model, and generate storage location information according to the shelf information and the basic information of the box, and also used to read the equipment information in the three-dimensional warehouse model, and generate equipment working information according to the storage location information and the equipment information, and send the equipment working information to the equipment control module; An equipment control module, used for generating an equipment operation path according to the equipment working information and the equipment operation information, and sending the equipment operation path to the equipment in the cargo yard warehouse; The equipment in the freight yard warehouse is used to store and dispatch the storage containers in the freight yard warehouse according to the equipment operation path, and is also used to generate equipment operation information in real time during the storage and dispatch work, and send the equipment operation information to the comprehensive monitoring module; Among them, the equipment in the cargo yard warehouse includes: AGV guided vehicles, unmanned forklifts, palletizing robots and rail inspection robots; The data analysis module is used to read the freight yard warehouse storage information in the comprehensive monitoring module and the equipment operation path information in the equipment control module, generate and update the freight yard warehouse storage information according to the freight yard warehouse storage information and the equipment operation path information, and send the updated freight yard warehouse storage information to the comprehensive monitoring module.

2. The unmanned intelligent warehousing dispatching monitoring system for railway port freight yard according to claim 1 is characterized in that: The data analysis module includes: a video acquisition submodule, a data acquisition submodule and a data analysis submodule; The video acquisition submodule is a camera covering the entire cargo yard warehouse, which is used to acquire images of all shelves in the cargo yard warehouse; The data acquisition submodule is used to acquire the three-dimensional warehouse model in the comprehensive monitoring module, and extract the storage information of the cargo yard warehouse from the three-dimensional warehouse model, and is also used to acquire the equipment operation path in the equipment control module, and is also used to acquire the shelf usage information from all shelf images; The shelf usage information includes shelf occupancy information of shelves on which cargo boxes are placed and shelf unoccupied information of shelves on which cargo boxes are not placed; The data analysis submodule is used to generate shelf occupancy information according to the shelf corresponding to the end point of the running path in the equipment running path, and is also used to generate and update the warehouse storage information of the cargo yard according to the shelf usage information and the shelf occupancy information; Among them, the shelf to be occupied information indicates that there is no cargo box placed on the current shelf, but the equipment in the cargo yard warehouse is transporting cargo boxes to the current shelf according to the equipment operation path.

3. The unmanned intelligent warehousing dispatching monitoring module for railway port freight yard according to claim 1 is characterized in that: The comprehensive monitoring module includes: a model building processing submodule, a freight yard warehouse monitoring submodule and an equipment monitoring submodule; The model building processing submodule is used to build a three-dimensional warehouse model, and is also used to generate dynamic operation information according to the warehouse storage information and equipment operation information of the freight yard, and display the dynamic operation information in real time in the three-dimensional warehouse model; The freight yard warehouse monitoring submodule is used to obtain the freight yard warehouse storage information updated by the data analysis module, and send the updated freight yard warehouse storage information to the model building processing submodule; The equipment monitoring submodule is used to obtain equipment operation information generated by equipment in the freight yard warehouse, and send the equipment operation information to the model building processing submodule, and is also used to monitor the operation status of the equipment in the freight yard warehouse according to the equipment operation information, and generate alarm information for equipment with abnormal operation status, and send the alarm information to the model building processing submodule; The model building processing submodule is also used to locate equipment with abnormal operating conditions in the three-dimensional warehouse model according to the alarm information.

4. The unmanned intelligent warehousing dispatching and monitoring system for railway port freight yard according to claim 1 is characterized in that: The job scheduling module includes: an information processing submodule, a graphical display submodule, and a handheld terminal; The information processing submodule is used to read the shelf information and the basic information of the storage box in the three-dimensional warehouse model, and generate storage location information according to the shelf information and the basic information of the box, and is also used to read the equipment information in the three-dimensional warehouse model, and generate equipment working information according to the storage location information and the equipment information, and send the equipment working information to the equipment control module; The graphic display submodule is used to generate corresponding graphic information according to the device working information, and send the graphic information to the handheld terminal; The handheld terminal is used to modify and delete the device working information according to the graphical information.

5. The unmanned intelligent warehousing dispatching monitoring system for railway port freight yard according to claim 1 is characterized in that: The equipment control module includes: a path planning submodule and an equipment anti-collision submodule; The path planning submodule is used to generate a device operation path according to the device working information and the device operation information, and send the device operation path to the device in the cargo yard warehouse; The device anti-collision submodule is used to determine whether there is a path intersection based on the device running path, and when there is a path intersection, obtain the device position and the device running speed on the intersecting path, and determine whether the device collides based on the running speed and the device position. When the device is about to collide, stop the operation of one of the devices in the intersecting path, and start the stopped device after the other device in the intersecting path completes the task.

6. A method for monitoring unmanned intelligent warehousing dispatching in a railway port freight yard, characterized in that: The method comprises: A three-dimensional warehouse model is constructed through a comprehensive monitoring module, and dynamic operation information is generated according to the storage information of the freight yard warehouse and the equipment operation information, and the dynamic operation information is displayed in real time in the three-dimensional warehouse model; Wherein, the three-dimensional warehouse model includes shelf information of the cargo yard warehouse and equipment information of the cargo yard warehouse equipment; The job scheduling module reads the shelf information and the basic information of the storage boxes in the three-dimensional warehouse model, generates storage location information according to the shelf information and the basic information of the boxes, and reads the equipment information in the three-dimensional warehouse model at the same time, and generates equipment working information according to the storage location information and the equipment information; Generate a device operation path according to the device working information and the device operation information by a device control module; Using the equipment in the freight yard warehouse to store and dispatch the storage containers in the freight yard warehouse according to the equipment operation path, and generating equipment operation information in real time during the storage and dispatching work; Among them, the equipment in the cargo yard warehouse includes: AGV guided vehicles, unmanned forklifts, palletizing robots and rail inspection robots; The cargo yard warehouse storage information in the comprehensive monitoring module and the equipment operation path information in the equipment control module are read through the data analysis module, and the cargo yard warehouse storage information is generated and updated according to the cargo yard warehouse storage information and the equipment operation path information.

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