Railway port freight yard container loading, unloading and transferring operation scheduling system and method

Abstract

The invention relates to the technical field of container scheduling, and discloses a railway port freight yard container loading and unloading transfer operation scheduling system and method, and the system comprises a comprehensive monitoring module which is used for displaying a container yard model and an equipment model in a freight yard plane graph according to the initial information in a freight yard, according to the container yard scheduling information and the equipment scheduling information, the working states of the container yard model and the equipment model in the goods yard plan are updated; the operation scheduling module is used for reading the working states of the container yard model and the equipment model in the comprehensive monitoring module, identifying the basic information of the container body of the container, and generating equipment scheduling information and container yard scheduling information according to the working states of the container yard model and the equipment model and the basic information of the container body; and the equipment control module is used for reading the equipment scheduling information in the operation scheduling module, determining an equipment position and a box field position according to the equipment scheduling information, and determining an equipment operation path according to the equipment position and the box field position.

Description

Technical Field

[0001] The present invention relates to the technical field of container dispatching, and in particular to a dispatching system and method for container loading, unloading and transshipment operations at a railway port freight yard. Background Art

[0002] Railway freight yards are important logistics operation nodes for the whole society, and their production and business scenarios are relatively complex, and the overall level of informatization construction is still not high. Facing the informatization needs of the actual production operations of railway freight yards, we will promote the construction of a digital integrated management and control system for freight yards and build an integrated information infrastructure for freight yards, which can optimize, adjust and strengthen the existing information infrastructure of freight yards, realize unified management of information infrastructure resources, and comprehensively strengthen the comprehensive perception, transmission, storage and computing capabilities of freight yard data; the integrated unmanned operation and dispatching system of railway port freight yards will comprehensively control the information such as equipment and operations in the freight yards, and enhance the dynamic control and dispatching and command capabilities of freight yard operations by strengthening the integration, sharing, comprehensive development and intelligent application of freight yard data resources, and build it into a "data brain" for freight yards. Summary of the invention

[0003] The present invention provides a railway port freight yard container loading and unloading transshipment operation scheduling system and method, so as to solve the problems of heavy workload and low efficiency in the existing railway port freight yard container loading and unloading transshipment operation scheduling.

[0004] 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 a railway port freight yard container loading and unloading and transshipment operation scheduling system, the system comprising: The integrated monitoring module is used to generate and display the freight yard plan, and is also used to display the container yard model and the equipment model in the freight yard plan according to the initial information in the freight yard, and to update the working status of the container yard model and the equipment model in the freight yard plan according to the container yard scheduling information and the equipment scheduling information; The initial information includes: container yard initial information and equipment initial information; The operation scheduling module is used to read the working status of the container yard model and the equipment model in the comprehensive monitoring module, and is also used to identify the basic information of the container body, and generate equipment scheduling information and container yard scheduling information according to the working status of the container yard model and the equipment model and the basic information of the container body; The equipment control module is used to read the equipment scheduling information in the operation scheduling module, and determine the equipment position and the container yard position according to the equipment scheduling information, and is also used to determine the equipment operation path according to the equipment position and the container yard position; The equipment in the cargo yard is used to read the equipment operation path in the equipment control module and perform lifting operations on the container according to the equipment operation path; Among them, the equipment in the freight yard includes: gantry crane and IGV guided vehicle.

[0005] Optionally, the system further includes: a current vehicle management module; The vehicle management module is used to obtain and display the basic information of the railway vehicles in the railway track of the freight yard; The basic information of the vehicle includes: vehicle model information, vehicle number information, deadweight information, length change information, load information, product name information, arrival station information, departure station information, freight ticket information and waybill information; The current vehicle management module is also used to read the shunting plan in the railway dispatching system and generate current vehicle status information according to the shunting plan; Among them, the current train status information includes: train stop information and train departure information.

[0006] Optionally, the system further includes: a job publishing module; The job publishing module is used to read the basic information and status information of the current vehicle in the current vehicle management module, and generate job information according to the basic information and status information of the current vehicle and send it to the job scheduling module; The operation scheduling module is also used to identify basic information of the container according to the operation information; Among them, the basic information of the container includes: location information, container number information, container type information, empty weight information, product name information and arrival information.

[0007] Optionally, the operation issuing module is used to generate box transfer operation information according to the train stop information in the current train status information, and send the box transfer operation information to the operation scheduling module; The operation scheduling module is used to identify the basic information of the container in the railway vehicle in the railway track of the freight yard according to the container transfer operation information, and when it is confirmed that the arrival information in the basic information of the container is the current railway port, the equipment scheduling information and the container yard scheduling information are generated according to the working status of the container yard model and the equipment model and the basic information of the container to lift the container to the container yard; The operation publishing module is also used to generate box transfer operation information according to the train departure information in the current train status information, and send the box transfer operation information to the operation scheduling module; The operation scheduling module is also used to identify the basic information of the container in the container yard model according to the container transfer operation information, and when it is confirmed that the arrival information in the basic information of the container matches the arrival information in the basic information of the railway vehicle in the railway track of the freight yard, the equipment scheduling information and the container yard scheduling information are generated according to the working status of the container yard model and the equipment model and the basic information of the container, and the container matching the arrival information is hoisted into the railway vehicle until the railway vehicle can no longer be shipped.

[0008] Optionally, the system further comprises: a data analysis module; The data analysis module is used to read the basic information of the container and the container yard scheduling information in the operation scheduling module and the container yard model in the comprehensive monitoring module, and query the location and status of the container according to the basic information of the container, the container yard scheduling information and the container yard model; It is also used to read the equipment scheduling information in the operation scheduling module and the equipment operation path in the equipment control module, and analyze the operation status of the equipment in the cargo yard according to the equipment scheduling information and the equipment operation path.

[0009] Optionally, the device control module includes: a path planning submodule and an instruction scheduling submodule; The path planning submodule is used to read the equipment scheduling information in the operation scheduling module, and determine the equipment position and the container yard position according to the equipment scheduling information, and is also used to determine the equipment operation path according to the equipment position and the container yard position; The instruction scheduling submodule is used to read and display the working information of the equipment, and is also used to forcibly intervene in the working information of the equipment in operation.

[0010] Optionally, the system further includes: an equipment monitoring module; The equipment monitoring module is used to obtain the operation time information of the equipment in the cargo yard, and compare the operation time information with a preset threshold value. When the operation time information is greater than the preset threshold value, the function of the equipment is maintained.

[0011] Optionally, the system further includes: a scheduling optimization module; The scheduling optimization module is used to read the historical equipment scheduling information and the historical container yard scheduling information in the job scheduling module, as well as the historical equipment operation path in the equipment control module, and use the historical equipment scheduling information and the historical container yard scheduling information as input information and the historical equipment operation path as output data to build and optimize the deep learning neural network model; The scheduling optimization module is also used to read the equipment scheduling information and the container yard scheduling information in the job scheduling module, as well as the equipment operation path in the equipment control module, and determine whether the current equipment operation path is the optimal path with the shortest path and shortest time through a deep learning neural network model, and send the determination result to the equipment control module; The equipment control module is also used to determine a new equipment operation path based on the judgment result, and send the new equipment operation path to the equipment in the cargo yard; The judgment result includes: when the operation path output by the deep learning neural network model is consistent with the current device operation path, the judgment result is a first judgment result; when the operation path output by the deep learning neural network model is inconsistent with the current device operation path, the judgment result is a second judgment result; The device control module determines a new device operation path based on the judgment result, including: when the judgment result is a first judgment result, using the current device operation path as a new device operation path; when the judgment result is a second judgment result, using the operation path output by the deep learning neural network model as a new device operation path.

[0012] In a second aspect, an embodiment of the present application provides a method for scheduling container loading, unloading and transshipment operations at a railway port freight yard, the method comprising: Generate and display a freight yard plan through the integrated monitoring module, display a container yard model and an equipment model in the freight yard plan according to initial information in the freight yard, and update the working status of the container yard model and the equipment model in the freight yard plan according to the container yard scheduling information and the equipment scheduling information; The initial information includes: container yard initial information and equipment initial information; The operation scheduling module reads the working status of the container yard model and the equipment model in the comprehensive monitoring module, identifies the basic information of the container body, and generates equipment scheduling information and container yard scheduling information according to the working status of the container yard model and the equipment model and the basic information of the container body; The equipment control module reads the equipment scheduling information in the operation scheduling module, determines the equipment position and the container yard position according to the equipment scheduling information, and determines the equipment operation path according to the equipment position and the container yard position; Using the equipment in the cargo yard to read the equipment operation path in the equipment control module, and performing lifting operations on the container according to the equipment operation path; Among them, the equipment in the freight yard includes: gantry crane and IGV guided vehicle.

[0013] Beneficial effects: The railway port freight yard container loading, unloading and transshipment operation scheduling system provided by the present invention generates and displays a freight yard plan through a comprehensive monitoring module, displays a container yard model and an equipment model in the freight yard plan according to initial information in the freight yard, and updates the working status of the container yard model and the equipment model in the freight yard plan according to the container yard scheduling information and the equipment scheduling information; reads the working status of the container yard model and the equipment model in the comprehensive monitoring module through an operation scheduling module, identifies the basic information of the container body, and generates equipment scheduling information and container yard scheduling information according to the working status of the container yard model and the equipment model and the basic information of the container body; reads the equipment scheduling information in the operation scheduling module through an equipment control module, determines the equipment position and the container yard position according to the equipment scheduling information, and determines the equipment operation path according to the equipment position and the container yard position; uses the equipment in the freight yard to read the equipment operation path in the equipment control module, and performs hoisting operations on the container according to the equipment operation path. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the structure of a railway port freight yard container loading, unloading and transshipment operation dispatching system according to a preferred embodiment of the present invention; Figure 2 The present invention is a flowchart of a method for dispatching container loading, unloading and transshipment operations at a railway port freight yard according to a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0015] 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.

[0016] 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.

[0017] See also Figure 1 The embodiment of the present application provides a railway port freight yard container loading and unloading and transshipment operation scheduling system, the system comprising: The integrated monitoring module is used to generate and display the freight yard plan, and is also used to display the container yard model and the equipment model in the freight yard plan according to the initial information in the freight yard, and to update the working status of the container yard model and the equipment model in the freight yard plan according to the container yard scheduling information and the equipment scheduling information; The initial information includes: container yard initial information and equipment initial information; The operation scheduling module is used to read the working status of the container yard model and the equipment model in the comprehensive monitoring module, and is also used to identify the basic information of the container body, and generate equipment scheduling information and container yard scheduling information according to the working status of the container yard model and the equipment model and the basic information of the container body; The equipment control module is used to read the equipment scheduling information in the operation scheduling module, and determine the equipment position and the container yard position according to the equipment scheduling information, and is also used to determine the equipment operation path according to the equipment position and the container yard position; The equipment in the cargo yard is used to read the equipment operation path in the equipment control module and perform lifting operations on the container according to the equipment operation path; Among them, the equipment in the freight yard includes: gantry crane and IGV guided vehicle.

[0018] Optionally, the system further includes: a current vehicle management module; The vehicle management module is used to obtain and display the basic information of the railway vehicles in the railway track of the freight yard; The basic information of the vehicle includes: vehicle model information, vehicle number information, deadweight information, length change information, load information, product name information, arrival station information, departure station information, freight ticket information and waybill information; The current vehicle management module is also used to read the shunting plan in the railway dispatching system and generate current vehicle status information according to the shunting plan; Among them, the current train status information includes: train stop information and train departure information.

[0019] Optionally, the system further includes: a job publishing module; The job publishing module is used to read the basic information and status information of the current vehicle in the current vehicle management module, and generate job information according to the basic information and status information of the current vehicle and send it to the job scheduling module; The operation scheduling module is also used to identify basic information of the container according to the operation information; Among them, the basic information of the container includes: location information, container number information, container type information, empty weight information, product name information and arrival information.

[0020] Optionally, the operation issuing module is used to generate box transfer operation information according to the train stop information in the current train status information, and send the box transfer operation information to the operation scheduling module; The operation scheduling module is used to identify the basic information of the container in the railway vehicle in the railway track of the freight yard according to the container transfer operation information, and when it is confirmed that the arrival information in the basic information of the container is the current railway port, the equipment scheduling information and the container yard scheduling information are generated according to the working status of the container yard model and the equipment model and the basic information of the container to lift the container to the container yard; The operation publishing module is also used to generate box transfer operation information according to the train departure information in the current train status information, and send the box transfer operation information to the operation scheduling module; The operation scheduling module is also used to identify the basic information of the container in the container yard model according to the container transfer operation information, and when it is confirmed that the arrival information in the basic information of the container matches the arrival information in the basic information of the railway vehicle in the railway track of the freight yard, the equipment scheduling information and the container yard scheduling information are generated according to the working status of the container yard model and the equipment model and the basic information of the container, and the container matching the arrival information is hoisted into the railway vehicle until the railway vehicle can no longer be shipped.

[0021] Optionally, the system further comprises: a data analysis module; The data analysis module is used to read the basic information of the container and the container yard scheduling information in the operation scheduling module and the container yard model in the comprehensive monitoring module, and query the location and status of the container according to the basic information of the container, the container yard scheduling information and the container yard model; It is also used to read the equipment scheduling information in the operation scheduling module and the equipment operation path in the equipment control module, and analyze the operation status of the equipment in the cargo yard according to the equipment scheduling information and the equipment operation path.

[0022] Optionally, the device control module includes: a path planning submodule and an instruction scheduling submodule; The path planning submodule is used to read the equipment scheduling information in the operation scheduling module, and determine the equipment position and the container yard position according to the equipment scheduling information, and is also used to determine the equipment operation path according to the equipment position and the container yard position; The instruction scheduling submodule is used to read and display the working information of the equipment, and is also used to forcibly intervene in the working information of the equipment in operation.

[0023] Optionally, the system further includes: an equipment monitoring module; The equipment monitoring module is used to obtain the operation time information of the equipment in the cargo yard, and compare the operation time information with a preset threshold value. When the operation time information is greater than the preset threshold value, the function of the equipment is maintained.

[0024] Optionally, the system further includes: a scheduling optimization module; The scheduling optimization module is used to read the historical equipment scheduling information and the historical container yard scheduling information in the job scheduling module, as well as the historical equipment operation path in the equipment control module, and use the historical equipment scheduling information and the historical container yard scheduling information as input information and the historical equipment operation path as output data to build and optimize the deep learning neural network model; The scheduling optimization module is also used to read the equipment scheduling information and the container yard scheduling information in the job scheduling module, as well as the equipment operation path in the equipment control module, and determine whether the current equipment operation path is the optimal path with the shortest path and shortest time through a deep learning neural network model, and send the determination result to the equipment control module; The equipment control module is also used to determine a new equipment operation path based on the judgment result, and send the new equipment operation path to the equipment in the cargo yard; The judgment result includes: when the operation path output by the deep learning neural network model is consistent with the current device operation path, the judgment result is a first judgment result; when the operation path output by the deep learning neural network model is inconsistent with the current device operation path, the judgment result is a second judgment result; The device control module determines a new device operation path based on the judgment result, including: when the judgment result is a first judgment result, using the current device operation path as a new device operation path; when the judgment result is a second judgment result, using the operation path output by the deep learning neural network model as a new device operation path.

[0025] In the above embodiment, the scheduling optimization module uses big data and accumulated loading and unloading operation data as a data resource pool for machine learning, establishes an intelligent agent through proximal optimization strategy or deep reinforcement learning method, generates optimal scheduling control job instructions through continuous updating of reward functions, and sends them to the scheduling module. The scheduling module guides the scheduling module to start job scheduling based on the generated optimal job instructions.

[0026] like Figure 2 As shown, the embodiment of the present application also provides a method for scheduling container loading, unloading and transshipment operations at a railway port freight yard, the method comprising: Generate and display a freight yard plan through the integrated monitoring module, display a container yard model and an equipment model in the freight yard plan according to initial information in the freight yard, and update the working status of the container yard model and the equipment model in the freight yard plan according to the container yard scheduling information and the equipment scheduling information; The initial information includes: container yard initial information and equipment initial information; The operation scheduling module reads the working status of the container yard model and the equipment model in the comprehensive monitoring module, identifies the basic information of the container body, and generates equipment scheduling information and container yard scheduling information according to the working status of the container yard model and the equipment model and the basic information of the container body; The equipment control module reads the equipment scheduling information in the operation scheduling module, determines the equipment position and the container yard position according to the equipment scheduling information, and determines the equipment operation path according to the equipment position and the container yard position; Using the equipment in the cargo yard to read the equipment operation path in the equipment control module, and performing lifting operations on the container according to the equipment operation path; Among them, the equipment in the freight yard includes: gantry crane and IGV guided vehicle.

[0027] 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. A railway port freight yard container loading and unloading transshipment operation dispatching system, characterized in that: The system comprises: The integrated monitoring module is used to generate and display the freight yard plan, and is also used to display the container yard model and the equipment model in the freight yard plan according to the initial information in the freight yard, and to update the working status of the container yard model and the equipment model in the freight yard plan according to the container yard scheduling information and the equipment scheduling information; The initial information includes: container yard initial information and equipment initial information; The operation scheduling module is used to read the working status of the container yard model and the equipment model in the comprehensive monitoring module, and is also used to identify the basic information of the container body, and generate equipment scheduling information and container yard scheduling information according to the working status of the container yard model and the equipment model and the basic information of the container body; The equipment control module is used to read the equipment scheduling information in the operation scheduling module, and determine the equipment position and the container yard position according to the equipment scheduling information, and is also used to determine the equipment operation path according to the equipment position and the container yard position; The equipment in the cargo yard is used to read the equipment operation path in the equipment control module and perform lifting operations on the container according to the equipment operation path; Among them, the equipment in the freight yard includes: gantry crane and IGV guided vehicle.

2. The railway port freight yard container loading and unloading and transshipment operation dispatching system according to claim 1 is characterized in that: The system further comprises: an existing vehicle management module; The vehicle management module is used to obtain and display the basic information of the railway vehicles in the railway track of the freight yard; The basic information of the vehicle includes: vehicle model information, vehicle number information, deadweight information, length change information, load information, product name information, arrival station information, departure station information, freight ticket information and waybill information; The current vehicle management module is also used to read the shunting plan in the railway dispatching system and generate current vehicle status information according to the shunting plan; Among them, the current train status information includes: train stop information and train departure information.

3. The railway port freight yard container loading and unloading and transshipment operation dispatching system according to claim 2 is characterized in that: The system also includes: a job publishing module; The job publishing module is used to read the basic information and status information of the current vehicle in the current vehicle management module, and generate job information according to the basic information and status information of the current vehicle and send it to the job scheduling module; The operation scheduling module is also used to identify basic information of the container according to the operation information; Among them, the basic information of the container includes: location information, container number information, container type information, empty weight information, product name information and arrival information.

4. The railway port freight yard container loading and unloading and transshipment operation dispatching system according to claim 3 is characterized in that: The operation issuing module is used to generate box transfer operation information according to the train stop information in the current train status information, and send the box transfer operation information to the operation scheduling module; The operation scheduling module is used to identify the basic information of the container in the railway vehicle in the railway track of the freight yard according to the container transfer operation information, and when it is confirmed that the arrival information in the basic information of the container is the current railway port, the equipment scheduling information and the container yard scheduling information are generated according to the working status of the container yard model and the equipment model and the basic information of the container to lift the container to the container yard; The operation publishing module is also used to generate box transfer operation information according to the train departure information in the current train status information, and send the box transfer operation information to the operation scheduling module; The operation scheduling module is also used to identify the basic information of the container in the container yard model according to the container transfer operation information, and when it is confirmed that the arrival information in the basic information of the container matches the arrival information in the basic information of the railway vehicle in the railway track of the freight yard, the equipment scheduling information and the container yard scheduling information are generated according to the working status of the container yard model and the equipment model and the basic information of the container, and the container matching the arrival information is hoisted into the railway vehicle until the railway vehicle can no longer be shipped.

5. The railway port freight yard container loading and unloading and transshipment operation dispatching system according to claim 1 is characterized in that: The system also includes: a data analysis module; The data analysis module is used to read the basic information of the container and the container yard scheduling information in the operation scheduling module and the container yard model in the comprehensive monitoring module, and query the location and status of the container according to the basic information of the container, the container yard scheduling information and the container yard model; It is also used to read the equipment scheduling information in the operation scheduling module and the equipment operation path in the equipment control module, and analyze the operation status of the equipment in the cargo yard according to the equipment scheduling information and the equipment operation path.

6. The railway port freight yard container loading and unloading and transshipment operation dispatching system according to claim 1 is characterized in that: The device control module includes: a path planning submodule and an instruction scheduling submodule; The path planning submodule is used to read the equipment scheduling information in the operation scheduling module, and determine the equipment position and the container yard position according to the equipment scheduling information, and is also used to determine the equipment operation path according to the equipment position and the container yard position; The instruction scheduling submodule is used to read and display the working information of the equipment, and is also used to forcibly intervene in the working information of the equipment in operation.

7. The railway port freight yard container loading and unloading and transshipment operation dispatching system according to claim 1 is characterized in that: The system also includes: an equipment monitoring module; The equipment monitoring module is used to obtain the operation time information of the equipment in the cargo yard, and compare the operation time information with a preset threshold value. When the operation time information is greater than the preset threshold value, the function of the equipment is maintained.

8. The railway port freight yard container loading and unloading and transshipment operation dispatching system according to claim 1 is characterized in that: The system also includes: a scheduling optimization module; The scheduling optimization module is used to read the historical equipment scheduling information and the historical container yard scheduling information in the job scheduling module, as well as the historical equipment operation path in the equipment control module, and use the historical equipment scheduling information and the historical container yard scheduling information as input information and the historical equipment operation path as output data to build and optimize the deep learning neural network model; The scheduling optimization module is also used to read the equipment scheduling information and the container yard scheduling information in the job scheduling module, as well as the equipment operation path in the equipment control module, and determine whether the current equipment operation path is the optimal path with the shortest path and shortest time through a deep learning neural network model, and send the determination result to the equipment control module; The equipment control module is also used to determine a new equipment operation path based on the judgment result, and send the new equipment operation path to the equipment in the cargo yard; The judgment result includes: when the operation path output by the deep learning neural network model is consistent with the current device operation path, the judgment result is a first judgment result; when the operation path output by the deep learning neural network model is inconsistent with the current device operation path, the judgment result is a second judgment result; The device control module determines a new device operation path based on the judgment result, including: when the judgment result is a first judgment result, using the current device operation path as a new device operation path; when the judgment result is a second judgment result, using the operation path output by the deep learning neural network model as a new device operation path.

9. A method for dispatching container loading, unloading and transshipment operations at a railway port freight yard, characterized in that: The method comprises: Generate and display a freight yard plan through the integrated monitoring module, display a container yard model and an equipment model in the freight yard plan according to initial information in the freight yard, and update the working status of the container yard model and the equipment model in the freight yard plan according to the container yard scheduling information and the equipment scheduling information; The initial information includes: container yard initial information and equipment initial information; The operation scheduling module reads the working status of the container yard model and the equipment model in the comprehensive monitoring module, identifies the basic information of the container body, and generates equipment scheduling information and container yard scheduling information according to the working status of the container yard model and the equipment model and the basic information of the container body; The equipment control module reads the equipment scheduling information in the operation scheduling module, determines the equipment position and the container yard position according to the equipment scheduling information, and determines the equipment operation path according to the equipment position and the container yard position; Using the equipment in the cargo yard to read the equipment operation path in the equipment control module, and performing lifting operations on the container according to the equipment operation path; Among them, the equipment in the freight yard includes: gantry crane and IGV guided vehicle.

Images