Automatic storage yard equipment operation safety confirmation system based on manual horizontal transportation equipment portable terminal and implementation method of automatic storage yard equipment operation safety confirmation system

Abstract

The invention belongs to the technical field of remote management of port equipment, and particularly relates to an automatic storage yard equipment operation safety confirmation system based on a portable terminal of manual horizontal transportation equipment, which replaces a traditional remote control personnel confirmation mode and a driver confirmation mode on an interaction platform through interaction between the portable terminal of a driver and the storage yard equipment. And safety confirmation and control in the operation process are realized. When a driver parks to a designated operation position, the storage yard equipment generates and updates a coding graph to the coding graph generation system and the display screen through the embedded safety control logic and interaction module function, and the driver scans the coding graph and then carries out identity verification through the portable terminal application to complete operation confirmation. The portable terminal application also provides functions of a start button, an emergency stop button, a communication button and the like. The system is also provided with a real-time monitoring and exception handling mechanism to ensure that an alarm is given out and a solution is provided in time when equipment fails or operation is wrong.

Description

Technical Field

[0001] The present invention belongs to the technical field of remote management of port equipment, and in particular relates to an automated yard equipment operation safety confirmation system based on a portable terminal of manual horizontal transport equipment and an implementation method thereof. Background Art

[0002] With the widespread adoption of automation technology in the port industry, automated yard equipment (including rail-mounted cranes, tire-mounted cranes, reach stackers, and empty container handlers) has become capable of automated container loading, unloading, and stacking operations. Existing automated yard layouts typically utilize interactive platforms (safety islands) located alongside the lanes of manual horizontal transport equipment, allowing drivers to disembark, verify their identities, and activate automated operations with the push of a button. However, this approach not only increases operational steps, but also limits efficiency and increases terminal infrastructure costs. Each piece of yard equipment requires four to five interactive platforms (safety islands).

[0003] Qinzhou Port has innovated on its existing infrastructure, adopting a world-first "U-shaped" yard layout and exploring optimization of remote operator verification. Currently, container collection and dispatch operations rely on remote operators for safety verification. While this process ensures operational safety, it also hinders the development of fully automated equipment.

[0004] The information disclosed in this background technology section is only intended to enhance understanding of the overall background of the invention and should not be regarded as an admission or any form of suggestion that the information constitutes the prior art already known to a person skilled in the art. Summary of the Invention

[0005] The purpose of the present invention is to provide an automated yard equipment operation safety confirmation system based on a portable terminal of manual horizontal transportation equipment and its implementation method. Through the interaction between the portable terminal of the manual horizontal transportation equipment driver and the automated yard equipment, it replaces the traditional remote control operator confirmation operation method, simplifies the operation process, improves operation efficiency, and ensures operation safety.

[0006] In order to achieve the above object, the present invention provides the following technical solutions: The automated yard equipment operation safety confirmation system based on a portable terminal for manual horizontal transport equipment includes: Yard equipment control module, used for automatic reading of work tasks, automatic positioning of yard equipment, automatic grabbing and placing of containers, and automatic adjustment of spreader positions; The coded graphics generation and dynamic update module is used to generate coded graphics and update the display content when the yard equipment and manual horizontal transportation equipment vehicles meet the conditions for automated operation; The code graphic display module is used to display the current valid code graphic in real time on the electronic screen for manual horizontal transport equipment drivers to scan the code for operation; Portable terminal application system, allowing drivers to use portable terminals to scan codes to enter applications and complete identity authentication, operation control and safety confirmation; The cloud server and operation management platform are used to manage all yard equipment operation information, driver operation records, and exception records; The remote monitoring and response module is used to provide a platform for operators to monitor the operation of yard equipment, allow necessary manual intervention in automatic mode, and allow direct manual control.

[0007] Preferably, the yard equipment control module includes an automatic positioning system, an automatic box placement system, a manual horizontal transport equipment guidance system, an RFID system and a lifting detection system; the automatic positioning system is composed of a laser sensor and proprietary software, and is used to measure and calculate the relative position of the sling and the container; the automatic box placement system compares the outer contour of the manual horizontal transport equipment frame drawn by the proprietary software with the chassis database to obtain the calculated lock position, and performs precise manual horizontal transport equipment box placement operations; the manual horizontal transport equipment guidance system dominates the positioning function of the manual horizontal transport equipment and IGV through all-round scanning of the pan-tilt platform; the RFID system is used to read the label information of the manual horizontal transport equipment vehicle when it arrives at the yard equipment operating area; the lifting detection system is used to detect the gap between the container and the manual horizontal transport equipment pallet to prevent the frame from being lifted together with the container.

[0008] Preferably, the coding graphic generation and dynamic update module includes the following sub-functional modules: coding graphic content compilation, dynamic generation of coding graphic images, coding graphic validity period setting and automatic expiration processing, and status driven update.

[0009] Preferably, the coding graphic display module includes the following sub-functional modules: coding graphic rendering display, real-time refresh mechanism, and invalid status prompt.

[0010] Preferably, the portable terminal application system includes the following sub-functional modules: a code scanning login and identity authentication module, a job control module, a job progress monitoring module, a communication and feedback module, and an alarm information receiving and processing module.

[0011] Preferably, the cloud server and operation management platform include the following sub-functional modules: user authentication and authority management, operation record archiving, abnormal statistics and alarm linkage, and equipment health monitoring data storage.

[0012] Preferably, the remote monitoring and response module includes the following sub-functional modules: real-time operation status visualization, remote switching control mode, guided operation and emergency response support.

[0013] The method for realizing safety confirmation of automated yard equipment operation based on a portable terminal of manual horizontal transport equipment comprises the following steps: S1. After confirming that the manual horizontal transport equipment has stopped accurately at the predetermined position, the yard equipment control module actively triggers the operation identification and verification process and simultaneously sends instructions to the code pattern generation module to start the code pattern generation process; S2. After receiving the system instruction, the coded graphic generation module dynamically generates a coded graphic containing the operation confirmation information and the local area network connection configuration, and displays it in real time on the display terminal in the yard equipment operation area for auxiliary identification in subsequent operations; S3. After the system completes the release of the coded graphic information, it supports the manual horizontal transport equipment driver to use a portable terminal to scan the coded graphic and establish a temporary communication connection. This connection is used to assist in identity authentication and specific work authority operation control; S4. The system automatically compares and verifies the driver's identity information input from the portable terminal with the operation authority database; the verification process is executed by the system main control module and does not require manual confirmation; S5. After identity verification is passed, the system activates the current job and simultaneously pushes the job control interface to the portable terminal. The job control interface includes functional modules such as job start, emergency stop, communication, and status feedback, and is mainly used for on-site status monitoring and necessary manual intervention. S6. Upon receiving the operation start confirmation signal (which can be triggered by the driver pressing and holding the terminal or by system logic), the yard equipment system automatically executes the automated operations of grabbing, placing, and lifting containers on the manual horizontal transport equipment side, and synchronizes the operation progress and status information to the monitoring platform and portable terminal in real time; S7. Throughout the entire operation process, the yard equipment system monitors equipment status, determines safety interventions, and collects operational data in real time, achieving closed-loop control and risk warning. S8. After the operation is completed, the yard equipment system automatically generates an operation log and uploads the operation data, scan code information and abnormal events to the cloud for archiving; the coded graphic information is automatically cancelled by the system, and the display terminal returns to standby status to prepare for the next round of operation process.

[0014] Preferably, the yard equipment control module in S1 confirms that the manual horizontal transport equipment is accurately parked and specifically includes the following steps: S11. After receiving the information that the manual horizontal transport equipment with the container enters the storage area through the RFID at the entrance of the storage area, the TOS sends the operation task to the automated storage area equipment; S12. The automated yard equipment automatically moves to the task position and stays at the waiting position after the spreader is empty or the container is grabbed; S13, CPS guides manual horizontal transport equipment to stop accurately; S14, RFID identification confirms the information of manual horizontal transportation equipment; S15. The automated yard equipment verifies the manual horizontal transport equipment information identified by RFID with the instruction sent by the TOS. If the verification is successful, the operation continues. If the verification is unsuccessful, the TOS is notified and the exception handling process begins. S16: The yard equipment controls the spreader or the box to automatically move to the top of the manual horizontal transport equipment, automatically descend, reach a safe height, and request manual intervention.

[0015] As a preferred option, the yard equipment system in S7 monitors the equipment's operating status in real time. When an abnormality occurs, the equipment will issue a local alarm, and the portable terminal application will immediately pop up a window to remind the driver, and at the same time send an alarm message to the remote control center and automatically jump to the platform; the driver calls the remote controller through the communication button, and the remote controller remotely intervenes and handles the problem; if the position is just wrong, the driver can manually release the start button; if the situation is urgent, the driver presses the emergency stop button to immediately terminate the yard equipment operation.

[0016] Compared with the prior art, the present invention has the following beneficial effects: (1) The automated yard equipment operation safety confirmation system based on the portable terminal of manual horizontal transport equipment of the present invention performs safety confirmation through the portable terminal of the manual horizontal transport equipment driver, eliminating the traditional interactive platform link, which not only simplifies the operation process, but also completely avoids the need for the construction of a safety island, reduces construction and maintenance costs, and has significant economic benefits.

[0017] (2) The automated yard equipment operation safety confirmation system based on the portable terminal of manual horizontal transport equipment of the present invention allows the driver to complete identity verification, operation start, emergency stop and other operations through the portable terminal application, avoiding the time of waiting for confirmation by the remote controller, reducing manual intervention at the terminal, improving the degree of automation of the operation, and significantly improving the operation efficiency.

[0018] (3) The automated yard equipment operation safety confirmation system based on the portable terminal of manual horizontal transport equipment of the present invention ensures that the operation is allowed to start only at the right time through a real-time coding graphic update mechanism and an exception handling mechanism, thereby reducing the risk of misoperation; at the same time, when an abnormal situation occurs, the system can promptly issue an alarm and provide necessary assistance to ensure the safety of the operation.

[0019] (4) The automated yard equipment operation safety confirmation system based on the portable terminal of manual horizontal transport equipment of the present invention has a convenient remote communication function. Through the built-in communication button, the driver can conveniently and quickly make a voice call with the remote controller when encountering anomalies or problems, and quickly solve the sudden problems in the operation.

[0020] (5) The automated yard equipment operation safety confirmation system based on the portable terminal of the manual horizontal transport equipment of the present invention has strong adaptability, is compatible with the existing automated yard equipment and port operation environment, and is convenient for installation and promotion and application. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1-4 It is a flow chart of a method for realizing safety confirmation of automated yard equipment operation based on a portable terminal of manual horizontal transport equipment of the present invention. DETAILED DESCRIPTION

[0022] The following is a clear and complete description of the technical solution of the present invention. Obviously, the embodiments described are part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making any creative efforts are within the scope of protection of the present invention.

[0023] Refer to the attached Figure 1-4 The method for realizing safety confirmation of automated yard equipment operation based on a portable terminal of manual horizontal transport equipment includes the following steps: Step 1: Stop the manual horizontal transport equipment; First, the TOS receives information from the RFID at the container yard entrance that a manual horizontal transport device has entered the stacking area with a container. It then sends the task to the automated stacking equipment. The automated stacking equipment automatically moves to the task location and stops at the waiting position when the spreader is empty or a container has been grabbed. Then, CPS guides the manual horizontal transport equipment to stop accurately; RFID identification confirms the information of the manual horizontal transport equipment; The automated yard equipment verifies the RFID and identified manual horizontal transport equipment information with the instructions sent by the TOS. If the verification is successful, the operation continues. The yard equipment controls the spreader or container to automatically move to the top of the manual horizontal transport equipment, automatically descends to a safe height, and requests manual intervention. If the verification is unsuccessful, the TOS is notified and the exception handling process begins. After the control module confirms the above information, it sends a command to start the coding graphic generation process.

[0024] Step 2: Generate and display coded graphics; After receiving the parking signal, the coded graphic generation module dynamically generates a coded graphic containing operation confirmation information; the coded graphic content includes: yard equipment equipment number, current operation status, driver confirmation entry, etc. The coded graphics are displayed in real time on a display screen near the yard equipment.

[0025] Step 3: The driver of the manual horizontal transport equipment scans the code to operate; The driver uses the portable terminal scanning application to scan the coded graphic on the display screen, and the portable terminal application jumps to the login interface.

[0026] Step 4: Identity verification; The portable terminal application prompts the driver to enter identity information, such as user name, account password, fingerprint, face recognition, etc. After the driver passes the identity authentication, the system verifies the driver's operating authority; After verification, enter the job control interface.

[0027] Step 5: Operation of the job control interface; The portable terminal displays the following buttons and information: start button, emergency stop button, communication button, operation progress (with access to the yard equipment's CCTV for real-time operation viewing), and equipment status. The driver can trigger the yard equipment to automatically operate by long-pressing the start button; releasing it stops the operation. This feature ensures that the driver can directly control the operating status of the yard equipment.

[0028] The emergency stop button is used to forcibly terminate the operation with one click. In an emergency, the driver can press this button to immediately stop the yard equipment operation to avoid safety accidents caused by improper operation or equipment failure.

[0029] The driver can also quickly call the remote operator through the communication button and have a voice conversation with the remote operator, so that when encountering problems that cannot be solved through portable terminal operations, the driver can contact the remote operator in time and get guidance.

[0030] Step 6: Automatic operation of yard equipment starts; The driver presses and holds the start button, and the yard equipment system begins to execute the automatic operation process; the operation progress is displayed in real time on the portable terminal.

[0031] Step 7: Abnormal monitoring and processing; During the operation process, the yard equipment system monitors the equipment's operating status in real time. The system uses sensors and cameras installed on the equipment, connected to the control system in the PLC room via optical cables, to monitor the equipment's operating status in real time, including its location, health status, and operation progress. The system analyzes the operating status in real time to ensure that operations are carried out according to the planned process.

[0032] If an abnormality occurs (such as collision, jamming, or subsystem failure), the device will issue an alarm locally, and the portable terminal application will immediately pop up a window to remind the driver, send an alarm message to the remote control center, and automatically jump to the platform; the driver If the position is just wrong, the driver can choose to release the start button; if the situation is urgent, the driver can press the emergency stop button to immediately stop the yard equipment operation; If a manual horizontal transport equipment driver is unable to resolve a problem using a portable terminal application, they can contact a remote operator using the communication button. The operator can then provide a solution or guidance through the remote operating system. If the problem persists, the operator can remotely switch the yard equipment to a backup device or mode to ensure continued operation.

[0033] Step 8: Complete the work and archive it in the system; After the yard equipment operation is completed, the system automatically records the operation log, and the operation data, code scanning records, and exception handling records are uploaded to the cloud server for archiving; the system clears the current coded graphic information, and the coded graphic display screen enters standby mode, waiting for the next manual horizontal transport equipment to enter the yard.

[0034] The method provided by this invention for implementing automated yard equipment operation safety confirmation based on a portable terminal for manual horizontal transport equipment ensures real-time synchronization of operation and control data through the dynamic generation and automatic updating of coded graphics. Mobile operation confirmation and control reduces physical contact on-site, improving safety and flexibility. Remote control and local collaborative handling of operational anomalies ensure rapid and efficient response. Furthermore, the system incorporates multiple security safeguards (code scanning confirmation, identity authentication, emergency stop button, and alarm linkage mechanism) and provides complete operational process traceability, enhancing operational transparency and data value.

[0035] The present invention also provides an automated yard equipment operation safety confirmation system based on a portable terminal for manual horizontal transport equipment. The system specifically comprises a yard equipment control module, a coded pattern generation and dynamic update module, a coded pattern display module, a portable terminal application system, a cloud server and operation management platform, and a remote monitoring and response module. These modules work together to manage the entire process, including parking detection, coded pattern generation and update, portable terminal scanning and identity verification, operation control, safety confirmation, and exception handling.

[0036] The yard equipment control module serves as the main control system for the equipment. Its functions include automatically reading work tasks, automatically positioning equipment, automatically grabbing and releasing containers, and automatically adjusting the position of spreaders. It executes automated work processes and provides real-time feedback on equipment status. Upon receiving a TOS command, each piece of equipment parses it, obtains the target position, operates the trolley and crane to the desired position, and finally uses a laser scanning system to align manual horizontal transport equipment with the spreader position. The laser scanning system acts as the "eyes" of the equipment during the automated grabbing and releasing of containers in the yard.

[0037] In this embodiment, the yard equipment control module includes an automatic positioning system, an automatic box placement system, a manual horizontal transport equipment guidance system, an RFID system, and a lifting detection system. The automatic positioning system is mainly composed of laser sensors and proprietary software, which measures and calculates the relative position of the sling and the container, with a detection accuracy within 20mm. The automatic box placement system uses multiple laser scans to quickly perform detailed calculations of the laser data when the yard equipment passes through the manual horizontal transport equipment using excellent processing power and proprietary software, and draws the outline of the frame of the manual horizontal transport equipment. By comparing it with the chassis database, the calculated lock position is obtained, thereby performing accurate manual horizontal transport equipment box placement operations. The manual horizontal transport equipment guidance system also dominates the positioning function of the manual horizontal transport equipment and IGV through the full range of pan-tilt scanning. When the manual horizontal transport equipment vehicle arrives at the yard equipment operating area, the RFID system reads the tag information and confirms that the read tag information contains the work order vehicle information, and then it can operate normally. During the box collection operation on manual horizontal transport equipment, the lifting detection system uses a laser scanning rangefinder to detect the gap between the container and the manual horizontal transport equipment's pallet in real time to prevent the frame and the box from being lifted together due to the lock not being unlocked.

[0038] The coded graphic generation and dynamic update module generates coded graphics and updates the displayed content based on the dynamic state of the equipment. When the yard equipment and the manual horizontal transport vehicle meet the conditions for automated operation, the coded graphic generation and dynamic update module also includes submodules for coded graphic content compilation, dynamic coded graphic image generation, coded graphic validity period setting and automatic expiration processing, and state-driven updates. The coded graphic content compilation includes the equipment ID, operating status, and driver confirmation entry. The state-driven update module forcibly updates the coded graphics when the operating status of the yard equipment changes. It is important to note that once generated, the coded graphics are only valid when the manual horizontal transport driver stops the vehicle and triggers automated operation. Once the coded graphic is scanned, the system checks whether the manual horizontal transport driver has the corresponding permissions. If the permissions match, the driver can proceed with the operation confirmation. If not, a prompt appears stating "Operation permissions do not match, operation cannot be performed."

[0039] The Coded Graphics Display Module displays the currently active code graphics on a real-time electronic screen for operators of manual horizontal transport equipment to scan and operate. The Coded Graphics Display Module includes submodules such as code graphics rendering and display, a real-time refresh mechanism, and an invalid status indicator. The invalid status indicator displays an "inoperable" message when equipment malfunctions.

[0040] The portable terminal application system allows drivers to scan a QR code to access the application and complete identity verification, operation control, and safety confirmation. The portable terminal application system includes submodules such as QR code login and identity authentication, operation control, operation progress monitoring, communication and feedback, and alarm information reception and processing. The operation control module is used to implement start, stop, and emergency stop functions; the operation progress monitoring module connects to CCTV equipment to display real-time operation information; and the communication and feedback module is used to communicate with remote operators.

[0041] The cloud server and operation management platform includes sub-functional modules such as user authentication and permission management, operation record archiving, exception statistics and alarm linkage, and equipment health monitoring data storage, which are used for back-end management of all yard equipment operation information, driver operation records, and exception records.

[0042] The remote monitoring and response module includes sub-modules such as real-time operation status visualization, remote control mode switching, operation guidance, and emergency response support. As a remote control terminal, the remote monitoring and response module provides a platform for operators to monitor the operation of yard equipment, perform necessary manual intervention in automatic mode, or even directly control it.

[0043] This system also includes a permissions management module, responsible for verifying the identity of manual horizontal transport drivers and limiting the operational processes they can control based on their permission level. After the manual horizontal transport driver scans a QR code, the portable terminal application automatically verifies the driver's identity and retrieves permission data. Based on this permission data, the system only allows the driver to control processes related to their job, such as grabbing or releasing containers from the side of the manual horizontal transport. Other automated processes (such as routing adjustments for yard equipment and global operation planning) are not within the manual horizontal transport driver's permission. The system also synchronizes with the dispatch system based on the yard status and operational tasks of the yard equipment, ensuring that the driver's control is limited to the current specific operating area. For example, if the yard equipment is currently engaged in other types of operations, the manual horizontal transport driver's control request will be automatically denied until the yard equipment becomes operational.

[0044] Furthermore, this system utilizes wireless communication technology, ensuring real-time and stable data transmission via Wi-Fi, 4G / 5G, or a local area network. After the manual horizontal transport driver establishes a connection with the yard equipment by scanning a coded graphic on a portable terminal, the portable terminal application sends an operation request to the yard equipment via the wireless network. At this point, the system verifies the identity and operating permissions of the manual horizontal transport driver. Once identity verification and permission checks are passed, the portable terminal application sends an operation command to the yard equipment (such as initiating automatic container grabbing or placing). This command is transmitted to the yard equipment control system via wireless communication, and the yard equipment executes the automated operation process according to the command. Once the manual horizontal transport driver completes the operation confirmation and issues the operation command, the yard equipment control system provides real-time feedback on the operation execution status and ensures that only operations within the scope of authorization are executed. If the system detects that the driver attempts to initiate an unauthorized operation, it immediately terminates the request and notifies the driver through voice or interface that the operation is invalid.

[0045] To further ensure operational safety, the system has built-in multiple exception handling mechanisms to deal with various unexpected situations, including but not limited to: Permission Exception Handling: When a manual horizontal transport equipment driver performs an automated operation that exceeds their authority, the system will prompt a warning and disallow further operation. The driver will need to contact the remote operator or dispatcher to confirm the operation. Additionally, the system will automatically trigger a remote control switchover, allowing the remote operator to take over operations to ensure safe operation.

[0046] Operation Conflict Handling: If the yard equipment is currently performing other operations, the manual horizontal transport driver's control commands cannot be executed until the yard equipment reaches the current conditions for the manual horizontal transport to automatically operate. This feature prevents the risk of the driver's portable terminal operating when the manual horizontal transport automation operation is not triggered, ensuring smooth operation.

[0047] Emergency stop and abnormal alarm: In any emergency situation (such as equipment failure, driver operation error, etc.), the driver can immediately stop the operation by pressing the emergency stop button on the portable terminal, and send an alarm notification through the system to issue an alarm request to the remote operator to ensure timely handling of abnormal situations.

[0048] The implementation method of the present invention combines coded graphics technology, wireless communication and automated control technology, which can effectively improve the efficiency and safety of automated yard equipment operations and reduce manual operation links. Taking Qinzhou Port as an example, according to the existing operating procedures, the driver of manual horizontal transport equipment needs to stop and get off to the safety island to confirm his identity before starting the yard equipment operation. Under the implementation plan of the present invention, the driver only needs to stop the car to scan the coded graphics and authenticate his identity through a portable terminal application to quickly start the operation. Due to the simplification of the operating links, the operation time is greatly shortened, and the overall operation efficiency is significantly improved.

[0049] The "manual horizontal transport equipment" described in this invention is not limited to container trucks or semi-trailers but may include any horizontal transport vehicle. The "coded pattern" described in this invention is not limited to a QR code but may include any graphic or logo that can be read by an identification device and carries connection information. Any method of achieving device connection using such a logo falls within the scope of protection of this invention.

[0050] The foregoing descriptions of specific exemplary embodiments of the present invention are for purposes of illustration and description. These descriptions are not intended to limit the invention to the precise forms disclosed, and it is apparent that many variations and modifications are possible in light of the foregoing teachings. The exemplary embodiments have been selected and described for the purpose of explaining the specific principles of the invention and their practical application, thereby enabling those skilled in the art to realize and utilize a variety of exemplary embodiments of the invention and various options and modifications. The scope of the invention is intended to be defined by the claims and their equivalents.

Claims

1. An automated yard equipment operation safety confirmation system based on a portable terminal for manual horizontal transport equipment, characterized in that: include: Yard equipment control module, used for automatic reading of work tasks, automatic positioning of yard equipment, automatic grabbing and placing of containers, and automatic adjustment of spreader positions; The coded graphics generation and dynamic update module is used to generate coded graphics and update the display content when the yard equipment and manual horizontal transportation equipment vehicles meet the conditions for automated operation; The code graphic display module is used to display the current valid code graphic in real time on the electronic screen for manual horizontal transport equipment drivers to scan the code for operation; Portable terminal application system, allowing drivers to use portable terminals to scan codes to enter applications and complete identity authentication, operation control and safety confirmation; The cloud server and operation management platform are used to manage all yard equipment operation information, driver operation records, and exception records; The remote monitoring and response module is used to provide a platform for operators to monitor the operation of yard equipment, allow necessary manual intervention in automatic mode, and allow direct manual control.

2. The automated yard equipment operation safety confirmation system based on a portable terminal for manual horizontal transportation equipment according to claim 1 is characterized in that: The yard equipment control module includes an automatic positioning system, an automatic box placement system, a manual horizontal transport equipment guidance system, an RFID system and a lifting detection system; the automatic positioning system is composed of a laser sensor and proprietary software, and is used to measure and calculate the relative position of the sling and the container; the automatic box placement system compares the outer contour of the manual horizontal transport equipment frame drawn by the proprietary software with the chassis database to obtain the calculated locking position, and performs precise manual horizontal transport equipment box placement operations; the manual horizontal transport equipment guidance system controls the positioning function of the manual horizontal transport equipment and IGV through all-round scanning of the pan-tilt platform; the RFID system is used to read the label information of the manual horizontal transport equipment vehicle when it arrives at the yard equipment operating area; the lifting detection system is used to detect the gap between the container and the manual horizontal transport equipment pallet to prevent the frame from being lifted together with the container.

3. The automated yard equipment operation safety confirmation system based on a portable terminal for manual horizontal transportation equipment according to claim 1 is characterized in that: The coding graphic generation and dynamic update module includes the following sub-functional modules: coding graphic content compilation, dynamic generation of coding graphic images, coding graphic validity period setting and automatic expiration processing, and status driven update.

4. The automated yard equipment operation safety confirmation system based on a portable terminal for manual horizontal transportation equipment according to claim 1 is characterized in that: The coding graphic display module includes the following sub-functional modules: coding graphic rendering display, real-time refresh mechanism, and invalid status prompt.

5. The automated yard equipment operation safety confirmation system based on a portable terminal for manual horizontal transportation equipment according to claim 1 is characterized in that: The portable terminal application system includes the following sub-functional modules: code scanning login and identity authentication module, operation control module, operation progress monitoring module, communication and feedback module, and alarm information receiving and processing module.

6. The automated yard equipment operation safety confirmation system based on a portable terminal for manual horizontal transportation equipment according to claim 1 is characterized in that: The cloud server and operation management platform include the following sub-functional modules: user authentication and authority management, operation record archiving, abnormal statistics and alarm linkage, and equipment health monitoring data storage.

7. The automated yard equipment operation safety confirmation system based on a portable terminal for manual horizontal transportation equipment according to claim 1 is characterized in that: The remote monitoring and response module includes the following sub-functional modules: real-time operation status visualization, remote switching control mode, guided operation and emergency response support.

8. A method for realizing safety confirmation of automated yard equipment operation based on a portable terminal of manual horizontal transport equipment, characterized in that: The following steps are involved: S1. After confirming that the manual horizontal transport equipment has stopped accurately at the predetermined position, the yard equipment control module actively triggers the operation identification and verification process and simultaneously sends instructions to the code pattern generation module to start the code pattern generation process; S2. After receiving the system instruction, the coded graphic generation module dynamically generates a coded graphic containing the operation confirmation information and the local area network connection configuration, and displays it in real time on the display terminal in the yard equipment operation area for auxiliary identification in subsequent operations; S3. After the system completes the release of the coded graphic information, it supports the manual horizontal transport equipment driver to use a portable terminal to scan the coded graphic and establish a temporary communication connection. This connection is used to assist in identity authentication and specific work authority operation control; S4. The system automatically compares and verifies the driver's identity information input from the portable terminal with the operation authority database; the verification process is executed by the system main control module and does not require manual confirmation; S5. After identity verification is passed, the system activates the current task and simultaneously pushes the task control interface to the portable terminal. The task control interface includes modules for starting the task, emergency stop, communication, and status feedback, which are used for on-site status monitoring and necessary manual intervention. S6. After receiving the operation start confirmation signal, the yard equipment system automatically performs the automated operations of grabbing, placing, and lifting containers on the manual horizontal transport equipment operation side, and synchronizes the operation progress and status information to the monitoring platform and portable terminal in real time; S7. Throughout the entire operation process, the yard equipment system monitors equipment status, determines safety interventions, and collects operational data in real time, achieving closed-loop control and risk warning. S8. After the operation is completed, the yard equipment system automatically generates an operation log and uploads the operation data, scan code information and abnormal events to the cloud for archiving; the coded graphic information is automatically cancelled by the system, and the display terminal returns to standby status to prepare for the next round of operation process.

9. The method for realizing safety confirmation of automated yard equipment operation based on a portable terminal of manual horizontal transportation equipment according to claim 8, characterized in that: The yard equipment control module in S1 confirms that the manual horizontal transport equipment is accurately parked, which specifically includes the following steps: S11. After receiving the information that the manual horizontal transport equipment with the container enters the storage area through the RFID at the entrance of the storage area, the TOS sends the operation task to the automated storage area equipment; S12. The automated yard equipment automatically moves to the task position and stays at the waiting position after the spreader is empty or the container is grabbed; S13, CPS guides manual horizontal transport equipment to stop accurately; S14, RFID identification confirms the information of manual horizontal transportation equipment; S15. The automated yard equipment verifies the manual horizontal transport equipment information identified by RFID with the instruction sent by TOS. If the verification is successful, the operation continues. If the verification is unsuccessful, the TOS is notified and the exception handling process begins. S16: The yard equipment controls the spreader or the box to automatically move to the top of the manual horizontal transport equipment, automatically descend, reach a safe height, and request manual intervention.

10. The method for realizing safety confirmation of automated yard equipment operation based on a portable terminal of manual horizontal transportation equipment according to claim 8, characterized in that: The yard equipment system in S7 monitors the equipment's operating status in real time. When an abnormality occurs, the equipment will issue a local alarm, and the portable terminal application will immediately pop up a window to notify the driver. At the same time, the alarm information will be sent to the remote control center and the platform will be automatically jumped. The driver can call the remote operator through the communication button, and the remote operator will intervene remotely. If the position is simply wrong, the driver can manually release the start button. In an emergency, the driver can press the emergency stop button to immediately terminate the yard equipment operation.

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