Point-to-point data communication method and system for unmanned container trucks in ports

Abstract

The present invention discloses a point-to-point data communication method and system for unmanned container truck alignment in ports, which relates to the field of intelligent network communication technology. The method includes: based on TCP communication, before the unmanned container truck enters the operating area, the unmanned container truck synchronizes the vehicle-related information to the PLC system through the port's vehicle management platform; ICPS obtains the guidance information of the unmanned container truck within the jurisdiction in real time, and pushes the obtained guidance information to the PLC system in real time; according to the received vehicle-related information and guidance information, after the unmanned container truck enters the operating area, the PLC system identifies the unmanned container truck in operation; based on UDP communication, after the PLC system and the unmanned container truck complete DTLS identity authentication, the guidance information and positioning status information are exchanged to complete the point-to-point alignment of the unmanned container truck. The present invention can realize the rapid guidance of the unmanned container truck and the rapid positioning of the unmanned container truck.

Description

Technical Field

[0001] The present invention relates to the field of intelligent network communication technology, and in particular to a point-to-point data communication method and system for unmanned container trucks in ports. Background Art

[0002] At present, when unmanned container trucks are operating in bridge cranes and tire cranes, the port machinery equipment uses the PLC (Programmable Logic Controller) system of ICPS (intelligent chassis positioning system) to communicate with the vehicle management platform server via TCP (Transmission Control Protocol), and the unmanned container trucks communicate with the vehicle management platform server via TCP. After the unmanned container truck enters the guiding range under the port machinery, ICPS calculates the distance difference and the container truck posture (angle value) and periodically pushes it to the vehicle management platform. The vehicle management platform matches and filters the guidance values ​​pushed by ICPS periodically according to the current task instructions, vehicle status and PLC information push, and sends them to the vehicle end, which performs secondary alignment based on the guidance values.

[0003] However, since the interactive link between the PLC system, vehicle management platform and unmanned container trucks is too long, there are problems such as high transmission delay and large data volume, which results in the unmanned container trucks needing to make multiple adjustments during alignment. Summary of the invention

[0004] In view of the defects existing in the prior art, the purpose of the present invention is to provide a point-to-point port unmanned container truck positioning data communication method and system, which can realize rapid guidance of unmanned container trucks and rapid positioning of unmanned container trucks.

[0005] In order to achieve the above objectives, the present invention provides a point-to-point port unmanned container truck alignment data communication method, which specifically includes the following steps:

[0006] Based on TCP communication, before the unmanned container truck enters the operation area, it synchronizes the vehicle-related information to the PLC system through the port's vehicle management platform;

[0007] ICPS obtains guidance information of unmanned container trucks within its jurisdiction in real time, and pushes the obtained guidance information to the PLC system in real time;

[0008] Based on the received vehicle-related information and guidance information, after the unmanned container truck enters the operation area, the PLC system identifies the unmanned container truck in operation;

[0009] Based on UDP communication, after completing DTLS identity authentication, the PLC system and the unmanned container truck exchange guidance information and positioning status information to complete the point-to-point positioning of the unmanned container truck.

[0010] On the basis of the above technical solutions, before the unmanned container truck enters the operation area, it also includes:

[0011] Establish a TCP connection between the unmanned container truck and the vehicle management platform;

[0012] A TCP connection is established between the vehicle management platform and the PLC system of ICPS.

[0013] On the basis of the above technical solution, the unmanned container truck synchronizes the vehicle-related information to the PLC system through the port's vehicle management platform. The specific steps include:

[0014] The vehicle management platform issues bridge crane tasks or tire crane tasks to unmanned container trucks;

[0015] The unmanned truck receives the task and returns the vehicle information, IP address information and port information to the vehicle management platform;

[0016] The vehicle management platform synchronizes the vehicle information, IP address information and port information returned by the unmanned container truck to the PLC system.

[0017] On the basis of the above technical solution, the ICPS obtains the guidance information of the unmanned container trucks within the jurisdiction in real time, and pushes the obtained guidance information to the PLC system. The specific steps include:

[0018] ICPS monitors unmanned container trucks in real time within its jurisdiction and obtains guidance information about them;

[0019] ICPS periodically pushes the acquired guidance information to the PLC system.

[0020] Based on the above technical solution, the guidance information includes the position of the unmanned container truck in the direction of the vehicle, the posture or angle value of the unmanned container truck, and the difference between the unmanned container truck and the in-place position.

[0021] On the basis of the above technical solution, the PLC system and the unmanned container truck complete the DTLS identity authentication and then interact with each other for guidance information and positioning status information. The steps for completing the DTLS identity authentication between the PLC system and the unmanned container truck include:

[0022] When the unmanned container truck enters the operation area and prepares to locate, it sends a DTLS connection request to the PLC system;

[0023] The PLC system receives the DTLS connection request, generates a cookie based on the vehicle-related information synchronized with the vehicle management platform, and returns it to the unmanned truck collection truck.

[0024] The unmanned container truck receives the returned cookie and sends a DTLS connection request to the PLC system again;

[0025] The PLC system receives the DTLS connection request sent again by the unmanned container truck, verifies the cookie, and after the verification is passed, a handshake connection is established between the PLC system and the unmanned container truck.

[0026] On the basis of the above technical solution, after completing DTLS identity authentication between the PLC system and the unmanned container truck, the guidance information and positioning status information are exchanged to complete the point-to-point positioning of the unmanned container truck. The PLC system and the unmanned container truck interact with each other to complete the point-to-point positioning of the unmanned container truck. The specific steps include:

[0027] The PLC system matches and identifies the unmanned container truck based on the guidance information pushed by ICPS in real time, and sends guidance information to the unmanned container truck;

[0028] The unmanned container truck aligns according to the guidance information and returns the alignment status to the PLC system;

[0029] The PLC system matches and identifies the unmanned container truck again based on the guidance information pushed by ICPS in real time, and sends the guidance information to the unmanned container truck again;

[0030] The unmanned container truck performs secondary alignment based on the guidance information sent again by the PLC system and returns the alignment status to the PLC system. After secondary positioning and meeting the alignment accuracy, the point-to-point alignment of the unmanned container truck is completed.

[0031] The present invention provides a point-to-point port unmanned container truck alignment data communication system, comprising:

[0032] The first communication module is used for driving the unmanned container truck to synchronize the vehicle-related information to the PLC system through the port's vehicle management platform before the unmanned container truck enters the operation area based on TCP communication;

[0033] The push module is used to drive ICPS to obtain the guidance information of unmanned container trucks within the jurisdiction in real time, and push the obtained guidance information to the PLC system in real time;

[0034] The identification module is used to drive the PLC system to identify the unmanned container truck in operation after the unmanned container truck enters the operation area according to the received vehicle-related information and guidance information;

[0035] The positioning module is used to drive the PLC system and the unmanned container truck to complete the DTLS identity authentication based on UDP communication, and then exchange the guidance information and positioning status information to complete the point-to-point positioning of the unmanned container truck.

[0036] On the basis of the above technical solutions, before the unmanned container truck enters the operation area, it also includes:

[0037] Establish a TCP connection between the unmanned container truck and the vehicle management platform;

[0038] A TCP connection is established between the vehicle management platform and the PLC system of ICPS.

[0039] Based on the above technical solution, the unmanned container truck synchronizes the vehicle-related information to the PLC system through the port's vehicle management platform. The specific process includes:

[0040] The vehicle management platform issues bridge crane tasks or tire crane tasks to unmanned container trucks;

[0041] The unmanned truck receives the task and returns the vehicle information, IP address information and port information to the vehicle management platform;

[0042] The vehicle management platform synchronizes the vehicle information, IP address information and port information returned by the unmanned container truck to the PLC system.

[0043] Compared with the prior art, the advantages of the present invention are: before the unmanned container truck enters the operating area, the TCP reliable communication method is adopted to realize the information synchronization between the PLC system and the unmanned container truck; after the unmanned container truck enters the operating area, the link is switched to UDP communication, and DTLS identity authentication is performed, and the unmanned container truck entering the operating area is quickly identified according to the synchronized information, and efficient and reliable positioning information interaction is performed, while ensuring the communication reliability, the data transmission link is reduced, the data transmission time is shortened, and the interaction delay is reduced, thereby reducing the unmanned container truck positioning accuracy deviation caused by the interaction delay, thereby realizing rapid guidance of the unmanned container truck and rapid positioning of the unmanned container truck. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0045] Figure 1 The present invention is a flowchart of a point-to-point data communication method for unmanned container trucks in ports according to an embodiment of the present invention. DETAILED DESCRIPTION

[0046] The embodiment of the present invention provides a point-to-point data communication method for unmanned container trucks in ports. Before the unmanned container truck enters the operating area, a TCP reliable communication method is used to achieve information synchronization between the PLC system and the unmanned container truck. After the unmanned container truck enters the operating area, the link is switched to UDP communication, and DTLS identity authentication is performed. The unmanned container truck entering the operating area is quickly identified based on the synchronized information, and efficient and reliable information interaction is performed. While ensuring communication reliability, the data transmission link is reduced, the data transmission time is shortened, and the interaction delay is reduced, thereby reducing the unmanned container truck alignment accuracy deviation caused by the interaction delay, thereby achieving rapid guidance of the unmanned container truck and rapid positioning of the unmanned container truck. The embodiment of the present invention also provides a point-to-point data communication system for unmanned container trucks in ports.

[0047] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments.

[0048] The embodiment of the present invention provides a point-to-point data communication method for unmanned container trucks in ports. After the unmanned container trucks in ports receive platform tasks, they start the automatic driving mode to operate. The vehicle management platform monitors the status of the unmanned container trucks in real time and synchronizes the vehicle-related information to the PLC system. The whole process is carried out through TCP reliable communication. TCP communication is reliable but has a higher latency than UDP communication. If TCP communication is continued to be used after the unmanned container trucks enter the operating area, since point-to-point alignment is required before the unmanned container trucks park at the packing point, the latency problem of TCP communication will result in multiple alignments to achieve the required alignment accuracy. In order to improve the efficiency of point-to-point alignment, a method for link switching between TCP communication and UDP communication in specific scenarios is proposed, TCP reliable communication is used for information synchronization, and the low latency of UDP communication is used to improve business efficiency.

[0049] See also Figure 1 As shown, an embodiment of the present invention provides a point-to-point port unmanned container truck alignment data communication method, which specifically includes the following steps:

[0050] S1: Based on TCP communication, before the unmanned container truck enters the operating area, the unmanned container truck synchronizes the vehicle-related information to the PLC system through the port's vehicle management platform; that is, before the unmanned container truck enters the operating area, TCP communication is adopted, and the unmanned container truck synchronizes the vehicle-related information to the PLC system through the port's vehicle management platform, providing a basis for identity authentication for establishing a UDP connection during subsequent point-to-point positioning.

[0051] In the present invention, before the unmanned container truck enters the operation area, it also includes: establishing a TCP connection between the unmanned container truck and the vehicle management platform; and establishing a TCP connection between the vehicle management platform and the PLC system of the ICPS.

[0052] In the present invention, the unmanned container truck synchronizes the vehicle-related information to the PLC system through the vehicle management platform of the port, and the specific steps include:

[0053] S101: The vehicle management platform issues a bridge crane task or a tire crane task to an unmanned container truck;

[0054] S102: The unmanned truck receives the task and returns the vehicle information, IP address information and port information to the vehicle management platform;

[0055] S103: The vehicle management platform synchronizes the vehicle information, IP address information and port information returned by the unmanned container truck to the PLC system.

[0056] S2: ICPS obtains the guidance information of unmanned container trucks within its jurisdiction in real time, and pushes the obtained guidance information to the PLC system in real time; that is, ICPS will push the guidance information of all unmanned container trucks within its jurisdiction to the PLC system in real time.

[0057] In the present invention, ICPS obtains the guidance information of unmanned container trucks within its jurisdiction in real time, and pushes the obtained guidance information to the PLC system. The specific steps include:

[0058] S201: ICPS monitors unmanned container trucks in real time within its jurisdiction and obtains guidance information of unmanned container trucks;

[0059] S202: ICPS periodically pushes the acquired guidance information to the PLC system.

[0060] In the present invention, the guidance information includes the position of the unmanned container truck in the direction of the vehicle, the posture or angle value of the unmanned container truck, and the difference between the unmanned container truck and the in-place position.

[0061] It should be noted that the position of the unmanned container truck in the direction of the trolley is consistent with the trolley coordinate system, and the position of the gantry crane trolley to be operated is output; the posture or angle value of the unmanned container truck is in the same coordinate system as the posture of the spreader; the difference between the unmanned container truck and the in-place position is the difference in the distance between the unmanned container truck and the precise operation center position.

[0062] S3: Based on the received vehicle-related information and guidance information, after the unmanned container truck enters the operating area, the PLC system identifies the unmanned container truck that is operating; that is, after the unmanned container truck enters the operating area, the PLC system matches the obtained relevant information of the unmanned container truck with the guidance information received in real time, thereby identifying the unmanned container truck that is operating.

[0063] S4: Based on UDP (User Datagram Protocol) communication, the PLC system and the unmanned container truck complete DTLS (Datagram Transport Layer Security) identity authentication and then exchange guidance information and positioning status information to complete the point-to-point positioning of the unmanned container truck.

[0064] That is, after identifying the unmanned container truck in operation, the unmanned container truck needs to be accurately parked at the loading point for point-to-point alignment. Before alignment, the communication link switches to UDP communication and performs DTLS identity authentication. After the authentication is passed, the PLC system directly interacts with the unmanned container truck for guidance information, positioning status and other information, ensuring communication reliability while reducing data transmission links, shortening data transmission time, and reducing interaction delays, thereby reducing the unmanned container truck alignment accuracy deviation caused by interaction delays and achieving rapid positioning.

[0065] In the present invention, after completing DTLS identity authentication between the PLC system and the unmanned container truck, the guidance information and positioning status information are exchanged, wherein the steps of completing DTLS identity authentication between the PLC system and the unmanned container truck include:

[0066] S401: When the unmanned container truck enters the operation area and prepares for positioning, the unmanned container truck sends a DTLS connection request to the PLC system;

[0067] S402: The PLC system receives the DTLS connection request, generates a cookie (data stored on the local terminal) based on the vehicle-related information synchronized with the vehicle management platform, and returns it to the unmanned truck collection vehicle;

[0068] S403: The unmanned container truck receives the returned cookie and sends a DTLS connection request to the PLC system again;

[0069] S404: The PLC system receives the DTLS connection request sent again by the unmanned container truck, verifies the cookie, and after the verification is passed, establishes a handshake connection between the PLC system and the unmanned container truck.

[0070] In the present invention, after completing DTLS identity authentication between the PLC system and the unmanned container truck, the guidance information and positioning status information are exchanged to complete the point-to-point positioning of the unmanned container truck. The PLC system and the unmanned container truck exchange guidance information and positioning status information to complete the point-to-point positioning of the unmanned container truck. The specific steps include:

[0071] S411: The PLC system matches and identifies the unmanned container truck according to the guidance information pushed by ICPS in real time, and sends guidance information to the unmanned container truck;

[0072] S412: The unmanned container truck performs alignment according to the guidance information and returns the alignment status to the PLC system;

[0073] S413: The PLC system matches and identifies the unmanned container truck again according to the guidance information pushed by the ICPS in real time, and sends the guidance information to the unmanned container truck again;

[0074] S414: The unmanned container truck performs secondary alignment based on the guidance information sent again by the PLC system, and returns the alignment status to the PLC system. After secondary positioning and meeting the alignment accuracy, the point-to-point alignment of the unmanned container truck is completed.

[0075] Since the bridge crane intelligent container truck positioning ICPS and the unmanned container truck use UDP communication, the delay in sending and receiving positioning data is greatly reduced, avoiding the problem of inaccurate positioning and repeated positioning due to data delay when the unmanned container truck receives instructions, thereby realizing fast and accurate assisted positioning of the unmanned container truck.

[0076] Regarding the UDP communication used in the present invention, UDP is a connectionless protocol. Each datagram is an independent message, including a complete source address or destination address. It is transmitted to the destination through any possible path on the network. Therefore, whether it can reach the destination, the time of arrival at the destination, and the correctness of the content cannot be guaranteed. UDP is not a connection-type protocol, so it has the advantages of low resource consumption and fast processing speed. Therefore, UDP is usually used more for audio, video and ordinary data transmission, because even if one or two data packets are lost occasionally, it will not have a significant impact on the receiving result. The implementation of UDP communication includes the following four basic steps:

[0077] a. Specify a port number on the receiving end to create a DatagramSocket, then create a receiving datagram (DatagramPaket), and use the receive method to wait for the sender's request message, which will block the server thread;

[0078] b. Create a DatagramSocket on the sending end, use the receiving end's IP and port to create a datagram (DatagramPaket), and send it using the send method. Now the receiving end's receive method is awakened, and the sending end's datagram content is filled into the receiving end's DatagramPaket;

[0079] c. The receiving end obtains the sender's IP and port from the sender's datagram, uses them to construct a sending datagram, and then sends it to the sender, thus realizing the communication between the sender and the receiver;

[0080] d. After the communication is completed, close the Socket in the sending and receiving end respectively.

[0081] The code logic of the sender is implemented as follows:

[0082] / / Create the sending socket object

[0083] DatagramSocket sendSocket=new DatagramSocket();

[0084] / / Prepare the data to be sent

[0085] String message = "hello";

[0086] / / Create a buffer

[0087] byte[]messageByte=message.getBytes();

[0088] / / Get the actual length of the data in the buffer

[0089] int messageLen=message.length();

[0090] / / InetAddress instantiation to obtain the local communication address

[0091] InetAddress address=InetAddress.getLocalHost();

[0092] / / Set the communication port number

[0093] int port = 12345;

[0094] / / Package data

[0095] DatagramPacket sendPacket=new DatagramPacket(messageByte,messageLen,address,port);

[0096] / / Send data

[0097] sendSocket.send(sendPacket);

[0098] / / The sender waits for the receiver to return a response after successfully receiving the information

[0099] / / Create a buffer

[0100] byte[]recevieByte=new byte[1024*10];

[0101] int len=recevieByte.length;

[0102] / / Receive datagram

[0103] DatagramPacket receivePacket=new DatagramPacket(recevieByte,len);

[0104] / / Receive data

[0105] sendSocket.receive(receivePacket);

[0106] / / Get the actual length and data sent by the receiving end

[0107] byte[]data=receivePacket.getData();

[0108] int length=receivePacket.getLength();

[0109] String receiveData=new String(data,0,length);

[0110] / / Get the sender's IP

[0111] address=receivePacket.getAddress();

[0112] String ip=address.getHostAddress();

[0113] System.out.println("Receive data from: "+ip+", the content is: "+receiveData);

[0114] / / Close the resource

[0115] sendSocket.close().

[0116] The code implementation logic of the receiving end is as follows:

[0117] / / The port for receiving messages (consistent with the sending port)

[0118] int port = 12345;

[0119] DatagramSocket recevieSocket=new DatagramSocket(port);

[0120] / / Set up the buffer to receive the information sent

[0121] byte[]receiveByte=new byte[1024*10];

[0122] int len=receiveByte.length;

[0123] / / Receive datagram

[0124] DatagramPacket receviePacket=new DatagramPacket(receiveByte,len);

[0125] / / Receive data

[0126] recevieSocket.receive(receviePacket);

[0127] / / Get the actual received data and its size

[0128] byte[]data=receviePacket.getData();

[0129] int length=receviePacket.getLength();

[0130] String receiveData=new String(data,0,length);

[0131] / / Get the sender's IP

[0132] InetAddress address=receviePacket.getAddress();

[0133] String ip=address.getHostAddress();

[0134] System.out.println("Receive data from: "+ip+", the content is: "+receiveData);

[0135] / / After receiving the information, the receiving end sends a message to the sending end to confirm receipt

[0136] String message = "OK";

[0137] byte[]messageByte=message.getBytes();

[0138] int messageLength=message.length();

[0139] / / Get the IP and port from the received datagram

[0140] address=receviePacket.getAddress();

[0141] int port1=receviePacket.getPort();

[0142] / / Construct a new datagram

[0143] DatagramPacket sendPacket=new DatagramPacket(messageByte,messageLength,address,port1);

[0144] / / Send data

[0145] recevieSocket.send(sendPacket);

[0146] / / Close the resource

[0147] receiveSocket.close().

[0148] As for the DTLS authentication in the present invention, since the UDP protocol is a non-connection-oriented and unreliable protocol, and the transmitted message segments are not encrypted, the authentication of the communicating parties, the in-order reception of messages during transmission, no loss, and encrypted transmission cannot be guaranteed. The DTLS protocol implements the handshake connection between the client and the server on the socket (interface) provided by UDP, and implements encryption by using PSK (pre-shared key) or ECC (elliptical encryption algorithm) during the handshake process, and implements the authentication of the communicating parties by using the cookie verification mechanism and certificate, and implements reliable transmission by adding sequence numbers to the message segment header, caching the message segments that arrive out of order, and the retransmission mechanism.

[0149] DTLS identity authentication is mainly in the handshake stage. After the handshake is completed, the communicating parties can achieve secure encryption and reliable transmission of application data.

[0150] The interaction process between the DTLS protocol client and server during the handshake phase is as follows:

[0151] a. The client initiates a DTLS request and sends a client_hello segment, which must contain a cookie value. If the cookie value is empty, it means that no connection has been established before. The server randomly generates a cookie based on the client's source IP address through a hash method, fills it in client_hello_verify, and returns it to the client;

[0152] b. The client receives the client_hello_verify message returned by the server, obtains the cookie value, fills in the client_hello message segment, and sends it to the server again. After the server receives the message segment again, it checks whether the cookie value is exactly the same as the cookie value previously sent to the client by the server. If so, the cookie verification is passed and the handshake connection continues. If not, the connection is refused.

[0153] c. After the Cookie verification is passed, the server sends a certificate message segment to the client, which contains the public key of the certificate;

[0154] d. The server sends a server_key_exchange segment to the client. The encryption parameters contained in this segment are different for different encryption methods. The server and the client agree on a key exchange protocol and jointly negotiate the same session key for encrypting the session content.

[0155] e. After sending the authentication request, the server sends a server_hello_done segment as a sign, indicating that the server has completed sending the segment at the current stage;

[0156] f. After receiving the server_hello_done segment, the client obtains the certificate and sends the client_key_exchange segment to the server, which contains the coordinates of the base point used for key negotiation.

[0157] g. The client responds to the authentication request, calculates the session key, and sends a change_cipher_spec segment to the server as a sign that the client has calculated the master key. The segments sent thereafter will be encrypted with the master key.

[0158] h. The client sends the last finished segment. After receiving the finished segment from the client, the server will also send a change_cipher_spec segment to the client as a sign, indicating that the server has calculated the master key, and the segments sent thereafter will be encrypted with the master key.

[0159] i. The server generates a finished segment encrypted with the session key and sends it to the client, marking the end of the entire handshake phase.

[0160] After the client receives the finished segment sent by the server, it can send application data, and the application data will always be encrypted with the session key, thus achieving security that UDP does not have.

[0161] The point-to-point port unmanned container truck alignment data communication method of the embodiment of the present invention adopts TCP reliable communication mode to realize information synchronization between the PLC system and the unmanned container truck before the unmanned container truck enters the operating area. After the unmanned container truck enters the operating area, the link is switched to UDP communication, and DTLS identity authentication is performed. The unmanned container truck entering the operating area is quickly identified according to the synchronized information, and efficient and reliable alignment information interaction is performed. While ensuring communication reliability, the data transmission link is reduced, the data transmission time is shortened, and the interaction delay is reduced, thereby reducing the unmanned container truck alignment accuracy deviation caused by the interaction delay, thereby realizing rapid guidance of the unmanned container truck and rapid positioning of the unmanned container truck.

[0162] An embodiment of the present invention provides a point-to-point port unmanned container truck alignment data communication system, which includes a first communication module, a push module, an identification module and a positioning module.

[0163] The first communication module is used for TCP communication. Before the unmanned container truck enters the operating area, it drives the unmanned container truck to synchronize the vehicle-related information to the PLC system through the port's vehicle management platform; the push module is used to drive ICPS to obtain the guidance information of the unmanned container truck within its jurisdiction in real time, and push the obtained guidance information to the PLC system in real time; the identification module is used to drive the PLC system to identify the unmanned container truck in operation after the unmanned container truck enters the operating area based on the received vehicle-related information and guidance information; the positioning module is used to drive the PLC system to complete the DTLS identity authentication with the unmanned container truck based on UDP communication, and then complete the point-to-point positioning of the unmanned container truck.

[0164] In the present invention, before the unmanned container truck enters the operation area, the method further includes:

[0165] Establish a TCP connection between the unmanned container truck and the vehicle management platform;

[0166] A TCP connection is established between the vehicle management platform and the PLC system of ICPS.

[0167] In the present invention, the unmanned container truck synchronizes the vehicle-related information to the PLC system through the port's vehicle management platform. The specific process includes:

[0168] The vehicle management platform issues bridge crane tasks or tire crane tasks to unmanned container trucks;

[0169] The unmanned truck receives the task and returns the vehicle information, IP address information and port information to the vehicle management platform;

[0170] The vehicle management platform synchronizes the vehicle information, IP address information and port information returned by the unmanned container truck to the PLC system.

[0171] In the present invention, ICPS obtains the guidance information of unmanned container trucks within its jurisdiction in real time, and pushes the obtained guidance information to the PLC system. The specific process includes:

[0172] ICPS monitors unmanned container trucks in real time within its jurisdiction and obtains guidance information about them;

[0173] ICPS periodically pushes the acquired guidance information to the PLC system.

[0174] In the present invention, the guidance information includes the position of the unmanned container truck in the direction of the vehicle, the posture or angle value of the unmanned container truck, and the difference between the unmanned container truck and the in-place position.

[0175] In the present invention, after completing DTLS identity authentication between the PLC system and the unmanned container truck, the guidance information and positioning status information are exchanged. The process of completing DTLS identity authentication between the PLC system and the unmanned container truck includes:

[0176] When the unmanned container truck enters the operation area and prepares to locate, it sends a DTLS connection request to the PLC system;

[0177] The PLC system receives the DTLS connection request, generates a cookie based on the vehicle-related information synchronized with the vehicle management platform, and returns it to the unmanned truck collection truck.

[0178] The unmanned container truck receives the returned cookie and sends a DTLS connection request to the PLC system again;

[0179] The PLC system receives the DTLS connection request sent again by the unmanned container truck, verifies the cookie, and after the verification is passed, a handshake connection is established between the PLC system and the unmanned container truck.

[0180] The point-to-point data communication system for unmanned container trucks in a port of the present invention adopts a TCP reliable communication mode to realize information synchronization between a PLC system and the unmanned container truck before the unmanned container truck enters the operating area. After the unmanned container truck enters the operating area, the link is switched to UDP communication, and DTLS identity authentication is performed. The unmanned container truck entering the operating area is quickly identified according to the synchronized information, and efficient and reliable information interaction for alignment is performed. While ensuring communication reliability, the data transmission link is reduced, the data transmission time is shortened, and the interaction delay is reduced, thereby reducing the alignment accuracy deviation of the unmanned container truck caused by the interaction delay, thereby realizing rapid guidance of the unmanned container truck and rapid positioning of the unmanned container truck.

[0181] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

[0182] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the process in the flowchart. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

Claims

1. A point-to-point data communication method for unmanned container trucks in ports, characterized in that: The specific steps include: Based on TCP communication, before the unmanned container truck enters the operation area, it synchronizes the vehicle-related information to the PLC system through the port's vehicle management platform; ICPS obtains guidance information of unmanned container trucks within its jurisdiction in real time, and pushes the obtained guidance information to the PLC system in real time; Based on the received vehicle-related information and guidance information, after the unmanned container truck enters the operation area, the PLC system identifies the unmanned container truck in operation; Based on UDP communication, the PLC system and the unmanned container truck complete DTLS identity authentication to exchange guidance information and positioning status information, completing the point-to-point positioning of the unmanned container truck; After completing the DTLS identity authentication between the PLC system and the unmanned container truck, the guidance information and positioning status information are exchanged. The steps of completing the DTLS identity authentication between the PLC system and the unmanned container truck include: When the unmanned container truck enters the operation area and prepares to locate, it sends a DTLS connection request to the PLC system; The PLC system receives the DTLS connection request, generates a cookie based on the vehicle-related information synchronized with the vehicle management platform, and returns it to the unmanned truck collection truck; The unmanned container truck receives the returned cookie and sends a DTLS connection request to the PLC system again; The PLC system receives the DTLS connection request sent again by the unmanned container truck, verifies the cookie, and after the verification is passed, a handshake connection is established between the PLC system and the unmanned container truck.

2. A point-to-point data communication method for unmanned container trucks in ports as claimed in claim 1, characterized in that: Before unmanned container trucks enter the operation area, it also includes: Establish a TCP connection between the unmanned container truck and the vehicle management platform; A TCP connection is established between the vehicle management platform and the PLC system of ICPS.

3. A point-to-point data communication method for unmanned container trucks in ports as claimed in claim 2, characterized in that: The unmanned container truck synchronizes the vehicle-related information to the PLC system through the port's vehicle management platform. The specific steps include: The vehicle management platform issues bridge crane tasks or tire crane tasks to unmanned container trucks; The unmanned truck receives the task and returns the vehicle information, IP address information and port information to the vehicle management platform; The vehicle management platform synchronizes the vehicle information, IP address information and port information returned by the unmanned container truck to the PLC system.

4. A point-to-point data communication method for unmanned container trucks in ports as claimed in claim 1, characterized in that: The ICPS obtains the guidance information of the unmanned container trucks within the jurisdiction in real time, and pushes the obtained guidance information to the PLC system. The specific steps include: ICPS monitors unmanned container trucks in real time within its jurisdiction and obtains their guidance information; ICPS periodically pushes the acquired guidance information to the PLC system.

5. A point-to-point data communication method for unmanned container trucks in ports as claimed in claim 2, characterized in that: The guidance information includes the position of the unmanned container truck in the direction of the vehicle, the posture or angle value of the unmanned container truck, and the difference between the unmanned container truck and the in-place position.

6. A point-to-point data communication method for unmanned container trucks in ports as claimed in claim 1, characterized in that: After completing DTLS identity authentication between the PLC system and the unmanned container truck, the guidance information and positioning status information are exchanged to complete the point-to-point positioning of the unmanned container truck. The PLC system and the unmanned container truck exchange guidance information and positioning status information to complete the point-to-point positioning of the unmanned container truck. The specific steps include: The PLC system matches and identifies the unmanned container truck based on the guidance information pushed by ICPS in real time, and sends guidance information to the unmanned container truck; The unmanned container truck aligns according to the guidance information and returns the alignment status to the PLC system; The PLC system matches and identifies the unmanned container truck again based on the guidance information pushed by ICPS in real time, and sends the guidance information to the unmanned container truck again; The unmanned container truck performs secondary alignment based on the guidance information sent again by the PLC system and returns the alignment status to the PLC system. After secondary positioning and meeting the alignment accuracy, the point-to-point alignment of the unmanned container truck is completed.

7. A point-to-point data communication system for unmanned container trucks in ports, characterized in that: include: The first communication module is used for driving the unmanned container truck to synchronize the vehicle-related information to the PLC system through the port's vehicle management platform before the unmanned container truck enters the operation area based on TCP communication; The push module is used to drive ICPS to obtain the guidance information of unmanned container trucks within the jurisdiction in real time, and push the obtained guidance information to the PLC system in real time; The identification module is used to drive the PLC system to identify the unmanned container truck in operation after the unmanned container truck enters the operation area according to the received vehicle-related information and guidance information; The positioning module is used to drive the PLC system and the unmanned container truck to complete the DTLS identity authentication based on UDP communication, and then exchange guidance information and positioning status information to complete the point-to-point positioning of the unmanned container truck; After completing the DTLS identity authentication between the PLC system and the unmanned container truck, the guidance information and positioning status information are exchanged. The steps of completing the DTLS identity authentication between the PLC system and the unmanned container truck include: When the unmanned container truck enters the operation area and prepares to locate, it sends a DTLS connection request to the PLC system; The PLC system receives the DTLS connection request, generates a cookie based on the vehicle-related information synchronized with the vehicle management platform, and returns it to the unmanned truck collection truck; The unmanned container truck receives the returned cookie and sends a DTLS connection request to the PLC system again; The PLC system receives the DTLS connection request sent again by the unmanned container truck, verifies the cookie, and after the verification is passed, a handshake connection is established between the PLC system and the unmanned container truck.

8. A point-to-point port unmanned container truck alignment data communication system as claimed in claim 7, characterized in that: Before unmanned container trucks enter the operation area, it also includes: Establish a TCP connection between the unmanned container truck and the vehicle management platform; A TCP connection is established between the vehicle management platform and the PLC system of ICPS.

9. A point-to-point port unmanned container truck alignment data communication system as claimed in claim 8, characterized in that: The unmanned container truck synchronizes the vehicle-related information to the PLC system through the port's vehicle management platform. The specific process includes: The vehicle management platform issues bridge crane tasks or tire crane tasks to unmanned container trucks; The unmanned truck receives the task and returns the vehicle information, IP address information and port information to the vehicle management platform; The vehicle management platform synchronizes the vehicle information, IP address information and port information returned by the unmanned container truck to the PLC system.

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