Port external container truck vehicle navigation method and device based on WeChat applet

Abstract

The invention relates to a container truck vehicle navigation method and device based on a WeChat applet, and belongs to the field of vehicle navigation. The method comprises the following steps: S1, entering a vehicle real-time navigation APP by scanning a WeChat two-dimensional code, and obtaining an outer container truck operation task from a port scheduling system; s2, the real-time navigation APP plans an optimal path through a path planning algorithm, sends the real-time position of the vehicle to a scheduling system at regular time, and navigates the vehicle entering the harbor district; and S3, the real-time navigation APP sends instructions about to arrive and arrive at the operation place to the scheduling system, and guides the container truck to complete the operation task. According to the container truck real-time navigation APP based on the WeChat applet, the problem that a driver of an outer container truck is difficult to find a way is solved; meanwhile, based on development of WeChat applets, the system is relatively light, and by optimizing a road network data structure, a path planning algorithm and a path guiding mode and reducing dimensions of latitude and longitude coordinates, development and broadcasting cost of port scheduling real-time navigation is reduced.

Description

Technical Field

[0001] The present invention belongs to the field of vehicle navigation, and in particular relates to a method, device and system for navigating container trucks outside a port based on a WeChat applet. Background Art

[0002] With the continuous development of my country's economy, ports are constantly expanding in scale, and port transportation management is becoming more and more important. Container ports are not only cargo transshipment centers and industrial production bases, but also an important part of the modern logistics network system, and their position in intelligent logistics is very important. As the most important link in the entire port business, container business plays an important role in the entire international logistics system. At present, the scale of container terminals is getting larger and larger. Under the "bridge crane-container truck-gantry crane" process system, some larger port terminals have an average transportation system with more than 50 internal container trucks at the terminal, and the total number of external container trucks entering and leaving the terminal yard every day is nearly 10,000.

[0003] After years of information construction and practical application, ports have their own container truck dispatching system to process data in real time, generate dispatching plans, and then send the results to wireless terminals through the dispatching platform to complete the dispatching of container trucks. Internal container trucks (hereinafter referred to as internal container trucks) are internal vehicles of the terminal. The vehicles are equipped with a vehicle dispatching system based on satellite positioning. The drivers work in the port area all year round and have a relatively good understanding of the internal traffic environment of the port area. After receiving the instructions of the dispatching system, they can quickly reach the designated operation area, and supervision is relatively easy. However, for external container trucks (hereinafter referred to as external container trucks), although the vehicle and driver information will be entered into the port area's dispatching system before entering the site, and they can receive the work tasks assigned by the port area, there are generally certain management problems. With the actual needs of port safety production, port terminals use technical means to navigate, dispatch and supervise external container trucks, which has important practical significance for improving the production efficiency and automation level of port operations.

[0004] In order to monitor container trucks, the port management has set up cameras at important intersections and ground pressure coils at important sections. However, after foreign container trucks enter the port, due to the large space, similar environment and landmarks, and difficult to distinguish directions, it is easy for the transport vehicles to get lost. The existing monitoring equipment cannot monitor the vehicles in real time, which also affects the efficiency of port logistics, which is reflected in:

[0005] (1) Drivers are not familiar with the road conditions in the port area, and they often take the wrong road or take many detours, which affects the efficiency of container loading and unloading tasks to a certain extent;

[0006] (2) Drivers fail to comply with port traffic regulations, including speeding, making U-turns, driving in the wrong direction, and driving through the container area;

[0007] (3) Vehicles stay in the port area for too long, occupying the port area's scarce roads, parking spaces and other resources;

[0008] (4) Information communication is not smooth and response is not timely. The external truck driver enters the container area and arrives at the operation site, notifies the port area by phone, and then sends a gantry crane driver to the operation site;

[0009] (5) Monitoring issues: After external trucks enter the port area, the movement of the vehicles cannot be monitored in real time, making it impossible to conduct timely supervision. Summary of the invention

[0010] In view of the above-mentioned deficiencies in the prior art, the purpose of the invention is to provide a container truck navigation method and system based on WeChat mini-programs. By establishing a real-time navigation system for external container trucks based on WeChat mini-programs, real-time navigation services for external container trucks are realized and the vehicle operation information is connected with the existing information management system of the port, thereby improving the operating efficiency of the real-time navigation application.

[0011] The first aspect of the present invention provides a truck navigation method based on WeChat applet, which specifically includes:

[0012] S1 enters the vehicle navigation APP through the WeChat QR code and obtains the external container truck operation tasks from the port dispatch system;

[0013] The S2 real-time navigation app plans the optimal route through the path planning algorithm, sends the real-time location of the vehicle to the dispatching system at regular intervals, and guides the vehicles entering the port area;

[0014] The S3 real-time navigation app sends instructions about approaching and arriving at the work site to the dispatch system, and guides the container truck to complete the work task.

[0015] Furthermore, S1 specifically includes:

[0016] (1) Before entering the port area, the driver enters the vehicle information and driver information of the external container truck into the port dispatch system and binds the mobile phone number on the WeChat public account;

[0017] (2) When the driver arrives at the port gate, the gate camera automatically recognizes the license plate number. The gate system retrieves the current vehicle operation task from the port dispatch system and displays the operation task and the corresponding QR code on the gate booth screen.

[0018] (3) The driver scans the QR code through WeChat to obtain an electronic driving receipt. The information on the electronic driving receipt includes: vehicle information, driver information, detailed operation tasks of the external container truck, and common contact information of the port area. The driver clicks on the driving receipt to enter the vehicle real-time navigation APP.

[0019] Furthermore, S2 specifically includes:

[0020] S2.1 Based on the A* path planning algorithm, a road network data model is established according to the road nodes, road sections and traffic rules in the road network;

[0021] S2.2 calculates the shortest path from the user's current location to the destination through the A* path planning algorithm of the heap priority queue, obtains the set of sections from the starting point to the end point, and generates the driving route and guidance information;

[0022] S2.3 simplifies the real-time navigation function by reducing the set of route segments from the starting point to the end point into one-dimensional data based on mileage.

[0023] Furthermore, the S2.1 specifically includes:

[0024] (1) Expanding the road segments in the road network into nodes in a directed graph;

[0025] (2) according to the connectivity of the road network, creating the next connected road segment of the road segment in the road network as an edge segment in the directed graph, and deleting the road segments where the traffic regulations prohibit driving;

[0026] (3) Calculate the direction for each node, calculate the turning cost from one node to another, and establish a road network data model.

[0027] Furthermore, the A* path planning algorithm design based on the heap priority queue in S2.2 specifically includes:

[0028] (1) Construct a data structure and introduce an evaluation function f_score in the path search process. The evaluation value of a node is evaluated based on the travel time and turn cost from each node to the next connected node. The smaller the evaluation value of a node, the greater the probability that the node appears on the shortest path.

[0029] (2) construct a priority queue heap to select the node with the most underestimated f_score value for expansion;

[0030] (3) Construct an open list to store the nodes to be expanded, calculate the actual cost g_score of the neighbor node, calculate the estimated cost h_score from the neighbor node to the target node, and update its estimated value f_score. If a smaller f_score is found, update the information of the neighbor node and add it to the open list; if the target node is found, reconstruct the path by backtracking the dictionary, and the calculation formula for the search node estimated value f_score is as follows:

[0031] f_score=g_score+h_score

[0032] (4) A closed list is formed to store nodes that have been expanded to avoid repeated processing.

[0033] Furthermore, the S2.3 simplifies the real-time navigation function by reducing the latitude and longitude coordinates, specifically including:

[0034] S2.3 simplifies the real-time navigation function by reducing the latitude and longitude coordinates to one-dimensional data based on mileage, specifically including:

[0035] (1) Reduce the dimension of the set of route segments from the starting point to the end point to one-dimensional mileage data based on mileage;

[0036] (2) Establish a real-time navigation guidance data model based on the driving mileage, convert the road turning points of the driving route into mileage points, and convert the speed limit reminders, key monitoring, sharp turns, continuous turns, steep slopes, narrow roads, special lanes, dangerous sections, and railway intersection light guidance reminder points along the road into mileage points;

[0037] (3) After the real-time navigation APP receives the real-time position of the vehicle, it establishes a spatial point buffer based on the horizontal accuracy of the real-time position of the vehicle and the maximum horizontal positioning error of 50 meters;

[0038] (4) Match the real-time position of the vehicle to the mileage, calculate vehicle events based on the current mileage of the vehicle, and trigger vehicle turning events, vehicle position update events, guidance point reminder events, and upcoming arrival events. The event content includes: current mileage, distance to the next turning event, distance to the destination, route traveled, and route not traveled;

[0039] (5) The real-time navigation APP UI layer will monitor navigation events.

[0040] Furthermore, the S3 specifically includes:

[0041] The road segments are traversed to generate textual guidance information. The generated WGS84 longitude and latitude segments and textual guidance information are organized in JSON format and sent to the real-time navigation module to display the path and description information on the map.

[0042] In a second aspect of the present invention, a truck navigation device based on WeChat applet is provided, which is used to implement the above-mentioned truck navigation method based on WeChat applet. The device comprises:

[0043] The scanning module is used to scan the WeChat QR code to enter the vehicle navigation APP and obtain the external container truck operation tasks from the port dispatch system;

[0044] The real-time navigation APP is used to plan the optimal route through the path planning algorithm, send the real-time location of the vehicle to the dispatching system at regular intervals, and navigate the vehicles entering the port area; it also sends instructions of approaching and arriving at the work site to the dispatching system to guide the container trucks to complete the work tasks.

[0045] In a third aspect of the present invention, a truck navigation system based on WeChat applet is proposed, the system comprising a truck navigation device based on WeChat applet as described above, and a port dispatching system, wherein the real-time navigation APP in the truck navigation device based on WeChat applet is connected with the port dispatching system, including:

[0046] The real-time navigation APP in the navigation device obtains the external container truck operation tasks from the port dispatching system;

[0047] The real-time navigation APP sends the real-time location information of the vehicle to the port dispatching system at regular intervals;

[0048] The real-time navigation APP sends instructions of approaching and arriving at the operation site to the port dispatching system.

[0049] The real-time navigation APP of the present application can also be uniformly called the real-time navigation applet, which is not limited to WeChat and can also be run as a applet on Alipay and DingTalk after adaptation.

[0050] In a fourth aspect of the present invention, a computer-readable storage medium is proposed, in which a computer program code is stored. The computer program code is loaded by a processor and executes the truck navigation method based on the WeChat applet as described above.

[0051] Compared with the prior art, the present invention has the following beneficial effects:

[0052] (I) Full electronic map + voice navigation

[0053] In addition to displaying the port area and surrounding information, the driver's current position and direction, and the route to the operating area in the form of an electronic map, the present invention can also guide users to the operating area in the form of voice and text, which is safer and more convenient. The location and speed information of the external container truck is regularly transmitted to the background service system in real time. The background can set various alarms such as dangerous areas and electronic fences according to business needs to promptly remind the background monitoring personnel.

[0054] (II) Event on-demand notification reminder

[0055] When the driving speed exceeds the speed limit set by the road or port area, the driver can be notified of the speeding information by voice. There are many kinds of broadcast reminders such as speed limit signs, surveillance cameras, sharp turns, continuous turns, steep slopes, narrow roads, special lanes, dangerous sections, etc.

[0056] (III) Drivers do not need to install additional APP on their mobile phones

[0057] A real-time navigation APP based on WeChat applet. The port area has promoted the WeChat public account among external container truck drivers in the early stage. Drivers bind their mobile phones to the WeChat public account, and when entering the port gate, they scan the QR code through WeChat to obtain the electronic driving ticket (including work tasks), and click on the driving ticket to enter the vehicle navigation APP.

[0058] The real-time navigation APP for container trucks based on WeChat mini-program targets container truck drivers. By serving container truck drivers, it solves problems such as the difficulty of container truck drivers in finding the way, and is also the basis for comprehensively solving the problem of container truck vehicle supervision. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] The accompanying drawings are only used to illustrate specific embodiments and are not considered to limit the present invention. In the entire drawings, the same reference symbols represent the same components. Obviously, the drawings described below are only some embodiments recorded in the embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings.

[0060] Figure 1 A truck navigation system based on a WeChat applet according to an embodiment of the present invention;

[0061] Figure 2 This is a flow chart of a truck navigation method based on a WeChat applet according to an embodiment of the present invention;

[0062] Figure 3 A schematic diagram of an electronic driving ticket pushed by a WeChat public account according to an embodiment of the present invention;

[0063] Figure 4 A schematic diagram of a real-time navigation page according to an embodiment of the present invention;

[0064] Figure 5 A schematic diagram of a road network data structure composed of nodes and road sections according to an embodiment of the present invention;

[0065] Figure 6 A test network schematic diagram of an embodiment of the present invention;

[0066] Figure 6 (a) is a schematic diagram of expanding a road segment in a road network into nodes according to an embodiment of the present invention;

[0067] Figure 6 (b) is a schematic diagram of establishing a road segment according to road network connectivity according to an embodiment of the present invention;

[0068] Figure 7 A schematic diagram of calculating a path cost according to an embodiment of the present invention;

[0069] Figure 8 A route from a starting point to an end point drawn on a map in an embodiment of the present invention;

[0070] Fig. 9 A schematic diagram of text navigation guidance information according to an embodiment of the present invention;

[0071] Fig.10 It is a schematic diagram of reducing the dimension of two-dimensional longitude and latitude data from a starting point to an end point to one-dimensional data according to an embodiment of the present invention;

[0072] Fig.11 A schematic diagram of a path and coordinates marked with mileage according to an embodiment of the present invention;

[0073] Fig.12 A schematic diagram of a navigation event broadcast according to an embodiment of the present invention;

[0074] Fig.13 The present invention is a truck navigation device for realizing the above-mentioned WeChat applet-based navigation device. DETAILED DESCRIPTION

[0075] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present invention, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. It should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without making creative work should fall within the scope of protection of the present invention.

[0076] Furthermore, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessarily obscuring the concepts disclosed in the present invention.

[0077] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the orientation or position relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. The terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0078] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of methods and systems consistent with some aspects of the present invention as detailed in the appended claims.

[0079] The real-time navigation APP for truck collection based on WeChat applet is a WeChat applet developed using HTML+JAVASCRIPT. It can be run in WeChat without users downloading it. Its main functions include: map browsing, location navigation, positioning engine, real-time path correction, real-time voice navigation, positioning correction and reporting, etc. The core functional design will be explained below.

[0080] The real-time navigation APP of the present application can also be uniformly called the real-time navigation applet, which is not limited to WeChat and can also be run as a applet on Alipay and DingTalk after adaptation.

[0081] Figure 1 This is a schematic diagram of the architecture of the truck navigation system based on the WeChat applet of the present invention. The entire system mainly consists of the following three parts:

[0082] 1) Real-time navigation APP is a real-time navigation APP for card collection based on WeChat applet, which adopts a layered architecture system, including navigation UI layer, navigation service layer, navigation engine layer and data access layer.

[0083] 2) Real-time navigation background service system, which mainly provides port map style editing and publishing functions, port navigation map data maintenance and publishing functions, real-time monitoring of vehicles operating in the port, port POI management and query functions, etc.

[0084] 3) The port area dispatching system is a third-party platform that mainly provides inquiries on the queueing status of vehicles in the container area. When a vehicle arrives at the operating container area, the queueing status of vehicles waiting for operation in the container area can be viewed in real time through this interface; the vehicle real-time position reporting interface, the port area dispatching system can understand the real-time status of external container trucks; the vehicle is about to arrive interface, when the external container truck is about to enter the container area road and is 50 meters away from the container area road, the navigation APP automatically calls this interface to send a reminder of the vehicle's imminent arrival to the port area dispatching system; the vehicle confirmed arrival interface, when the external container truck arrives at the operating container area, the navigation APP calls this interface to notify the port area dispatching system. Others include interfaces for real-time replacement of port vehicles and operating container areas.

[0085] Figure 2 The present invention provides a truck navigation method based on WeChat applet. Specifically, the method comprises the following steps:

[0086] S1 enters the vehicle navigation APP by scanning the WeChat QR code and obtains external container truck operation tasks from the port dispatching system.

[0087] (1) Before entering the port, the driver needs to enter the information of the external container truck and the driver into the container truck dispatch system in the service hall, and the driver needs to bind his mobile phone to the WeChat public account.

[0088] (2) When the driver arrives at the port gate, the camera at the port gate automatically identifies the license plate number. The gate system retrieves the current vehicle operation task from the port dispatch system and displays the operation task and the corresponding QR code on the gate booth screen. When the driver drives into the port gate, he scans the QR code through WeChat to obtain an electronic driving ticket, which includes the detailed operation task of the external container truck. Clicking on the driving ticket will enter the vehicle navigation APP.

[0089] (3) Figure 3 The schematic diagram of the electronic driving ticket pushed by the WeChat official account of the embodiment of the present invention. The driver obtains the electronic driving ticket by scanning the QR code through WeChat. The information on the electronic driving ticket includes: vehicle information, driver information, detailed operation tasks of the external container truck, common contact information of the port area, etc. The driver clicks on the driving ticket to enter the vehicle real-time navigation APP.

[0090] The S2 real-time navigation app plans the optimal route through a path planning algorithm, regularly sends the real-time location of the vehicle to the dispatching system, and navigates vehicles entering the port area.

[0091] Before the driver enters the real-time navigation APP, WeChat will prompt the user whether to agree to share location information with the APP. If the user does not agree, the navigation APP will not be able to obtain the user's location, cannot navigate, and cannot send the vehicle's real-time location to the dispatch system on a regular basis, but can browse and view the map; if the user agrees, the navigation APP can obtain the user's location in real time, the user can click on the destination in the driving ticket to easily guide the vehicle to the destination, and can send the vehicle's real-time location to the dispatch system on a regular basis.

[0092] The real-time navigation APP is centered on the electronic map, which provides map roaming, zooming in and out, scale, compass, acquisition and display of current location, display of driving tickets, driving routes, etc. During the real-time navigation process, the APP obtains the mobile phone location information in real time and provides guidance by combining text and voice, such as Figure 4 The figure shows a page schematic diagram of a real-time navigation according to an embodiment of the present invention, specifically:

[0093] (1) Text guidance: Navigation guidance information is displayed in real time on the map, including turning events, impending arrival, speeding, etc.

[0094] (2) Voice guidance: The system describes warning events such as maneuvering events and dangerous road sections during navigation as text descriptions, and calls online speech synthesis services to convert the text into voice for real-time broadcasting. When the vehicle is speeding, the system will promptly remind the driver by voice. Priorities are established for voice broadcast events, and high-level voice broadcast events are broadcast first. Instant broadcasts have the highest priority and can interrupt other voice events that are being broadcast.

[0095] The dispatch system monitoring personnel can see the vehicle's location information in real time on the large screen, and can monitor external truck drivers in real time by setting up electronic fences in dangerous areas and speeding reminders in the system. When the driver completes the work and leaves the port operation area, the real-time navigation APP will automatically turn off the location acquisition function.

[0096] Since the real-time navigation APP of the present invention is run through the WeChat applet, the mobile phone storage resources and computing resources that the program can call are limited. In order to allow the APP to run smoothly, the present invention has made the following improvements to the road network data structure, path planning algorithm and path guidance method:

[0097] S2.1 Establish a road network data model for road segment expansion.

[0098] Figure 5 Figure 1 is a schematic diagram of a road network structure model in an embodiment of the present invention. In the path calculation based on the A* algorithm, it is necessary to Figure 5As shown, a road network data structure is established based on road nodes (Node) and road segments (Edge). The real-time navigation APP of the present invention loads the road network data and converts it into a road segment expansion graph. The data model can more conveniently handle intersection turning costs and turning restrictions during the calculation process.

[0099] Figure 6 A, B, C, D, and E in the test network are nodes in the network, AB, BC, CD, and CE are bidirectional sections in the network, and ABC and DCE are two roads intersecting at node C. Based on the test network, the following processing steps are performed:

[0100] (1) Expand the bidirectional sections of the road in the road network into nodes (Vertex), a total of 8 nodes, such as Figure 6 (a) is a schematic diagram of expanding road segments in a road network into nodes according to an embodiment of the present invention.

[0101] (2) According to the connectivity of the road network, the next connected road segment of the road segment in the road network is created as an edge in the directed graph, and the road segments prohibited by traffic regulations are deleted. Figure 6 In the example above, we create a road segment by connecting one road segment to another. Assuming that each road segment in the road network above is bidirectional, we can create the following 11 road segments (including U-turns), that is, convert the original two connected road segments into one road segment. Figure 6 (b) is a schematic diagram of establishing a road section according to road network connectivity in an embodiment of the present invention. In the actual road network data model construction, the road sections prohibited by the road traffic regulations can be deleted in this step. For example, if it is prohibited to turn left from the BC section to the CD section, the BC-CD section can be removed.

[0102] (3) Calculate the direction for each newly created node and the turning cost from one node to another. After converting the road segment to a node, each node is a road segment in the original road network. The direction of entering and exiting the node can be calculated for each node. The direction value is 0 degrees from due north and rotates clockwise. The direction value range is: [0,360).

[0103] In the newly constructed road network based on road segment development, the direction from one node to another is easy to calculate, and accordingly, the turning cost from one node to another is also easy to calculate. This paper assigns different turning costs to straight, left, right, and U-turn based on experience. Figure 6Taking the direction from node A to node D as an example, the driving cost from node AB to node BC is calculated as 4.2 seconds based on the actual distance. The direction of node AB is 90 degrees, and the direction to node BC is also 90 degrees, which is straight driving, and the turning cost is increased by 0.2 seconds; the direction of node CD is 0 degrees, and the direction from BC to node CD is -90 degrees, which is a 90-degree left turn, and the turning cost is 3 seconds, so we get the following: Figure 7 Schematic diagram of the path cost from point A to point D.

[0104] Through the above-mentioned preprocessing based on distance and turning direction, the road network data model developed based on the road section can greatly simplify the workload of path calculation and improve operation efficiency.

[0105] S2.2 Design of A* path planning algorithm based on heap priority queue;

[0106] The A* algorithm is a typical best-first search algorithm in path planning. It introduces an evaluation function to evaluate each node during the search process. The smaller the estimated value of a node, the greater the possibility that it appears on the shortest path. Therefore, each iteration of the algorithm selects the node with the smallest current estimated value from the candidate set for judgment until the search reaches the target node or traverses all possible nodes. The estimation function of the A* algorithm is defined as:

[0107] f(n2)=g(n)+h(n)

[0108] Where f(n) is the estimated value of node n, g(n) is the shortest path value from the initial point S to node n, and h(n) is the estimated value of the shortest path from node i to the target point T.

[0109] The A* path planning algorithm based on the heap priority queue uses the priority queue (minimum heap) to manage the nodes to be processed, and each time selects the node with the smallest estimated value f(n) for expansion. This method can effectively find the optimal path from the starting point to the end point, and performs well in terms of computational complexity and memory usage. The following is a detailed design and expansion description of the A* path planning algorithm.

[0110] (1) Construct a data structure and introduce an evaluation function f_score in the path search process. The evaluation value of a node is evaluated based on the travel time and turning cost from each node to the next connected node. The smaller the evaluation value of a node, the greater the probability that the node appears on the shortest path.

[0111] (2) construct a priority queue heap to select the node with the most underestimated f_score value for expansion;

[0112] (3) Construct an open list to store the nodes to be expanded, calculate the actual cost g_score of the neighbor node, calculate the estimated cost h_score from the neighbor node to the target node, and update its estimated value f_score. If a smaller f_score is found, update the information of the neighbor node and add it to the open list; if the target node is found, reconstruct the path by backtracking the dictionary, and the calculation formula for the search node estimated value f_score is as follows:

[0113] f_score=g_score+h_score

[0114] (4) A closed list is formed to store nodes that have been expanded to avoid repeated processing.

[0115] The use of the heap priority queue ensures that the path node with the lowest current cost is expanded each time, thereby improving the efficiency of the algorithm.

[0116] The navigation APP of the present invention optimizes the data structure in the traditional A* algorithm, and uses a heap-based priority queue to calculate the priority of each candidate node, with a time complexity of 0 (lgn). When traversing nodes in the road network, the program creates an object pool and recycles nodes as much as possible to reduce garbage collection, and the actual efficiency is better than the traditional A* algorithm.

[0117] The shortest path from the starting point (user's current location) to the destination is calculated through the path planning algorithm. The calculation result is actually the ordered set of sections from the starting point to the destination, such as Figure 8 Connecting these segments forms a path from the starting point to the end point.

[0118] Each road section contains information such as the length of the road section, the direction of the road entering, the direction of the road exiting, the road number, the grade, the speed limit, etc. Traversing these road sections can generate Fig. 9 Textual guidance information. The generated WGS84 longitude and latitude segments and textual guidance information are organized in JSON format and sent to the real-time navigation module to display the path and description information on the map.

[0119] S2.3 simplifies the real-time navigation function by reducing the latitude and longitude coordinates.

[0120] During real-time navigation, the navigation app will obtain the current location information in real time and make various event and business logic judgments based on the current road location, including:

[0121] (1) Text guidance events, such as road turning, about to arrive, and reaching the destination;

[0122] (2) Voice announcement of maneuvering events, voice announcement of various intervals to the next maneuvering event, announcement of road driving, announcement of approaching, arrival at destination, etc.;

[0123] (3) Reminder event broadcast, camera, dangerous road section and other events broadcast;

[0124] (4) Other events, including deviation, false position reporting, etc.

[0125] S2.3 simplifies the real-time navigation function by reducing the latitude and longitude coordinates to one-dimensional data based on mileage, specifically including:

[0126] (1) Reduce the dimension of the set of route segments from the starting point to the end point to one-dimensional mileage data based on mileage;

[0127] (2) Establish a real-time navigation guidance data model based on the driving mileage, convert the road turning points of the driving route into mileage points, and convert the speed limit reminders, key monitoring, sharp turns, continuous turns, steep slopes, narrow roads, dedicated lanes, dangerous sections, and railway intersection guidance reminder points along the road into mileage points;

[0128] (3) After the real-time navigation APP receives the real-time position of the vehicle, it establishes a spatial point buffer based on the horizontal accuracy of the real-time position of the vehicle and the maximum horizontal positioning error of 50 meters;

[0129] (4) Match the vehicle's real-time location to the mileage. If the vehicle's location deviates too far from the route, the match will fail and the vehicle's location will be discarded as a noise point. If the vehicle's mileage regresses, the vehicle's location will be discarded. If the vehicle's mileage jumps too far, the vehicle's location will also be discarded. Only the vehicle's location that is suitable based on comprehensive evaluation will be retained.

[0130] (5) Calculate vehicle events based on the current mileage of the vehicle, which can trigger vehicle turning events, vehicle position update events, guidance point reminder events, upcoming arrival events, etc. For example, when a vehicle position update event is triggered, the event content includes: current mileage, distance to the next turning event, distance to the destination, route traveled, route not traveled, etc.;

[0131] (6) The real-time navigation APP UI layer will monitor navigation events, such as vehicle location update events, update the map driving route trajectory, and update the map text description information; if the vehicle turns, it will broadcast the turn reminder in real time.

[0132] WeChat mini programs use limited resources when running on mobile phones. A large amount of business logic will inevitably lead to increased computing power and increased power consumption of mobile phones, affecting the stability of WeChat's operation and user experience.

[0133] The real-time navigation APP of the present invention combines the actual situation of the WeChat applet and reduces the XY two-dimensional longitude and latitude data from the starting point to the end point to one-dimensional data based on mileage.

[0134] For example, with the rectangular coordinate system (0,0) as the origin, the coordinate unit is kilometers, the horizontal axis to the right is the positive direction of the X axis, and the vertical axis upward is the positive direction of the Y axis, such as Fig.10 The figure shows a schematic diagram of reducing the dimensionality of two-dimensional longitude and latitude data from a starting point to an end point to one-dimensional data in an embodiment of the present invention. In the figure, there is a path from point (0,0) to point (2,2) with a mileage of 4 kilometers. Point (0,0) is used as the starting point S. The mileage coordinates of each point on the path are calculated based on the distance from the starting point S, thereby generating Fig.11 Schematic diagram of the route and coordinates with mileage.

[0135] Fig.11 In the example, mileage 1 km, 2 km, and 3 km are three turning events. The program puts the three turning events and other reminder events into the broadcast queue. After obtaining the user's location information, the user's location can also be reduced to a mileage point.

[0136] Fig.12 A schematic diagram of navigation event broadcasting in an embodiment of the present invention. As shown in the figure, when the vehicle moves into the broadcasting range of the dotted box, the corresponding guidance information can be broadcasted. For example: the program is set to start broadcasting 70 meters before the turning event, plus a 20-meter buffer. When the vehicle moves to a range of 50 to 90 meters before the turning maneuver, it broadcasts: turn left XXX meters ahead, turn right XXX meters ahead, and other information. The real-time navigation APP will obtain location information at the latest once every 0.2 seconds. Through this simplified data model, a large number of complex geometric operations are simplified to addition and subtraction operations, allowing the APP to run without pressure on the mobile phone. In actual mobile phone tests, the present invention is still very smooth on low-end old mobile phones based on the WeChat applet.

[0137] The S3 real-time navigation app sends instructions about approaching and arriving at the work site to the dispatch system, and guides the container truck to complete the work task.

[0138] When the vehicle is about 50 meters away from the intersection of the container area road according to the route, the real-time navigation APP will automatically send an instruction to the dispatch system that the vehicle is about to arrive at the work site and notify the dispatch system. When the vehicle enters the container area road and drives about 50 meters away from the target container area, the driver will be reminded to arrive at the work site. Please click the Confirm Arrival button in the APP. If the driver does not click the Confirm Arrival button and continues to drive about 10 meters away from the work site, the real-time navigation APP will automatically send a Confirm Arrival instruction to the port dispatch system and end the navigation.

[0139] The real-time navigation APP of the present invention is developed based on the WeChat applet and is relatively lightweight. In order to meet the needs of the navigation APP when running through the WeChat applet, this paper proposes a road network data model for section expansion, reduces the complexity of the A* planning algorithm, and simplifies the broadcast cost of real-time navigation through dimensionality reduction of longitude and latitude coordinates. Running the applet on the mobile phone has a better effect.

[0140] After the development of the real-time navigation APP was completed, it provided services to the port area. The functions of the real-time navigation APP met the actual needs of users, the overall operation was stable, and met the expected requirements of the system design.

[0141] Fig.13 The present invention is a truck navigation device for realizing the above-mentioned truck navigation method based on WeChat applet, and the device comprises:

[0142] The scanning module is used to scan the WeChat QR code to enter the vehicle navigation APP and obtain the external container truck operation tasks from the port dispatch system;

[0143] The real-time navigation APP is used to plan the optimal route through the path planning algorithm, send the real-time location of the vehicle to the dispatching system at regular intervals, and navigate the vehicles entering the port area; it also sends instructions of approaching and arriving at the work site to the dispatching system to guide the container trucks to complete the work tasks.

[0144] On the other hand, the present invention proposes a truck navigation system based on WeChat applet, the system comprising a truck navigation device based on WeChat applet as described above, and a port dispatching system, wherein the real-time navigation APP in the truck navigation device based on WeChat applet is connected with the port dispatching system, including:

[0145] The real-time navigation APP in the navigation device obtains the external container truck operation tasks from the port dispatching system;

[0146] The real-time navigation APP sends the real-time location information of the vehicle to the port dispatching system at regular intervals;

[0147] The real-time navigation APP sends instructions of approaching and arriving at the operation site to the port dispatching system.

[0148] On the other hand, the present invention proposes a computer-readable storage medium having a computer program stored thereon, which can be loaded and executed by a processor to implement the truck navigation method based on the WeChat applet as described in the first aspect.

[0149] In the several embodiments provided by the present invention, it should be understood that the disclosed devices, apparatuses and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0150] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage media include: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks or optical disks.

[0151] The present invention covers any substitution, modification, equivalent method and scheme made on the essence and scope of the present invention. In order to make the public have a thorough understanding of the present invention, specific details are described in detail in the following preferred embodiments of the present invention, but those skilled in the art can fully understand the present invention without the description of these details. In addition, in order to avoid unnecessary confusion about the essence of the present invention, well-known methods, processes, procedures, components and circuits are not described in detail.

[0152] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A truck navigation method based on WeChat applet, characterized in that: include: S1 scans the WeChat QR code to enter the vehicle real-time navigation APP and obtains the operation tasks of external container trucks from the port dispatch system; The S2 real-time navigation app plans the optimal route through the path planning algorithm, sends the real-time location of the vehicle to the port dispatching system at regular intervals, and provides real-time navigation for vehicles entering the port area; The S3 real-time navigation app sends instructions about approaching and arriving at the work site to the dispatch system, and guides the container truck to complete the work task.

2. According to the method for navigating a truck collection vehicle based on WeChat applet in claim 1, it is characterized in that: S1 specifically includes: (1) Before entering the port area, the driver enters the vehicle information and driver information of the external container truck into the port dispatch system and binds the mobile phone number on the WeChat public account; (2) When the driver arrives at the port gate, the gate camera automatically recognizes the license plate number, and the gate system retrieves the current vehicle operation task from the port dispatch system and displays the operation task and the corresponding QR code on the gate booth screen; (3) The driver scans the QR code through WeChat to obtain an electronic driving receipt. The information on the electronic driving receipt includes: vehicle information, driver information, detailed operation tasks of the external container truck, and common contact information of the port area. The driver clicks on the driving receipt to enter the vehicle real-time navigation APP.

3. According to the method of claim 1, the method is characterized in that: The planning of the optimal path by using the path planning algorithm in S2 specifically includes: S2.1 Based on the A* path planning algorithm, a road network data model is established according to the road nodes, road sections and traffic rules in the road network; S2.2 uses the A* path planning algorithm of the heap priority queue to calculate the shortest path from the user's current location to the destination, obtains the set of sections from the starting point to the end point, and generates the driving route and guidance information; S2.3 simplifies the real-time navigation function by reducing the set of route segments from the starting point to the end point into one-dimensional data based on mileage.

4. A method for navigating a truck collection vehicle based on a WeChat applet according to claim 3, characterized in that: The S2.1 specifically includes: (1) Expanding the road segments in the road network into nodes in a directed graph; (2) according to the connectivity of the road network, creating the next connected road segment of the road segment in the road network as an edge segment in the directed graph, and deleting the road segments where the traffic regulations prohibit driving; (3) Calculate the direction for each node, calculate the turning cost from one node to another, and establish a road network data model.

5. According to the method of claim 3, the method is characterized in that: The A* path planning algorithm design based on the heap priority queue described in S2.2 specifically includes: (1) Construct a data structure and introduce an evaluation function f_score in the path search process. The evaluation value of a node is evaluated based on the travel time and turn cost from each node to the next connected node. The smaller the evaluation value of a node, the greater the probability that the node appears on the shortest path. (2) construct a priority queue heap to select the node with the most underestimated f_score value for expansion; (3) Construct an open list to store the nodes to be expanded, calculate the actual cost g_score of the neighbor node, calculate the estimated cost h_score from the neighbor node to the target node, and update its estimated value f_score. If a smaller f_score is found, update the information of the neighbor node and add it to the open list; if the target node is found, reconstruct the path by backtracking the dictionary, and the calculation formula for the search node estimated value f_score is as follows: f_score = g_score + h_score; (4) A closed list is formed to store nodes that have been expanded to avoid repeated processing.

6. A method for navigating a truck collection vehicle based on a WeChat applet according to claim 3, characterized in that: S2.3 simplifies the real-time navigation function by reducing the latitude and longitude coordinates to one-dimensional data based on mileage, specifically including: (1) Reduce the dimension of the set of road segments from the starting point to the end point to one-dimensional mileage data based on mileage; (2) Establish a real-time navigation guidance data model based on the driving mileage, convert the road turning points of the driving route into mileage points, and convert the speed limit reminders, key monitoring, sharp turns, continuous turns, steep slopes, narrow roads, dedicated lanes, dangerous sections, and railway intersection guidance reminder points along the road into mileage points; (3) After the real-time navigation APP receives the real-time position of the vehicle, it establishes a spatial point buffer based on the horizontal positioning accuracy value and the maximum horizontal positioning error of the real-time position of the vehicle; (4) Match the real-time position of the vehicle to the mileage, calculate vehicle events based on the current mileage of the vehicle, and trigger vehicle turning events, vehicle position update events, guidance point reminder events, and upcoming arrival events. The vehicle event content includes: current mileage, distance to the next turning event, distance to the destination, route traveled, and route not traveled; (5) The real-time navigation APP UI layer monitors navigation events.

7. A truck navigation device based on WeChat applet, characterized in that: The device for implementing the truck navigation method based on WeChat applet according to any one of claims 1 to 6 comprises: The scanning module is used to scan the WeChat QR code to enter the vehicle navigation APP and obtain the external container truck operation tasks from the port dispatch system; The real-time navigation APP is used to plan the optimal route through the path planning algorithm, send the real-time position of the vehicle to the dispatching system at regular intervals, and navigate the vehicles entering the port area; it also sends instructions about arriving at and reaching the work site to the dispatching system to guide the container trucks to complete the work tasks.

8. A truck navigation system based on WeChat applet, characterized in that: The system comprises a container truck navigation device based on WeChat applet as claimed in claim 7, and a port dispatching system, wherein the real-time navigation APP in the container truck navigation device based on WeChat applet is connected with the port dispatching system, including: The real-time navigation APP in the navigation device obtains the external container truck operation tasks from the port dispatching system; The real-time navigation APP sends the real-time location information of the vehicle to the port dispatching system at regular intervals; The real-time navigation APP sends instructions of approaching and arriving at the operation site to the port dispatching system.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program code, and the computer program code is loaded by a processor and executed by the truck navigation method based on the WeChat applet as described in any one of claims 1 to 6.

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