Intelligent port system

Abstract

According to the intelligent port system provided by the invention, the tug management module, the wharf operation module, the collection and distribution center storage yard management module, the container truck management module and the intelligent road management module are intelligently managed through the business operation management center module, and compared with an existing manual management mode, intelligent operation of a port is realized; the operation efficiency of the port is improved; and the port operation can be adjusted in time, so that high energy consumption and high emission in the port operation are avoided, and the intelligent green operation of the port is realized.

Description

Technical Field

[0001] The present invention relates to the field of smart port technology, and in particular to a smart port system. Background Art

[0002] At present, according to the service and energy needs of different port users, ports are mainly divided into three important operation scenarios: port operations, off-port collection and distribution vehicles and roads, and port-ship operations. In different operation scenarios, coordinating vehicles, roads, ships, ports and cloud infrastructure is of great significance to intelligent operation and energy needs. However, existing ports generally use manual management, and the entire management process requires the participation of multiple people, which is a large workload and cannot adjust port operations in real time, resulting in high emissions, high energy consumption and low efficiency. Therefore, for large container ports, how to achieve intelligent and green operation of the entire port to improve port energy efficiency is an urgent problem to be solved. Summary of the invention

[0003] In view of this, an object of the present invention is to provide a smart port system to alleviate the above problems.

[0004] The embodiment of the present invention provides a smart port system, including: a business operation management center module, and a tugboat management module, a terminal operation module, a collection and distribution center yard management module, a container truck management module and an intelligent road management module connected to the business operation management center module;

[0005] The business operation management center module is used to send tugboat task information to the tugboat management module so that the tugboat management module performs tugboat operations according to the tugboat task information, wherein the tugboat task information includes tugboat information and waterway information; and / or, send terminal task information to the terminal operation operation module so that the terminal operation operation module performs terminal operations according to the terminal task information, wherein the terminal task information includes: port ship information, terminal bridge information, quay crane information and terminal gate information; and / or, send transportation task information to the collection and distribution center yard management module so that the collection and distribution center yard management module performs transportation operations according to the transportation task information, wherein the transportation task information includes transportation gate information and transportation bridge information; and / or, send container truck control information to the container truck management module so that the container truck management module controls the working status of multiple container trucks according to the container truck control information; and / or, send road control information to the intelligent road management module so that the intelligent road management module manages road traffic according to the road control information.

[0006] Preferably, the system also includes an energy management module; wherein the energy management module is respectively connected to the tugboat management module, the terminal operation module, the collection and distribution center yard management module, the container truck management module and the intelligent road management module; the energy management module is used to provide electrical energy and / or energy to the tugboat management module, the terminal operation module, the collection and distribution center yard management module, the container truck management module and the intelligent road management module; wherein the energy includes oil energy and gas energy.

[0007] Preferably, the energy management module includes: an energy dispatching management center unit, and a first energy unit and a second energy unit connected to the energy dispatching management center unit; the energy dispatching management center unit is used to control the first energy unit to provide electrical energy to the tugboat management module, the terminal operation module, the collection and distribution center yard management module, the container truck management module and the intelligent road management module, and control the second energy unit to provide energy to the container truck management module.

[0008] Preferably, the first energy unit includes at least one of the following: wind energy, light energy, cold energy and tidal energy.

[0009] Preferably, the second energy unit includes at least one of the following: hydrogen energy, fuel energy and liquefied natural gas energy.

[0010] Preferably, the system further comprises port area emission monitoring equipment and an emission monitoring center module; wherein the port area emission monitoring equipment and the business operation management center module are both in communication connection with the emission monitoring center module;

[0011] Port area emission monitoring equipment, used for monitoring port area emissions and sending the port area emissions to the emission monitoring center module; wherein the port area emissions include first emissions corresponding to container trucks and second emissions corresponding to tugboats, the first emissions include at least one of the following: carbon dioxide emissions, nitrogen oxide emissions, particulate matter emissions and volatile organic compound emissions, and the second emissions include at least one of the following: sulfur dioxide emissions, carbon monoxide emissions, carbon dioxide emissions, hydrocarbon emissions, sulfur oxide emissions, nitrogen oxide emissions, particulate matter emissions and volatile organic compound emissions;

[0012] The emission monitoring center module is used to obtain and analyze the port area emissions and send the analysis results to the business operation management center module;

[0013] The business operation management center module is used to obtain analysis results and generate emission management instructions based on the analysis results; and manage container trucks and / or tugboats based on the emission management instructions.

[0014] Preferably, the business operation management center module includes a port operation dispatching platform, the intelligent road management module includes a vehicle-road cooperative roadside device, the container truck management module includes a plurality of autonomous driving container trucks, and the vehicle-road cooperative roadside device is respectively connected to the port operation dispatching platform and the plurality of autonomous driving container trucks in communication;

[0015] The port operation dispatching platform is used to generate transportation task information based on cargo information and send the transportation task information to the VIR roadside equipment; the transportation task information includes: the target location of the cargo and the preset number of target autonomous trucks involved in transporting the cargo, and multiple target autonomous trucks are transported in the form of a team;

[0016] The vehicle-road cooperative roadside equipment is used to obtain transportation task information, generate team control instructions based on the transportation task information, and send the team control instructions to the autonomous driving container trucks, so that the target autonomous driving container trucks that meet the preset number will team up according to the team control instructions and complete the cargo transportation in the form of a team.

[0017] Preferably, the autonomous driving container truck is also equipped with on-board equipment; wherein the on-board equipment are connected to communicate with each other; the on-board equipment is also used to obtain team formation control instructions, and automatically form a team according to the team formation control instructions until the number of target autonomous driving container trucks in the team reaches a preset number.

[0018] Preferably, the system further comprises a facility monitoring center module, which is communicatively connected to the port operation dispatching platform;

[0019] The facility monitoring center module is used to obtain the traffic data of the dedicated lane corresponding to the autonomous container truck, generate the dedicated lane status information according to the traffic data of the dedicated lane, and send the dedicated lane status information to the port operation and dispatching platform; the dedicated lane status information includes the dedicated lane idle state and the dedicated lane congestion state;

[0020] The port operation and dispatching platform is used to obtain the status information of the dedicated lane, and when the status information of the dedicated lane indicates that the dedicated lane is idle, generate a dedicated lane transportation task according to the cargo information; wherein the dedicated lane transportation task includes the target location of the container and the transportation route including the dedicated lane; and send the dedicated lane transportation task to the autonomous driving container truck so that the autonomous driving container truck transports the container according to the transportation route including the dedicated lane.

[0021] Preferably, the business operation management center module also includes an evaluation unit and a display unit; the evaluation unit is used to obtain the energy management data sent by the energy management module, and generate an evaluation result for quantitatively evaluating the green operation of the port based on the energy management data; and send the evaluation result to the display unit for display.

[0022] The embodiments of the present invention bring the following beneficial effects:

[0023] The embodiment of the present invention provides a smart port system, which intelligently manages the tugboat management module, the terminal operation module, the collection and distribution center yard management module, the container truck management module and the intelligent road management module through the business operation management center module. Compared with the existing manual management method, it not only realizes the intelligent operation of the port and improves the operation efficiency of the port; it can also adjust the port operations in time, avoid high energy consumption and high emissions in port operations, thereby realizing the intelligent and green operation of the port.

[0024] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description and the drawings.

[0025] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 A logical framework diagram of a smart port system provided by an embodiment of the present invention;

[0028] Figure 2 A logical framework diagram of another smart port system provided by an embodiment of the present invention;

[0029] Figure 3 A schematic diagram of the intelligent monitoring emission principle of a smart port system provided by an embodiment of the present invention;

[0030] Figure 4 A schematic diagram of the vehicle-road collaboration principle of a smart port system provided by an embodiment of the present invention;

[0031] Figure 5 A schematic diagram of the intelligent dispatching principle of a smart port system provided by an embodiment of the present invention;

[0032] Figure 6 A schematic diagram of the principle of intelligent container truck teaming in a smart port system provided by an embodiment of the present invention;

[0033] Figure 7 A schematic diagram of intelligent container card management for a smart port system provided by an embodiment of the present invention;

[0034] Figure 8 A schematic diagram of the principles of a smart port system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution 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, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] To facilitate understanding of this embodiment, the embodiment of the present invention is described in detail below.

[0037] The embodiment of the present invention provides a smart port system, such as Figure 1 As shown, it includes: a business operation management center module 10, and a tugboat management module 20, a terminal operation module 30, a collection and distribution center yard management module 40, a container truck management module 50 and an intelligent road management module 60 connected to the business operation management center module 10.

[0038] Specifically, when the business operation management center module 10 monitors a tugboat task, for example, when a large ship enters or leaves a port, it sends a tugboat request to the business operation management center module 10. At this time, the business operation management center module 10 generates tugboat task information and sends the tugboat task information to the tugboat management module 20; wherein, the tugboat task information includes tugboat information and waterway information, where the tugboat information is preferably tugboat type information, and the waterway information is the corresponding waterway information when the tugboat performs the tugboat task, etc. Also, after the tugboat management module 20 obtains the tugboat task information, it controls the tugboat that meets the tugboat information to perform the tugboat task according to the waterway information, thereby realizing the tugboat operation in the port ship operation scenario. It should be noted that the specific process of the tugboat performing the tugboat operation can refer to the prior art, and the embodiments of the present invention will not be described in detail here.

[0039] Similarly, when the business operation management center module 10 monitors a terminal operation request, such as when a ship arrives at a port, the actual conditions of the port, the ship type, and the type of cargo are required to determine whether to unload the cargo from the ship to the dock. At this time, the business operation management center module 10 generates dock task information and sends the dock task information to the dock operation operation module 30, so that the dock operation operation module 30 performs the dock operation according to the dock task information. In actual applications, since the dock contains a variety of equipment, including but not limited to quay cranes, gates, and yard cranes, the dock task information includes port ship information, dock yard crane information, quay crane information, and dock gate information, so as to realize the dock unloading operation by controlling the dock yard crane, quay crane, and dock gate.

[0040] In addition, in some scenarios, the terminal operation tasks may also involve transportation tools, such as AGV (Automated Guided Vehicle), etc. The equipment information contained in the specific terminal task information can be adaptively adjusted according to the specific scenario. In addition, the terminal operation includes but is not limited to the above-mentioned terminal unloading operations, and also includes terminal loading operations, etc. The specific terminal operations can refer to the terminal operation content and process of existing ports, and the embodiments of the present invention will not be described in detail here.

[0041] In addition, when the business operation management center module 10 monitors a transportation operation request, such as a transportation task of evacuating the goods transported into the port by a ship to the hinterland or concentrating the goods from the hinterland to the port and transporting them out by ship, the business operation management center module 10 generates transportation task information and sends the transportation task information to the collection and distribution center yard management module 40, so that the collection and distribution center yard management module 40 performs the transportation operation according to the transportation task information. Among them, the transportation task information includes transportation gate information and transportation yard bridge information. Since the transportation is mainly carried out by transportation tools such as container trucks, railway vehicles, transshipment ships or AGVs during the transportation process, the collection and distribution center yard management module 40 controls the status of the transportation gate and / or transportation yard bridge according to the transportation task information, ensuring that the transportation tools complete the transportation task quickly and safely, avoiding port congestion, and maintaining the port unobstructed, thereby improving the energy efficiency of the port.

[0042] It should be noted that, in order to distinguish it from the transportation scenario, the embodiment of the present invention refers to the yard crane involved in terminal operations as terminal yard crane, the gate involved in terminal operations as terminal gate, the yard crane involved in transportation operations as transportation yard crane, and the gate involved in transportation operations as transportation gate.

[0043] Furthermore, the business operation management center module 10 can also control the container trucks. Specifically, the business operation management center module 10 sends the container truck control information to the container truck management module 50, so that the container truck management module 50 controls the working status of multiple container trucks according to the container truck control information. In practical applications, container trucks are mainly divided into manual container trucks (i.e., ordinary container trucks) and smart container trucks (i.e., automatic driving container trucks). The container truck management module 50 can also be divided into a manual container truck management unit and a smart container truck management unit. When the container truck control information is the control information corresponding to the manual container truck, at this time, the manual container truck management unit controls the working state of the corresponding manual container truck according to the container truck control information, such as the manual container truck management unit generates corresponding notification information according to the container truck control information, and displays or sends the notification information to the vehicle-mounted terminal device corresponding to the manual container truck, so that the driver of the manual container truck can control the state of the manual container truck according to the notification information, such as the running state or the stopping state; similarly, when the container truck control information is the control information corresponding to the smart container truck, the smart container truck management unit directly sends the container truck control information to the vehicle-mounted terminal control device of the smart container truck, so that the vehicle-mounted terminal control device can directly control the operation or stop of the smart container truck according to the container truck control state.

[0044] Furthermore, when the business operation management center module 10 obtains the road traffic information sent by the intelligent road management module 60, it can also generate road control information and send the road control information to the intelligent road management module 60, so that the intelligent road management module 60 manages the road traffic according to the road control information, thereby controlling the road traffic of the port and avoiding the problem of low operating efficiency caused by road congestion during port operations, thereby further improving the operating efficiency of the port.

[0045] Therefore, for various operation scenarios in the port, compared with the existing manual management method, the business operation management center module 10 jointly performs intelligent management on one or more modules of the tugboat management module 20, the terminal operation module 30, the collection and distribution center yard management module 40, the container truck management module 50 and the intelligent road management module 60, thereby realizing the intelligent operation of the port and improving the operation efficiency of the port; in addition, during the intelligent operation, the port operations can be adjusted in time according to the actual situation, avoiding high energy consumption and high emissions in the port operations, thereby realizing the intelligent and green operation of the port.

[0046] In one embodiment, the system also includes an energy management module; wherein the energy management module is respectively connected to the tugboat management module, the terminal operation module, the collection and distribution center yard management module, the container truck management module and the intelligent road management module; the energy management module is used to provide electrical energy and / or energy to the tugboat management module, the terminal operation module, the collection and distribution center yard management module, the container truck management module and the intelligent road management module; wherein the energy includes oil energy and gas energy.

[0047] Specifically, Figure 1 As shown, the energy management module includes: an energy dispatching management center unit 70, and a first energy unit 71 and a second energy unit 72 connected to the energy dispatching management center unit 70; the energy dispatching management center unit 70 is used to control the first energy unit 71 to provide electrical energy to the tugboat management module 20, the terminal operation module 30, the collection and distribution center yard management module 40, the container truck management module 50 and the intelligent road management module 60, and control the second energy unit 72 to provide energy to the container truck management module 50.

[0048] Among them, the first energy unit 71 includes at least one of the following: wind energy, light energy, cold energy and tidal energy; in actual application, the first energy unit 71 converts wind energy, light energy, cold energy and tidal energy into electrical energy in combination with the national grid, and converts the electrical energy to the corresponding power supply through the substation, such as converting the electrical energy into shore power corresponding to ships and tugboats, converting the electrical energy into power supplies corresponding to various road facilities such as shore cranes, dock bridges, dock gates, AGVs, transport bridges, transport gates and intelligent road management modules 60, etc. In addition, the substation can also store the electrical energy in the charging / swapping station to charge and swap AGVs, manual container trucks and intelligent container trucks. Therefore, the first energy unit 71 realizes the reasonable application of wind energy, light energy, cold energy and tidal energy, thereby realizing the green operation of the port.

[0049] In addition, if Figure 2 As shown, wind energy is converted into electrical energy through current conversion, light energy is converted into electrical energy through DC / AC (direct current / alternating current), and cold energy and tidal energy are also converted into electrical energy. For the specific conversion of wind energy, light energy, cold energy and tidal energy into electrical energy, as well as the various conversions of electrical energy by substations, reference can be made to existing power supply technologies, and the embodiments of the present invention will not be described in detail herein.

[0050] Similarly, the second energy unit 72 includes at least one of the following: hydrogen energy, fuel energy and liquefied natural gas (LNG). In practical applications, the second energy unit 72 stores hydrogen energy, fuel energy and LNG energy. Figure 2 As shown, energy storage includes but is not limited to chemical energy storage, capacitor energy storage and hydrogen energy storage, etc. The energy dispatching management center unit 70 controls the second energy unit 72 to provide energy to the container truck management module 50, that is, the stored energy is used to refuel / gas the manual container truck and the intelligent container truck at the refueling / gas station, which not only ensures the normal operation of the manual container truck and the intelligent container truck, but also realizes the green application of hydrogen energy, fuel energy and LNG, thereby realizing the intelligent and green operation of the port.

[0051] In addition, an energy monitoring unit 73 is also provided in the energy management module, which is used to obtain the control data of the energy dispatching management center unit 70 and monitor the energy according to the control data, such as monitoring the usage of electric energy and promptly reminding the energy dispatching management center unit 70 to convert electric energy when the electric energy is low, so as to improve the utilization rate of electric energy and energy and ensure the intelligent and green operation of the port.

[0052] And, if Figure 2 As shown, the port equipment also calculates its energy consumption in real time during operation, and the energy dispatching management center unit 70 supplies power and / or energy to the port equipment according to the energy consumption. For example, the tugboat detects its operating status and calculates its power load in real time, and feeds back the operating status and power load to the tugboat management module 20, so that the tugboat management module 20 manages the tugboat according to the operating status and power load; in addition, the tugboat can also send an energy request to the energy dispatching management center unit 70 through the substation according to its power load, so that the energy dispatching management center unit 70 controls the substation to supply power to the tugboat according to the energy request.

[0053] Similarly, ships, quay cranes, dock bridges, dock gates, AGVs, transport bridges and transport gates all detect their operating status and power load, and when the power load is low, they send energy requests to the energy dispatching management center unit 70 via the substation or substation / switch station, so that the energy dispatching management center unit 70 controls the substation or substation / switch station to supply power to them; and send their operating status to the corresponding management module, so that the corresponding management module manages them. In addition, manual container trucks and smart container trucks can also detect their operating status and calculate energy load, and when the energy load is low, they provide energy to manual container trucks and smart container trucks through gas stations; manual container trucks send their operating status to the manual container truck management unit 51, so that the manual container truck management unit 51 controls the manual container truck; smart container trucks send their operating status to the smart container truck management unit 52, so that the smart container truck management unit 52 controls the smart container truck.

[0054] Therefore, the energy management module provides electricity and / or energy to the tugboat management module 20, the terminal operation module 30, the collection and distribution center yard management module 40, the container truck management module 50 and the intelligent road management module 60, thereby avoiding energy waste caused by the operation of port equipment and further ensuring the green operation of the port.

[0055] In one embodiment, if Figure 3As shown, the smart port system provided by the embodiment of the present invention also includes port emission monitoring equipment and an emission monitoring center module; wherein the port emission monitoring equipment and the business operation management center module 10 are both connected to the emission monitoring center module in communication. It should be noted that the communication connection here can be a wired communication connection or a wireless communication connection, which can be set according to actual conditions.

[0056] Specifically, the port emission monitoring equipment is used to monitor the port emissions and send the port emissions to the emission monitoring center module; wherein the port emissions include the first emissions corresponding to the container trucks and the second emissions corresponding to the tugboats, the first emissions include at least one of the following: carbon dioxide emissions, nitrogen oxide emissions, particulate matter emissions and volatile organic compound emissions, and the second emissions include at least one of the following: sulfur dioxide emissions, carbon monoxide emissions, carbon dioxide emissions, hydrocarbon emissions, sulfur oxide emissions, nitrogen oxide emissions, particulate matter emissions and volatile organic compound emissions.

[0057] In practical applications, a container truck refers to a professional equipment engaged in horizontal container handling operations. Its emissions during operation include a variety of pollutants, such as carbon dioxide, nitrogen oxides, particulate matter, and volatile organic compounds. Therefore, the first emission of the container truck includes at least one of the following: carbon dioxide emissions, nitrogen oxide emissions, particulate matter emissions, and volatile organic compound emissions, where each emission can be detected by a corresponding sensor device. In addition, in some scenarios, the emissions of the container truck can also be monitored without analyzing the type of emissions. At this time, the emissions of the container truck, that is, the first emissions, can also be directly monitored through the emission sensor, so that the emission monitoring center module can directly manage the container truck based on the first emissions.

[0058] Similarly, a tugboat can also be called a tugboat, that is, a tugboat that performs towing operations within the port, and its emissions during operation include a variety of pollutants, including but not limited to sulfur dioxide, carbon monoxide, carbon dioxide, hydrocarbons, sulfur oxides, nitrogen oxides, particulate matter, and volatile organic compounds. For the second emission of the tugboat, one or more of sulfur dioxide emissions, carbon monoxide emissions, carbon dioxide emissions, hydrocarbon emissions, sulfur oxide emissions, nitrogen oxide emissions, particulate matter emissions, and volatile organic compound emissions can be monitored, and the emission of the tugboat, that is, the second emission, can also be directly monitored through an emission sensor, without analyzing various types of emissions in the second emission for monitoring, so that the emission monitoring center module can directly manage the tugboat according to the second emission.

[0059] The emission monitoring center module is used to obtain the port area emissions, analyze the port area emissions, and send the analysis results to the business operation management center module 10; the business operation management center module 10 is used to obtain the analysis results, and generate emission management instructions based on the analysis results; and manage container trucks and / or tugboats according to the emission management instructions.

[0060] Specifically, after the emission monitoring center module obtains the port area emissions, it analyzes the port area emissions and generates corresponding analysis results. Among them, the analysis methods of port area emissions mainly include the following forms:

[0061] (1) If the first emission and the second emission are the total emission of container trucks and tugboats, respectively, the sum of the first emission and the second emission is taken as the port area emission, and it is determined whether the port area emission is greater than the first threshold. At this time, the analysis results include two situations: the port area emission is greater than the first threshold and the port area emission is not greater than the first threshold; among them, for the case where the port area emission is not greater than the first threshold, it means that the total emission in the port area is low at this time, and there is no need to manage the container trucks and / or tugboats, that is, the container trucks and / or tugboats can operate according to the current status at this time; for the case where the port area emission is greater than the first threshold, it means that the total emission in the port area is high at this time, and it is necessary to manage the container trucks and / or tugboats to reduce the port area emission, so as to ensure the port area environmental quality. It should be noted that the first threshold here is an emission standard value set to ensure the port area environmental quality, which can be determined based on the historical emission of the port area.

[0062] (2) If the first emission and the second emission are the total emission of the container truck and the tugboat, respectively, determine whether the first emission is greater than the second threshold and whether the second emission is greater than the third threshold. At this time, the analysis results include: ① The first emission is greater than the second threshold, and the second emission is greater than the third threshold; ② The first emission is greater than the second threshold, and the second emission is not greater than the third threshold; ③ The first emission is not greater than the second threshold, and the second emission is greater than the third threshold; ④ The first emission is not greater than the second threshold, and the second emission is not greater than the third threshold. Among them, the second threshold can be determined based on the historical emission of the container truck, and the third threshold can be determined based on the historical emission of the tugboat. In addition, when determining the second threshold and the third threshold, the environmental quality of the port area must be guaranteed.

[0063] At this time, for analysis result ①, it is necessary to manage container trucks and tugboats, such as reducing the number of container trucks and tugboats in operation to reduce the first emission and the second emission, so as to ensure the environmental quality of the port area; for analysis result ②, it is necessary to manage container trucks, and tugboats do not need to be managed, such as reducing the number of container trucks in operation and controlling the tugboats to maintain the status quo. In some scenarios, the number of tugboats in operation can also be reduced, and the number of container trucks reduced can be reduced. On the basis of ensuring the environmental quality of the port area, the reasonable operation of container trucks and tugboats is guaranteed; for analysis result ③, it is necessary to manage tugboats, and container trucks do not need to be managed, such as reducing the number of tugboats in operation and controlling the container trucks to maintain the status quo. In some scenarios, the number of container trucks in operation can also be reduced, and the number of tugboats reduced can be reduced to ensure the environmental quality of the port area, and at the same time, the reasonable operation of container trucks and tugboats is guaranteed; for analysis result ④, it means that it is not necessary to manage container trucks and tugboats at this time, that is, control container trucks and tugboats to maintain the status quo.

[0064] (3) If the first emissions include emissions of various types of emissions from container trucks, such as one or more of carbon dioxide emissions, nitrogen oxide emissions, particulate matter emissions and volatile organic compound emissions; similarly, the second emissions include emissions of various types of emissions from tugboats, such as one or more of sulfur dioxide emissions, carbon monoxide emissions, carbon dioxide emissions, hydrocarbon emissions, sulfur oxide emissions, nitrogen oxide emissions, particulate matter emissions and volatile organic compound emissions.

[0065] At this time, the analysis result includes a first analysis result of the first emission and a second analysis result of the second emission, wherein, for the first analysis result, each emission can be judged to correspond to the corresponding threshold value, and if at least one emission exceeds the corresponding threshold value, the first analysis result is that the container truck needs to be managed, and vice versa, if multiple emissions do not exceed the corresponding threshold value, the first analysis result is that the container truck does not need to be managed. For example, in the first emission, if the carbon dioxide emission exceeds the corresponding threshold value, the nitrogen oxide emission, particulate matter emission and volatile organic compound emission do not exceed the corresponding threshold value, then the first analysis result that the container truck needs to be managed is generated; if the carbon dioxide emission, nitrogen oxide emission, particulate matter emission and volatile organic compound emission do not exceed the corresponding threshold value, then the first analysis result that the container truck does not need to be managed is generated.

[0066] Similarly, for the second analysis result, each type of emission can be judged separately and the corresponding threshold value. If at least one emission exceeds its corresponding threshold value, the second analysis result is that the tugboat needs to be managed. On the contrary, if multiple emissions do not exceed the corresponding threshold value, the second analysis result is that the tugboat does not need to be managed. For example, in the second emission, if sulfur dioxide emissions and carbon monoxide emissions both exceed their corresponding threshold values, and carbon dioxide emissions, hydrocarbon emissions, sulfur oxide emissions, nitrogen oxide emissions, particulate matter emissions, and volatile organic compound emissions do not exceed the corresponding threshold values, then a second analysis result is generated that the tugboat needs to be managed; if sulfur dioxide emissions, carbon monoxide emissions, carbon dioxide emissions, hydrocarbon emissions, sulfur oxide emissions, nitrogen oxide emissions, particulate matter emissions, and volatile organic compound emissions do not exceed the corresponding threshold values, then a second analysis result is generated that the tugboat does not need to be managed.

[0067] (4) If the first emission is the total emission of the container truck, the second emission is the emission of various types of emissions from the tugboat, or if the first emission is the emission of various types of emissions from the container truck, the second emission is the total emission of the tugboat, for these two situations, adaptive adjustments can be made according to the corresponding analysis methods mentioned above, and the embodiments of the present invention will not be described in detail here.

[0068] In summary, after the emission monitoring center module obtains the port area emissions, it performs analysis according to the corresponding analysis methods according to the specific forms of the port area emissions. It can not only analyze the total emissions of container trucks and / or tugboats, but also analyze the emissions of various types of emissions in container trucks and / or tugboats, so that the business operation management center module 10 can manage container trucks and / or tugboats according to the analysis results, thereby avoiding environmental pollution caused by excessive port area emissions, and thus ensuring the port environment quality.

[0069] In addition, after the business operation management center module 10 obtains the analysis results, if the analysis results show that container trucks and / or tugboats need to be managed, an emission management instruction is generated, including a first emission management instruction for controlling container trucks and a second emission management instruction for controlling tugboats, and container trucks are managed according to the first emission management instruction, and tugboats are managed according to the second emission management instruction, thereby adjusting the port area emissions by adjusting the operating number of container trucks and / or tugboats, thereby ensuring the port environmental quality.

[0070] Among them, when managing container trucks according to the first emission management instruction, the business operation management center module 10 also needs to obtain the operating status of multiple container trucks in the port, as well as the tasks performed by the running container trucks, and sort the tasks according to priority, so as to control the container trucks that perform tasks with higher priority to continue running, and control the container trucks that perform tasks with lower priority to stop running, thereby ensuring the normal operation of operations in the port (such as higher priority operations) while ensuring the quality of the port environment.

[0071] Similarly, when managing tugboats according to the second emission management instruction, the business operation management center module 10 also needs to obtain the operating status of multiple tugboats in the port, as well as the tasks performed by the operating tugboats, and sort the tasks according to priority, so as to control the tugboats performing tasks with higher priority to continue operating, and control the tugboats performing tasks with lower priority to stop operating, thereby ensuring the normal operation of port ship operations (such as higher priority operations) while ensuring the quality of the port environment.

[0072] Therefore, the business operation management center module 10 not only manages container trucks and / or tugboats according to the analysis results of port area emissions to ensure the port environment quality, but also ensures the normal operation of port operations and port ship operations, thereby ensuring the normal operation of the port.

[0073] Alternatively, if Figure 3 As shown, the smart container truck is also called a networked container truck, which is equipped with networked container truck onboard equipment for vehicle emission monitoring, vehicle environment monitoring and vehicle roadside information reception, etc. Vehicle emission monitoring here means monitoring the emission during vehicle operation, vehicle environment monitoring is used to monitor the environment in which the smart container truck operates, and vehicle roadside information reception refers to receiving road information, vehicle sign data and vehicle condition data monitoring information sent by the vehicle-road cooperative roadside equipment; in addition, when the networked container truck onboard equipment receives the vehicle condition data monitoring information sent by the vehicle-road cooperative roadside equipment, it also sends the vehicle emission and vehicle environment data to the vehicle-road cooperative roadside equipment. And, when the driver of the smart container truck receives the environmental information sent by the port area emission monitoring equipment, he also adjusts the vehicle status of the smart container truck according to the environmental information, thereby ensuring the safe operation of the smart container truck.

[0074] Similarly, manual container trucks are also called ordinary container trucks, that is, vehicles that do not have networking functions, and are also equipped with ordinary container truck on-board equipment for emission monitoring of manual container trucks, and the emissions are sent to freight operators, so that freight operators can forward the emissions of ordinary container trucks (i.e. transit emission data) to the emission monitoring center module; in addition, freight operators also receive wide-area air quality data sent by the emission monitoring center module, and adjust freight operations and ordinary container trucks according to the wide-area air quality data to ensure the safe transportation of goods.

[0075] Alternatively, if Figure 3 As shown, a vehicle-road cooperative roadside device is also provided in the intelligent road management module 60, which is mainly used for vehicle-road information interaction with container trucks and emission monitoring of roadside equipment. After obtaining vehicle emission data sent by multiple intelligent container trucks, a first emission amount is generated; after obtaining the emission monitoring query information sent by the emission monitoring center module, the first emission amount is reported, that is, the first emission amount is sent to the emission monitoring center module; or, the vehicle-road cooperative roadside device can also send the first emission amount to the port emission monitoring equipment, so that the port emission monitoring equipment sends the first emission amount to the emission monitoring center module.

[0076] Alternatively, if Figure 3 As shown, a tugboat onboard equipment is also provided on the tugboat, which is mainly used for tugboat emission monitoring and tugboat environmental monitoring, and generates a second emission amount according to the tugboat emission monitoring result. After obtaining the emission monitoring query information sent by the emission monitoring center module, the second emission amount is reported, that is, the second emission amount is sent to the emission monitoring center module; or, the second emission amount is directly sent to the port emission monitoring equipment, so that the port emission monitoring equipment sends the second emission amount to the emission monitoring center module.

[0077] In addition, after the emission monitoring center module obtains the first emission amount and the second emission amount, it performs emission data management and emission data analysis on the first emission amount and the second emission amount, such as storing the first emission amount and the second emission amount respectively, analyzing the first emission amount and the second emission amount respectively, and generating corresponding analysis results, etc.; and, it also performs emission exceeding standard alarm according to the first emission amount and the second emission amount, etc. The specific emission data analysis and emission exceeding standard alarm can refer to the aforementioned embodiment, and the embodiment of the present invention will not be described in detail here.

[0078] It should be noted that in some scenarios, when analyzing emission data, the emission monitoring center module can also use the emission of smart container trucks and manual container trucks as new first emissions, and perform analysis based on the first emissions and the new second emissions. In addition, the emission monitoring center module can also monitor the emissions of tugboats and container trucks, such as monitoring the emissions of tugboats and container trucks through emission monitoring query information.

[0079] In addition, the operator corresponding to the emission monitoring center module, i.e., the emission monitoring personnel, can also report the first emission amount and the second emission amount, such as sending the first emission amount and the second emission amount to the cloud server of the emission management operator for storage and analysis, etc. The emission monitoring personnel also inputs the analysis results of the cloud server into the emission monitoring center module, so that the emission monitoring center module sends the analysis results to the business operation management center module 10. At this time, after the business operation management center module 10 obtains the analysis results, alarm information and air quality information (including the first emission amount, the second emission amount and transit emission data, etc.) sent by the emission monitoring center module, it performs emission management according to the analysis results, such as managing container trucks and / or tugboats; at the same time, it can also monitor the facilities of container trucks and / or tugboats.

[0080] Furthermore, the business operation management center module 10 can also perform port operation management, port operation scheduling, collection and distribution operation scheduling, and port ship operation scheduling, thereby achieving intelligent, safe and normal operation of the port through the joint management and control of port operation management, port operation scheduling, collection and distribution operation scheduling, and port ship operation scheduling.

[0081] In addition, the business operation management center module 10 is also provided with a display unit, where the display unit is preferably a display screen, and the alarm information can also be displayed on the display screen, so that the operator can promptly control the container truck and / or tugboat according to the alarm information, thereby ensuring the port environment quality.

[0082] In addition, the system can also be connected to the meteorological service system, which can be a meteorological bureau system. The meteorological service system sends meteorological information to the emission monitoring center module in real time or periodically, so that the emission monitoring center module can analyze the port area emissions based on the meteorological information. The meteorological information here includes but is not limited to data values ​​of various types of emissions, etc., and can be set according to actual conditions.

[0083] Therefore, the above-mentioned smart port system can not only intelligently monitor port emissions, but also manage container trucks and / or tugboats according to the analysis results of port emissions to adjust port emissions, thereby avoiding pollution of the port environment caused by port emissions, thereby ensuring the quality of the port environment and realizing the green operation of the port.

[0084] In one embodiment, the business operation management center module 10 includes a port operation dispatching platform, the intelligent road management module 60 includes a vehicle-road cooperative roadside device, and the container truck management module 50 includes a plurality of container trucks (including manual container trucks and intelligent container trucks), each of which is provided with on-board equipment (including networked container truck on-board equipment and ordinary container truck on-board equipment), such as Figure 4As shown, the port operation dispatching platform and the on-board equipment are both connected to the vehicle-road cooperative roadside equipment, and the port operation dispatching platform and the on-board equipment are also communicatively connected.

[0085] In actual applications, the port operation and dispatching platform is used for cargo dispatching information distribution, connected vehicle traffic information distribution, vehicle operation information broadcasting and cargo data, etc.; among them, the port operation and dispatching platform sends cargo dispatching information to the on-board equipment, so that the on-board equipment controls the corresponding container trucks to complete cargo transportation according to the cargo dispatching information; the port operation and dispatching platform obtains the vehicle operation information and traffic situation data sent by the vehicle-road collaborative roadside equipment, and broadcasts the vehicle operation information according to the vehicle operation information, distributes the connected vehicle traffic information according to the traffic situation data, and generates road traffic information, and sends the road traffic information to the vehicle-road collaborative roadside equipment.

[0086] In addition, after the VIS roadside equipment obtains the road traffic information, it forwards the road traffic information to the onboard equipment so that the onboard equipment can grasp the road conditions in a timely manner. The onboard equipment also monitors the vehicle information and dynamics of the container truck in real time, and feeds back to the VIS roadside equipment so that the VIS roadside equipment can provide driving speed suggestions and safety warnings based on the road traffic information and vehicle information, such as issuing safety warning information.

[0087] In addition, the vehicle-road cooperative roadside equipment can also monitor roadside emissions and send the monitored roadside emissions to the business operation management center module 10, etc. For details, please refer to the above-mentioned embodiment. In addition to receiving road traffic information, the on-board equipment can also assist the driving of container trucks, receive roadside information and ensure the basic safety of vehicles. In some scenarios, it can also respond to the driver's operation so that the container truck can operate according to the driver's operation, and when an update is required, send information updates to the driver so that the driver can update the on-board equipment according to the information update, further ensuring the safe operation of the container truck.

[0088] In summary, the intelligent port system is based on vehicle-road collaboration technology, and manages container trucks through the port operation dispatching platform, vehicle-mounted equipment and vehicle-road collaboration roadside equipment, ensuring the safe and intelligent operation of container trucks in the port and improving the energy efficiency of the port. It should be noted that the functions of the specific vehicle-road collaboration technology, vehicle-road collaboration roadside equipment and vehicle-mounted equipment can refer to the existing technology, and the embodiments of the present invention will not be described in detail here.

[0089] In one embodiment, the port operation dispatching platform can also perform intelligent dispatching of tugboats and container trucks. Figure 5The tugboat equipment includes a plurality of tugboats (not shown), and the container truck equipment includes a plurality of container trucks (not shown); in actual applications, the tugboat is used to tow ships and rafts without self-propulsion capability or to assist large ships in entering and leaving ports and docking. The tugboat does not have a cargo hold for loading cargo, but is equipped with a high-power propulsion main engine and towing equipment, has a large towing capacity, and is flexible in operation. In a port, the number of tugboats and container trucks can be set according to actual conditions, and the embodiments of the present invention do not limit this.

[0090] When the port operation and dispatching platform obtains the arrival information sent by the container ship (i.e., the ship loaded with a large number of containers), it determines the target tugboat according to the arrival information and the tugboat status information sent by the tugboat equipment, generates berthing instructions according to the arrival information, and sends the berthing instructions to the container ship and the target tugboat, so that the target tugboat assists the container ship to dock at the port according to the berthing instructions; and obtains the container information carried by the container ship, determines the target container truck and transportation task information according to the container information and the container truck status information sent by the container truck equipment, and controls the target container truck to transport the containers according to the transportation task information.

[0091] Among them, the tugboat status information sent by the tugboat equipment includes the status information of each tugboat, where the status information is mainly divided into operating status and non-operating status. The port operation scheduling platform determines the target tugboat in non-operating status from multiple tugboats according to the arrival information and the status information of each tugboat, so that the target tugboat assists the container ship to dock at the port according to the berthing instruction. Similarly, the container truck status information sent by the container truck equipment includes the status information of each container truck, such as operating status and non-operating status. When container transportation is required, the port operation scheduling platform determines the target container truck in non-operating status from multiple container trucks according to the container information and the status information of each container truck. Since the number of containers is often large, the transportation task information includes but is not limited to the transportation route (or path planning) and the number of transportations, etc. Finally, the port operation scheduling platform controls multiple target container trucks to transport containers according to the transportation task information. Therefore, the intelligent scheduling of tugboats and container trucks by the port operation scheduling platform improves the scheduling efficiency and intelligence of tugboats and container trucks compared with the existing manual scheduling method, thereby improving the port cargo transportation efficiency and reducing the total port transportation cost.

[0092] Furthermore, the port operation dispatching platform is also used to obtain the tugboat operation information sent by the target tugboat, and generate a tugboat control instruction according to the tugboat operation information; and send the tugboat control instruction to the target tugboat so that the target tugboat operates according to the tugboat control instruction. Specifically, in the process of the target tugboat assisting the container ship to dock at the port according to the berthing instruction, the equipment on the target tugboat also sends the tugboat operation information of the target tugboat to the port operation dispatching platform; wherein the tugboat operation information includes but is not limited to the running direction, running position and running speed of the target tugboat; at this time, the port operation dispatching platform also generates a tugboat control instruction according to the tugboat operation information, and sends the tugboat control instruction to the equipment of the target tugboat so that the target tugboat operates according to the tugboat control instruction, such as the equipment obtains the tugboat control instruction and displays it, and the tugboat operator adjusts the operating status of the target tugboat according to the displayed tugboat control instruction, etc., thereby ensuring the accuracy of the target tugboat assisting the container ship to dock at the port according to the berthing instruction.

[0093] In addition, in actual applications, for each tugboat in the tugboat equipment, the tugboat operator can also send a departure request to the port operation and scheduling platform through the berthing and unberthing input operations. At this time, after the port operation and scheduling platform obtains the departure request, when there is a departure task, the departure task can be sent to the tugboat in priority. If there are multiple departure requests, the departure task can be sent to the tugboat with an earlier departure request sending time; after the tugboat executes the departure task, it can also feedback the tugboat operation information to the port operation and scheduling platform, so that the port operation and scheduling platform can timely grasp the operation status of the tugboat, thereby ensuring the operation safety of the tugboat.

[0094] In addition, the tugboat equipment can also update the data of each tugboat and update it to the tugboat operator end through the data interface, so that the tugboat operator can grasp the updated data in time and operate the tugboat according to the updated data. The specific updated data can be set according to the actual situation.

[0095] Furthermore, the port operation dispatching platform is also used to obtain container truck operation information sent by the target container truck, and generate container truck control instructions according to the container truck operation information; and, send the container truck control instructions to the target container truck so that the target container truck operates according to the container truck control instructions.

[0096] In actual applications, each container truck is also equipped with an on-board device, and the on-board device is connected to the port operation and scheduling platform. For the target container truck, its on-board device is connected to the port operation and scheduling platform. During the process of the target container truck transporting containers, the on-board device monitors the operation information of the target container truck, i.e., the container truck operation information, where the container truck operation information includes the operation speed and position of the target container truck, and sends the container truck operation information to the port operation and scheduling platform, so that the port operation and scheduling platform generates a container truck control instruction according to the container truck operation information; and obtains the container truck control instruction sent by the port operation and scheduling platform, and controls the operation of the target container truck according to the container truck control instruction, such as adjusting the operation speed of the target container truck according to the container truck control instruction, so as to improve the transportation efficiency of the container.

[0097] In addition, for multiple trucks in the truck equipment, in actual applications, a cargo transportation request can also be sent to the port operation and scheduling platform. After the port operation and scheduling platform obtains the cargo transportation request, when there is a cargo transportation task, such as when there are containers that need to be transported in the container yard (a place for placing containers), the cargo information is sent to the port operation and scheduling platform. At this time, the port operation and scheduling platform issues a transportation task to the truck, so that the truck can transport the container in the container yard according to the issued transportation task. During the transportation process, the on-board equipment of the truck can also send the truck operation status of the corresponding vehicle to the port operation and scheduling platform, so that the port operation and scheduling platform can control the truck according to the truck operation status, such as controlling the truck to stop transportation after completing the current container transportation, etc., thereby realizing the scheduling of multiple trucks, i.e., collection and distribution vehicles.

[0098] And, for each truck, its onboard device can also upload the control operation of the truck operator to the truck device through a data line, etc., and the truck device can send the truck status, such as stop or start, to the onboard device, and the onboard device feeds back the running status to the truck operator, so that the truck operator can operate the truck according to the running status. For details, reference can be made to the existing vehicle control technology, and the embodiments of the present invention will not be described in detail here.

[0099] It should be noted that, for containers in container ships, the port operation and dispatching platform can control the target container truck to directly transport the containers to the berthed container ship, or it can first place the containers in the container yard, and then the port operation and dispatching platform controls the target container truck to transport the containers to the container yard. The specific settings can be made according to actual conditions.

[0100] In one embodiment, when the container truck is an autonomous driving container truck (i.e., a smart container truck), the port operation and scheduling platform is also used to generate transportation task information based on the cargo information, and send the transportation task information to the vehicle-road collaborative roadside equipment; wherein the transportation task information includes: the target location of the cargo and a preset number of target autonomous driving container trucks involved in transporting the cargo, and multiple target autonomous driving container trucks are transported in the form of a team; at this time, the vehicle-road collaborative roadside equipment is used to obtain the transportation task information, and generate a team control instruction based on the transportation task information, and send the team control instruction to the autonomous driving container truck, so that the target autonomous driving container trucks that meet the preset number are teamed according to the team control instruction, and complete the cargo transportation in the form of a team.

[0101] Specifically, Figure 6 As shown, for the port operation scheduling platform, after determining the cargo information to be transported, such as the container information to be transported in the container yard, a transportation task is generated according to the cargo information. In the transportation task, the target location of the cargo (i.e., container) and the number of autonomous driving container trucks participating in the transportation are included. For the sake of distinction, the autonomous driving container trucks for parameter transportation are referred to as target autonomous driving container trucks, and the corresponding number is referred to as the preset number. In the transportation task, the preset number of target autonomous driving container trucks are specified to be transported in the form of a team; and, after the transportation task is generated, the port operation scheduling platform sends the transportation task to the vehicle-road cooperative roadside device. At this time, the vehicle-road cooperative roadside device generates a team control instruction according to the transportation task, and sends the team control instruction to the autonomous driving container truck, so that the target autonomous driving container trucks that meet the preset number are teamed according to the team control instruction, and the cargo transportation is completed in the form of a team. This scheduling method of autonomous driving container trucks can not only realize the flexible vehicle scheduling of autonomous driving container trucks, but also reduce the control cost of autonomous driving container trucks through teaming during cargo transportation, improve the container transportation efficiency of the port, and thus meet the transportation needs of the port.

[0102] It should be noted that, for the port operation and scheduling platform, before generating a transportation task, it is also possible to pre-acquire the status information of each autonomous driving container truck sent by the vehicle-road cooperative roadside equipment. Here, the status information is divided into operating status and idle status, so that the preset number of target autonomous driving container trucks participating in the transportation can be flexibly set according to the cargo information and the status information of each autonomous driving container truck; in some cases, each autonomous driving container truck is pre-formed into multiple container truck fleets, and the composition information is pre-stored in the port operation and scheduling platform. When cargo transportation is required, the port operation and scheduling platform determines the preset number of target autonomous driving container trucks based on the cargo information, and determines the target container truck fleet that meets the preset number from the composition information. At this time, the generated transportation task also includes the information of the target container truck fleet, so that after the vehicle-road cooperative roadside equipment receives the transportation task, it will send the team control instruction directly to the multiple target autonomous driving container trucks included in the target container truck fleet. This method improves the efficiency of target autonomous driving container truck teaming and further improves the efficiency of port cargo transportation.

[0103] In actual applications, the autonomous driving container truck is also equipped with on-board equipment; wherein the on-board equipment communicates with each other; the on-board equipment is also used to obtain teaming control instructions, and automatically team up according to the teaming control instructions until the number of target autonomous driving container trucks in the team reaches a preset number.

[0104] Specifically, the autonomous driving container trucks communicate with each other through the on-board devices. When the on-board devices obtain the teaming control instructions sent by the vehicle-road cooperative roadside equipment, the on-board devices of the autonomous driving container trucks in the idle state team up through the teaming control instructions until the number of target autonomous driving container trucks in the team reaches a preset number. After the on-board devices of the target autonomous driving container trucks receive the teaming control instructions, they respectively generate response information, such as agreeing to teaming or refusing to team up, and automatically form a truck team with the autonomous driving container trucks that agree to team up with the response information. Alternatively, the on-board device of one of the autonomous driving container trucks sends an inquiry message about whether to team up to the on-board devices of the remaining autonomous driving container trucks, and forms a truck team with the target autonomous driving container trucks that agree to team up. The specific technology of teaming multiple autonomous driving container trucks through communication between on-board devices can refer to the existing intelligent vehicle teaming technology, and the embodiments of the present invention will not be described in detail here.

[0105] Therefore, after the vehicle-road cooperative roadside equipment sends the teaming control instructions to the autonomous container trucks, the autonomous container trucks automatically team up through communication between on-board equipment. This not only reduces the control cost of the autonomous container trucks, but also realizes the flexible setting of the autonomous container trucks involved in the transportation, enriches the scenarios of autonomous container truck teaming, and meets the various transportation needs of the port.

[0106] In addition to realizing the teaming of autonomous driving container trucks through communication between vehicles, the teaming of autonomous driving container trucks can also be realized on the basis of the vehicle-road cooperative roadside equipment. Specifically, the vehicle-mounted equipment can also generate a teaming request according to the teaming control instruction, and send the teaming request to the vehicle-road cooperative roadside equipment; for example, according to the reception time of the teaming control instruction, the autonomous driving container truck that obtains the teaming request information earliest, its vehicle-mounted equipment generates a teaming request according to the teaming control instruction, and sends the teaming request to the vehicle-road cooperative roadside equipment; at this time, after the vehicle-road cooperative roadside equipment obtains the teaming request, it also broadcasts the teaming request to send the teaming request to the vehicle-mounted equipment of the remaining autonomous driving container trucks respectively; after receiving the teaming request, the vehicle-mounted equipment of the remaining autonomous driving container trucks generates a teaming reply information, such as agreeing to the teaming information or rejecting the teaming information, and sends the teaming reply information to the vehicle-road cooperative roadside equipment, and the vehicle-road cooperative roadside equipment generates a teaming strategy containing a preset number of target autonomous driving container trucks according to the teaming reply information, and sends the teaming strategy to the target autonomous driving container trucks, so that multiple target autonomous driving container trucks are teamed according to the teaming strategy. This teaming method can avoid the situation where the number of idle autonomous container trucks does not reach the preset number, resulting in the inability to form a team. By broadcasting the teaming request through the vehicle-road cooperative roadside equipment, some autonomous container trucks that are about to complete the transportation task can participate in the current transportation task, and the target autonomous container trucks can be teamed according to the preset number, thereby ensuring the transportation efficiency of the current transportation task and improving the transportation efficiency of the port.

[0107] It should be noted that the above-mentioned preset number of target self-driving container trucks form at least one container truck convoy. If there is one container truck convoy, the preset number of target self-driving container trucks transport containers simultaneously according to one vehicle train; if the container truck convoy includes a first container truck convoy and a second container truck convoy; wherein, the number of target self-driving container trucks in the first container truck convoy is equal to the number of target self-driving container trucks in the second container truck convoy, thereby further improving the transportation efficiency of containers through multiple parallel container truck trains, thereby improving the transportation efficiency of the port.

[0108] In addition, after the formation is completed, the multiple target autonomous trucks in the truck fleet are also configured with a formation ID (Identity Document, exclusive number), and during the transportation process, according to the formation ID, the subsequent target autonomous trucks are operated according to the previous target autonomous trucks, thereby reducing the control cost of the autonomous trucks during transportation. When the transportation task is completed, the on-board equipment of each autonomous truck also deletes the formation ID of the autonomous truck in the current transportation formation, so that a new formation ID can be reconfigured in the subsequent formation, avoiding the storage of a large amount of historical data in the on-board equipment, and further ensuring the control accuracy of the autonomous trucks.

[0109] Also, during the transportation process, the on-board equipment of the target autonomous driving container truck also obtains the operating parameters of the target autonomous driving container truck, where the transportation parameters include but are not limited to: operating position and operating speed, etc., and sends the operating parameters and the formation ID, etc. to the vehicle-road cooperative roadside equipment; at this time, the vehicle-road cooperative roadside equipment generates a team control parameter based on the obtained operating parameters and the formation ID, where the team control parameter includes but is not limited to the team running direction and the team running speed, etc., and sends the team control parameter to the on-board equipment, so that the on-board equipment controls the operation of the target autonomous driving container truck according to the team control parameter. For example, if during the transportation process, a target autonomous driving container truck deviates from the formation formation, such as there is an offset from the running trajectory of the target autonomous driving container trucks before and after, the vehicle-road cooperative roadside equipment determines that the target autonomous driving container truck deviates from the formation formation based on the operating parameters of each target autonomous driving container truck obtained, and generates a team control parameter so that the on-board equipment of the target autonomous driving container truck adjusts its operation according to the team control parameter, thereby ensuring the safe operation of each target autonomous driving container truck during the team operation process, and further ensuring the cargo transportation efficiency of the port.

[0110] Furthermore, the intelligent road management module 60 also includes perception facilities and control facilities, such as road perception control equipment; wherein the road perception control equipment is respectively communicated with the port operation and dispatching platform and the vehicle-road cooperative roadside equipment; the road perception control equipment is used to monitor the road traffic status data of the road on which the autonomous driving container truck is traveling, and send the road traffic status data to the vehicle-road cooperative roadside equipment; the vehicle-road cooperative roadside equipment is used to obtain road traffic status data and vehicle traffic status data of the target autonomous driving container truck, and generate traffic status data based on the road traffic status data and the vehicle traffic status data, and send the traffic status data to the port operation and dispatching platform; the port operation and dispatching platform is used to obtain traffic status data, and broadcast and / or display the traffic status data.

[0111] Among them, road perception and control equipment includes but is not limited to traffic cameras and traffic lights, etc., to monitor the road traffic status data of the road where the autonomous container truck is traveling, and send the road traffic status data to the vehicle-road cooperative roadside equipment; the vehicle-road cooperative roadside equipment includes but is not limited to RSU (Road Side Unit), lidar and millimeter wave radar, etc., to monitor the vehicle traffic status data of the target autonomous container truck, and generate traffic status data based on the road traffic status data and the vehicle traffic status data, and send the traffic status data to the port operation and scheduling platform, so that the port operation and scheduling platform can broadcast and / or display the traffic status data, such as broadcasting the congestion of a certain section of road, so that the remaining vehicles (including but not limited to ordinary container trucks and / or autonomous container trucks not participating in team transportation, etc.) can adjust their routes in time according to the traffic status data, etc., which not only realizes the traffic monitoring of the port and ensures the safe operation of the autonomous container truck, but also ensures the transportation efficiency and safety of the port.

[0112] It should be noted that, in some cases, the road perception control equipment can also directly send the road traffic status data to the port operation and dispatching platform. At the same time, the vehicle-road cooperative roadside equipment sends the vehicle traffic status data to the port operation and dispatching platform. At this time, the port operation and dispatching platform generates traffic status data based on the road traffic status data and the vehicle traffic status data, and broadcasts and / or displays the traffic status data to realize port traffic monitoring. Alternatively, the vehicle-road cooperative roadside equipment sends the vehicle traffic status data to the road perception control equipment, so that the road perception control equipment sends the road traffic status data and the vehicle traffic status data to the port operation and dispatching platform. The specific settings can be made according to the actual situation.

[0113] In actual applications, in addition to equipment for monitoring road traffic status data, the above-mentioned road perception control equipment also includes equipment for monitoring air quality data, such as various sensors, and sends the monitored air quality data to the port operation and dispatching platform (i.e., the business operation management center module. For example, in some scenarios, in order to save control costs, the port operation and dispatching platform is used as the business operation management center module); at this time, after the port operation and dispatching platform obtains the air quality data, it also generates early warning prompt information based on the air quality data and the preset threshold value to realize the environmental monitoring of the port; if the air quality data is greater than the corresponding preset threshold value, an early warning prompt information of poor air quality is generated, and the early warning prompt information is displayed and / or broadcast, so that the dispatching personnel can control the tugboats and / or container trucks in the port according to the early warning prompt information, such as reducing the number of tugboats in operation, reducing the number of manual container trucks, etc., to ensure the air environment quality of the port; or, in a poor environment such as heavy fog, the early warning prompt information is used to facilitate the operators of tugboats and / or container trucks to grasp the weather conditions in a timely manner, thereby ensuring the safe operation of tugboats and / or container trucks.

[0114] In addition, the road perception control equipment is also used to send air quality data to the vehicle-road cooperative roadside equipment; the vehicle-road cooperative roadside equipment is also used to send air quality data to the port operation and dispatching platform, so that the port operation and dispatching platform generates early warning information according to the air quality data and the preset threshold, and displays and / or broadcasts the early warning information. The specific transmission method of air quality data can be set according to actual conditions, and the embodiments of the present invention will not be described in detail here.

[0115] In one embodiment, if Figure 7 As shown, the system also includes a facility monitoring center module. The facility monitoring center module, the port operation dispatching platform and the roadside equipment are all connected to the autonomous driving container truck in communication. The port operation dispatching platform and the roadside equipment are also connected to the facility monitoring center module in communication.

[0116] Specifically, the facility monitoring center module is used to obtain the traffic data of the dedicated lane corresponding to the autonomous driving container truck, and generate the dedicated lane status information according to the traffic data of the dedicated lane, and send the dedicated lane status information to the port operation and scheduling platform; wherein the dedicated lane status information includes the dedicated lane idle state and the dedicated lane congestion state; the port operation and scheduling platform is used to obtain the dedicated lane status information, and when the dedicated lane status information is the dedicated lane idle state, generate a dedicated lane transportation task according to the cargo information; wherein the dedicated lane transportation task includes the target location of the container and the transportation route including the dedicated lane; and, send the dedicated lane transportation task to the autonomous driving container truck so that the autonomous driving container truck transports the container according to the transportation route including the dedicated lane.

[0117] Among them, in order to meet the transportation efficiency of port containers, the facility monitoring center module can obtain the traffic data of the dedicated lanes sent by the roadside equipment in real time, and send the generated dedicated lane status information facts to the port operation and scheduling platform; it can also send the generated dedicated lane status information facts to the port operation and scheduling platform at preset intervals, which can be set specifically according to actual conditions.

[0118] Therefore, for some sudden emergency transportation situations or port road congestion, the port operation and dispatching platform generates transportation tasks based on cargo information, allowing self-driving container trucks to transport containers in dedicated lanes, avoiding accidents such as ordinary road congestion or road construction that affect the transportation of containers by self-driving container trucks, thereby improving the operating efficiency of self-driving container trucks and, in turn, the container transportation efficiency of the port.

[0119] Among them, the roadside equipment includes: vehicle-road cooperative roadside equipment and road perception control equipment. In actual applications, the vehicle-road cooperative roadside equipment is used to monitor the operation data of the autonomous driving container truck, and the road perception control equipment is used to monitor the road traffic data and send the road traffic data to the facility monitoring center module; here the road traffic data includes the traffic data of the ordinary lane and the traffic data of the dedicated lane. The ordinary lane is used to represent the road that any vehicle can drive on, that is, the rest of the roads in the port except the dedicated lane for the autonomous driving container truck; at this time, the facility monitoring center module is also used to obtain road traffic data, and generate port road traffic status information based on the road traffic data to realize the monitoring of the port road traffic status. For example, the traffic status of each road is generated according to the traffic data of the road. Here the traffic status includes but is not limited to: congestion status, normal status and idle status, etc., which can be set according to the actual situation.

[0120] In addition, the facility monitoring center module can also manage lanes based on road traffic data. For example, if the road traffic data of a lane exceeds the corresponding traffic data threshold, the lane is in a congested state; at this time, the facility monitoring center module can also generate a road control instruction and send the road control instruction to the road perception control device, so that the road perception control device can control the lane according to the road control instruction, such as by adjusting traffic lights, etc., to alleviate the traffic congestion of the lane, thereby realizing the intelligent transportation of the port and further ensuring the transportation efficiency of the port.

[0121] Furthermore, the vehicle-road cooperative roadside equipment is also connected to the autonomous driving container truck for communication, so as to obtain the dedicated lane application request information of the autonomous driving container truck, and send the dedicated lane application request information to the facility monitoring center module; the facility monitoring center module is also used to obtain the dedicated lane application request information, and generate the dedicated lane application approval information according to the traffic data of the dedicated lane and the dedicated lane application request information, and send the dedicated lane application approval information to the vehicle-road cooperative roadside equipment; the vehicle-road cooperative roadside equipment is also used to obtain the dedicated lane application approval information, and send the dedicated lane application approval information to the autonomous driving container truck, so that the autonomous driving container truck can switch from the current road to the dedicated lane according to the dedicated lane application approval information.

[0122] For example, in the case where an autonomous truck transports containers on ordinary roads, if an accident or traffic congestion occurs on the ordinary road, the onboard equipment of the autonomous truck can also generate a special lane application request information, and send the special lane application request information to the facility monitoring center module via the vehicle-road cooperative roadside equipment; after the facility monitoring center module obtains the special lane application request information, it generates a special lane application consent information based on the traffic data of the special lane at this time and the special lane application request information, that is, the special lane use application management is realized. If the current special lane is idle, a special lane application consent information is generated, and the special lane application consent information is sent to the autonomous truck via the vehicle-road cooperative roadside equipment, so that after the autonomous truck obtains the special lane application consent information, it can switch from the current road (i.e., the ordinary channel) to the special lane. This driving strategy of switching from the current road to the special lane avoids the problem of low container transportation efficiency of the autonomous truck due to current road congestion or accidents, and ensures the container transportation efficiency of the port in emergency situations.

[0123] In addition, the facility monitoring center module can also generate dedicated lane application rejection information based on the dedicated lane traffic data and dedicated lane application request information, and send the dedicated lane application rejection information to the vehicle-road collaborative roadside equipment; the vehicle-road collaborative roadside equipment obtains the dedicated lane application rejection information, and sends the dedicated lane application rejection information to the autonomous driving container truck, so that the autonomous driving container truck continues to travel on the current road according to the dedicated lane application rejection information.

[0124] For example, in the case where the current dedicated lane is not idle, such as when multiple self-driving container trucks are already driving on the dedicated lane, the facility monitoring center module generates dedicated lane application rejection information based on the traffic data of the dedicated lane and the dedicated lane application request information, and sends the dedicated lane application rejection information to the self-driving container truck via the vehicle-road cooperative roadside equipment. At this time, the self-driving container truck continues to drive on the current road based on the dedicated lane application rejection information. In this case, the facility monitoring center module gives priority to ensuring the normal operation of the self-driving container truck already driving on the dedicated lane, thereby avoiding the situation where the self-driving container truck on the ordinary road switches to the dedicated lane, resulting in a decrease in the driving efficiency of the dedicated lane.

[0125] It should be noted that for the self-driving container trucks that continue to travel along the current road, the facility monitoring center module can also manage the current road to improve the transportation efficiency of the self-driving container trucks; or, determine the roads in normal or idle states based on the road traffic data, and send the road information to the self-driving container trucks via the vehicle-road cooperative roadside equipment, so that the on-board equipment of the self-driving container trucks can generate a new path plan according to the new road information, and control the self-driving container trucks to operate according to the new path plan, so as to improve the transportation efficiency of the self-driving container trucks, thereby improving the transportation efficiency of the port.

[0126] Furthermore, during the operation of the autonomous driving container truck, the on-board equipment of the autonomous driving container truck (not shown) will also send operating information to the facility monitoring center module, where the operating information includes all operating information of the autonomous driving container truck from start to final stop, such as operating speed, operating path, etc.; at this time, the facility monitoring center module generates monitoring management information of the autonomous driving container truck based on the operating information, so that when query information sent by the autonomous driving container truck is subsequently received, the monitoring management information is sent to the autonomous driving container truck to realize the management of the autonomous driving container truck, that is, the autonomous driving vehicle management is realized through the facility monitoring center module, thereby ensuring the safe operation of the autonomous driving container truck in the port, and thus ensuring the transportation efficiency of the port.

[0127] Furthermore, the system also includes a violation management module 15; the facility monitoring center module also sends the road traffic data to the violation management module. After receiving the road traffic data, the violation management module analyzes the road traffic data and generates lane violation information. The lane violation information includes but is not limited to: vehicles parked randomly, driving in the wrong direction, and not driving in the prescribed lane; and the violation management module sends the lane violation information to the facility monitoring center module, so that the facility monitoring center module manages the lane according to the lane violation information, such as managing randomly parked vehicles in the lane to alleviate the congestion of the lane, or the lane management personnel promptly clear and guide the vehicles to make the vehicles drive in the prescribed lane, etc., thereby ensuring the vehicle traffic safety of the port and improving the transportation efficiency of the port.

[0128] In particular, the facility monitoring center module is also used to generate early warning information when the lane violation information is a violation information of the dedicated lane, so as to prompt the dedicated lane management personnel to manage the dedicated lane in time. Specifically, when there is violation information in the dedicated lane, such as non-autonomous driving container trucks occupying the dedicated lane, vehicles parked randomly in the dedicated lane, etc., the facility monitoring center module also generates early warning information to prompt the dedicated lane management personnel to manage the dedicated lane in time, thereby ensuring the normal and safe operation of the autonomous driving container trucks traveling on the dedicated lane and improving the transportation efficiency of the port.

[0129] In addition, during the operation of the autonomous driving container truck, the vehicle-road cooperative roadside equipment also monitors the operating data of the autonomous driving container truck, where the operating data includes but is not limited to the operating speed and operating lane, and sends the operating data to the violation management module; at this time, the violation management module also generates vehicle violation information based on the operating data and preset thresholds, such as vehicle speeding violation information, vehicle reverse violation information, vehicle violation of traffic signal indicator light information, etc., and sends the vehicle violation information to the vehicle-road cooperative roadside equipment. The vehicle-road cooperative roadside equipment generates violation prompt information based on the vehicle violation information. On the one hand, the violation prompt information can be directly displayed through a display device such as a roadside display screen to prompt the operator of the autonomous driving container truck to check the violation in time, such as querying the violation information of the autonomous driving container truck through the designated software or applet of the mobile terminal; on the other hand, the violation prompt information can also be sent to the on-board equipment of the autonomous driving container truck, so that the on-board equipment prompts the operator to check the violation according to the violation prompt information, or slow down in time, etc., thereby ensuring the safe operation of the autonomous driving container truck in the port.

[0130] In one embodiment, if Figure 1 As shown, the business operation management center module also includes an evaluation unit and a display unit; wherein the evaluation unit is used to obtain the energy management data sent by the energy management module, and generate an evaluation result for quantitative evaluation of the green operation of the port based on the energy management data; and the evaluation result is sent to the display unit for display. In addition, the business operation management center module also includes a voice unit, such as broadcasting vehicle operation information and early warning prompt information through the voice unit, so that the dispatching personnel can grasp the environmental quality of the port in a timely manner, which not only improves the operating safety of the autonomous driving container truck, but also ensures the safe operation of the manual container truck and / or tugboat, further ensuring the safe operation of the port.

[0131] In one embodiment, if Figure 1 As shown in the figure, the business operation management center module also includes a digital twin unit and a data fusion support platform. Here, the digital twin unit can also be called a digital twin platform. In actual applications, when the port operation scheduling platform performs operation scheduling, the operation scheduling here includes but is not limited to port operation management, port operation scheduling, collection and distribution operation scheduling, and port ship operation scheduling, and also sends the operation plan to the digital twin unit; the digital twin unit performs plan deduction according to the operation plan, optimizes the operation plan, and sends the optimized operation to the port operation scheduling platform, so that the port operation scheduling platform can issue scheduling tasks to the equipment management subsystem according to the optimized operation, thereby improving the control accuracy of the scheduling task.

[0132] In addition, the equipment management subsystem includes multiple equipment management modules, such as tugboat management module, terminal operation module, collection and distribution center yard management module, container truck management module and intelligent road management module. After receiving the dispatch task, the equipment management subsystem sends the dispatch task to the corresponding equipment management module, so that the equipment management module can manage and control the corresponding equipment according to the dispatch task. At the same time, the equipment management module will feedback the execution status to the port operation dispatch platform, and send the equipment status to the data fusion support platform. In addition, the data fusion support platform performs fusion processing based on the perception data sent by the equipment dynamics and perception facilities, such as data processing based on real-time databases, historical databases, model algorithm libraries and 3D model libraries, generates the subject data corresponding to the dispatch task, and sends the subject data to the digital twin unit, so that the digital twin unit can perform situation monitoring, intelligent early warning and large-screen display according to the subject data, and generate emergency response plans during intelligent early warning, so that the port operation dispatch platform can handle emergency situations according to the emergency response plan, ensuring the intelligent and safe operation of the port.

[0133] Therefore, the smart port system provided by the embodiment of the present invention intelligently manages the tugboat management module, the terminal operation module, the collection and distribution center yard management module, the container truck management module and the intelligent road management module through the business operation management center module. Compared with the existing manual management method, it not only realizes the intelligent operation of the port and improves the operation efficiency of the port; it can also adjust the port operations in time to avoid high energy consumption and high emissions in port operations, thereby realizing the intelligent and green operation of the port. It should be noted that the above-mentioned digital twin unit and data fusion support platform can refer to the existing technology, and the embodiment of the present invention will not be described in detail here.

[0134] The computer program product of the smart port system provided in the embodiment of the present invention includes a computer-readable storage medium storing program codes. The instructions included in the program codes can be used to execute the previous embodiments, which will not be described in detail here.

[0135] In addition, in the description of the embodiments of the present invention, unless otherwise clearly specified and limited, 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 an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0136] 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 non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for enabling 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 each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0137] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying 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 limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0138] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A smart port system, characterized in that: include: A business operation management center module, and a tugboat management module, a terminal operation module, a collection and distribution center yard management module, a container truck management module and an intelligent road management module connected to the business operation management center module; The business operation management center module is used to send tugboat task information to the tugboat management module so that the tugboat management module performs tugboat operations according to the tugboat task information, wherein the tugboat task information includes tugboat information and waterway information; and / or, send terminal task information to the terminal operation operation module so that the terminal operation operation module performs terminal operations according to the terminal task information, wherein the terminal task information includes: port ship information, terminal bridge information, quay crane information and terminal gate information; and / or, send transportation task information to the collection and distribution center yard management module so that the collection and distribution center yard management module performs transportation operations according to the transportation task information, wherein the transportation task information includes transportation gate information and transportation bridge information; and / or, send container truck control information to the container truck management module so that the container truck management module controls the working status of multiple container trucks according to the container truck control information; and / or, send road control information to the intelligent road management module so that the intelligent road management module manages road traffic according to the road control information.

2. The smart port system according to claim 1, characterized in that: The system further includes an energy management module; wherein the energy management module is respectively connected to the tugboat management module, the terminal operation module, the collection and distribution center yard management module, the container truck management module and the intelligent road management module; The energy management module is used to provide electrical energy and / or energy to the tugboat management module, the terminal operation module, the collection and distribution center yard management module, the container truck management module and the intelligent road management module; wherein the energy includes oil energy and gas energy.

3. The smart port system according to claim 2, characterized in that: The energy management module includes: an energy dispatching management center unit, and a first energy unit and a second energy unit connected to the energy dispatching management center unit; The energy dispatching management center unit is used to control the first energy unit to provide electrical energy to the tugboat management module, the terminal operation module, the collection and distribution center yard management module, the container truck management module and the intelligent road management module, and control the second energy unit to provide energy to the container truck management module.

4. The smart port system according to claim 3, characterized in that: The first energy unit includes at least one of the following: wind energy, light energy, cold energy and tidal energy.

5. The smart port system according to claim 3, characterized in that: The second energy unit includes at least one of the following: hydrogen energy, fuel energy and liquefied natural gas energy.

6. The smart port system according to claim 1, characterized in that: The system also includes port area emission monitoring equipment and an emission monitoring center module; wherein the port area emission monitoring equipment and the business operation management center module are both in communication connection with the emission monitoring center module; The port area emission monitoring equipment is used to monitor the port area emissions and send the port area emissions to the emission monitoring center module; wherein the port area emissions include first emissions corresponding to the container truck and second emissions corresponding to the tugboat, the first emissions include at least one of the following: carbon dioxide emissions, nitrogen oxide emissions, particulate matter emissions and volatile organic compound emissions, and the second emissions include at least one of the following: sulfur dioxide emissions, carbon monoxide emissions, carbon dioxide emissions, hydrocarbon emissions, sulfur oxide emissions, nitrogen oxide emissions, particulate matter emissions and volatile organic compound emissions; The emission monitoring center module is used to obtain the port area emissions, analyze the port area emissions, and send the analysis results to the business operation management center module; The business operation management center module is used to obtain the analysis results and generate emission management instructions according to the analysis results; and manage the container truck and / or the tugboat according to the emission management instructions.

7. The smart port system according to claim 1, characterized in that: The business operation management center module includes a port operation dispatching platform, the intelligent road management module includes a vehicle-road cooperative roadside device, the container truck management module includes a plurality of autonomous driving container trucks, and the vehicle-road cooperative roadside device is respectively connected to the port operation dispatching platform and the plurality of autonomous driving container trucks in communication; The port operation dispatching platform is used to generate the transport task information according to the cargo information, and send the transport task information to the VIR roadside equipment; wherein the transport task information includes: the target location of the cargo and the preset number of target autonomous driving container trucks involved in transporting the cargo, and multiple target autonomous driving container trucks are transported in the form of a team; The vehicle-road cooperative roadside equipment is used to obtain the transport task information, generate a team control instruction based on the transport task information, and send the team control instruction to the autonomous driving container trucks, so that the target autonomous driving container trucks that meet the preset number form a team according to the team control instruction and complete the cargo transportation in the form of a team.

8. The smart port system according to claim 7, characterized in that: The autonomous driving container truck is also equipped with on-board equipment; wherein the on-board equipment is communicatively connected with each other; The vehicle-mounted device is also used to obtain the team formation control instruction and automatically form a team according to the team formation control instruction until the number of the target autonomous driving container trucks in the team reaches the preset number.

9. The smart port system according to claim 7, characterized in that: The system further comprises a facility monitoring center module, which is communicatively connected to the port operation dispatching platform; The facility monitoring center module is used to obtain the traffic data of the dedicated lane corresponding to the autonomous driving container truck, generate the dedicated lane status information according to the traffic data of the dedicated lane, and send the dedicated lane status information to the port operation scheduling platform; wherein the dedicated lane status information includes the dedicated lane idle state and the dedicated lane congestion state; The port operation scheduling platform is used to obtain the dedicated lane status information, and when the dedicated lane status information indicates that the dedicated lane is idle, generate a dedicated lane transportation task according to the cargo information; wherein the dedicated lane transportation task includes a target location of a container and a transportation route including the dedicated lane; and send the dedicated lane transportation task to the autonomous driving container truck so that the autonomous driving container truck transports the container according to the transportation route including the dedicated lane.

10. The smart port system according to claim 2, characterized in that: The business operation management center module also includes an evaluation unit and a display unit; The evaluation unit is used to obtain the energy management data sent by the energy management module, and generate an evaluation result for quantitatively evaluating the green operation of the port based on the energy management data; and send the evaluation result to the display unit for display.

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