Intelligent scheduling and transportation system for port unmanned flat car

Abstract

The invention discloses an intelligent scheduling and transportation system for a port unmanned flat car, which belongs to the technical field of port unmanned transportation, and is technically characterized by comprising a cloud intelligent scheduling platform, an unmanned flat car transportation system and a car cloud collaboration module, the cloud intelligent scheduling platform comprises a vehicle cloud control system, an operation task management system, an automatic driving operation monitoring system, an intelligent network connection operation scheduling system and a port scheduling collaborative management system; the unmanned flat car transportation system comprises intelligent sensor hardware, global fusion situation awareness, multi-redundancy fusion positioning, high-precision motion control and anthropomorphic driving decision planning. And the vehicle cloud cooperation module comprises task instruction interaction and vehicle real-time state reporting, and has the advantages that through seamless butt joint with automatic container hoisting equipment, the whole-process unmanned operation of transportation and loading and unloading operation is realized, the port operation efficiency and the intelligent level are improved, and the intelligence and the high efficiency of the port unmanned transportation system are greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned port transportation, and in particular to an intelligent dispatching and transportation system for unmanned flatbed trucks in ports. Background Art

[0002] Port transportation is one of the core links of port operations, involving the transportation of containers from quay cranes to the yard. Traditional port transportation mainly relies on manually driven container trucks, which have certain limitations in terms of safety, efficiency and cost control. In recent years, unmanned driving technology has made significant progress, and its application in the field of logistics and transportation has gradually become a research hotspot. Unmanned transportation technology realizes the automation and intelligence of transportation equipment by integrating advanced sensors, control algorithms and communication technologies. In the port environment, the application of unmanned flatbed trucks can significantly improve transportation efficiency, reduce operating costs, and reduce accidents caused by human operational errors.

[0003] The port unmanned flatbed transport system is a transport solution that integrates unmanned driving technology. It can autonomously navigate in the complex operating environment of the port and perform container transport tasks. However, the existing unmanned flatbed transport system uses traditional scheduling methods that are often based on static rules and are difficult to adapt to the dynamically changing operating environment of the port, resulting in low scheduling efficiency. When performing alignment tasks, unmanned flatbeds are difficult to achieve high-precision alignment due to environmental interference and positioning accuracy limitations.

[0004] In view of the problems existing in the above-mentioned background technology, the present invention proposes an intelligent scheduling and transportation system for unmanned flatbed trucks in ports. Summary of the invention

[0005] In view of the deficiencies in the prior art, an embodiment of the present invention aims to provide an intelligent scheduling and transportation system for unmanned flatbed trucks in ports to solve the problems in the above-mentioned background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions: An intelligent dispatching and transportation system for unmanned flatbed trucks in ports, including a cloud-based intelligent dispatching platform, an unmanned flatbed truck transportation system, and a vehicle-cloud collaboration module, and also includes: The cloud-based intelligent dispatching platform includes a vehicle cloud control system, an operation task management system, an autonomous driving operation monitoring system, an intelligent network operation dispatching system, and a port dispatching collaborative management system; The unmanned flatbed transport system includes intelligent sensor hardware, global fusion situational awareness, multiple redundant fusion positioning, high-precision motion control and humanoid driving decision-making planning; The vehicle-cloud collaboration module includes task instruction interaction and real-time vehicle status reporting.

[0007] As a further solution of the present invention, the vehicle cloud control system is used for cloud management of status information of the unmanned flatbed vehicle.

[0008] As a further solution of the present invention, the operation task management system is used to receive port container loading and unloading operation tasks, and perform task decomposition and priority sorting. The task management is linked with the port production planning system in real time.

[0009] As a further solution of the present invention, the automatic driving operation monitoring system is used to monitor the operating status of the unmanned flatbed vehicle in real time, including path tracking, environmental perception and obstacle avoidance, and provide an abnormal alarm function to notify the dispatcher when the vehicle deviates from the planned path or encounters an obstacle.

[0010] As a further solution of the present invention, the intelligent networked operation and scheduling system is used to dynamically optimize vehicle allocation and task scheduling by combining traffic information inside and outside the port, weather conditions and task urgency, realize coordinated scheduling of large-scale vehicle groups, and achieve efficient utilization of unmanned flatbed trucks.

[0011] As a further solution of the present invention, the port dispatching collaborative management system is used to exchange information with other port equipment to ensure seamless connection of work tasks between equipment, provide a comprehensive visual interface, and display the overall operating status of the port.

[0012] As a further solution of the present invention, the intelligent sensor hardware includes a laser radar, a millimeter wave radar, a camera and an ultrasonic sensor.

[0013] As a further solution of the present invention, the global fusion situational awareness constructs a real-time dynamic environment model through multi-sensor data fusion, accurately identifies obstacles, dynamic vehicles and pedestrians, and the multiple redundant fusion positioning is based on the multi-source fusion of GNSS, inertial navigation IMU, visual SLAM and port ground signs. The redundant design ensures positioning in signal-restricted areas.

[0014] As a further solution of the present invention, the high-precision motion control adopts high-precision motor control technology for smooth driving and precise parking of vehicles on complex paths, dynamically adjusting speed and direction to ensure safety and stability under high-load conditions. Humanoid driving decision planning is used to simulate human driving decisions, and the optimal driving path is planned through a combination of deep learning and rules.

[0015] As a further solution of the present invention, the task instruction interaction is used for the cloud scheduling platform to send task instructions to the unmanned flatbed vehicle, including information such as the starting position and the destination. After receiving the instructions, the vehicle generates a driving path through the path planning module and executes it. The real-time status reporting of the vehicle will enable the unmanned flatbed vehicle to upload its own operating status to the cloud platform at a regular interval. The cloud platform dynamically adjusts the scheduling strategy according to the vehicle status and optimizes task allocation.

[0016] In summary, compared with the prior art, the embodiments of the present invention have the following beneficial effects: Through the dynamic task allocation algorithm, efficient scheduling of unmanned flatbed trucks is achieved, which effectively reduces transportation waiting time and improves resource utilization; The system integrates high-precision RTK positioning technology and multi-sensor fusion technology to ensure accurate navigation of unmanned flatbed vehicles in complex port environments, improving transportation safety and reliability; Based on the Internet of Things and 5G communication technology, the operating status of the unmanned flatbed truck is monitored in real time, and a fast abnormal feedback mechanism is provided to ensure stable operation of the system and timely handling of emergencies; The system is equipped with advanced environmental perception technology, combined with deep learning algorithms to achieve obstacle detection and autonomous obstacle avoidance functions, effectively reducing collision risks and ensuring operational safety; By seamlessly connecting with automated container lifting equipment, the entire process of transportation and loading and unloading operations can be unmanned, greatly improving the efficiency and intelligence level of port operations.

[0017] In order to more clearly illustrate the structural features and effects of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Schematic diagram of the intelligent dispatching and transportation system of unmanned flatbed trucks in ports according to an embodiment of the invention.

[0019] Figure 2 This is a diagram of the implementation steps of the intelligent scheduling and transportation system for unmanned flatbed trucks in ports according to an embodiment of the invention. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0021] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0022] In one embodiment, an intelligent dispatching and transportation system for unmanned flatbed trucks at a port, see Figure 1-2 , including cloud-based intelligent dispatching platform, unmanned flatbed truck transportation system and vehicle-cloud collaboration module, and also includes: The cloud-based intelligent dispatching platform includes a vehicle cloud control system, an operation task management system, an autonomous driving operation monitoring system, an intelligent network operation dispatching system, and a port dispatching collaborative management system; The unmanned flatbed transport system includes intelligent sensor hardware, global fusion situational awareness, multiple redundant fusion positioning, high-precision motion control and humanoid driving decision-making planning; The vehicle-cloud collaboration module includes task instruction interaction and real-time vehicle status reporting.

[0023] For further information, see Figure 1-2 The vehicle cloud control system is used for cloud management of status information of unmanned flatbed vehicles.

[0024] For further information, see Figure 1-2 The operation task management system is used to receive port container loading and unloading operation tasks, and to decompose and prioritize the tasks. The task management is linked to the port production planning system in real time.

[0025] For further information, see Figure 1-2 The autonomous driving operation monitoring system is used to monitor the operating status of the unmanned flatbed vehicle in real time, including path tracking, environmental perception and obstacle avoidance, and provide abnormal alarm function to notify the dispatcher when the vehicle deviates from the planned path or encounters an obstacle.

[0026] For further information, see Figure 1-2 The intelligent networked operation and dispatching system is used to dynamically optimize vehicle allocation and task scheduling by combining traffic information inside and outside the port, weather conditions and task urgency, realize the coordinated dispatch of large-scale vehicle groups, and realize the efficient use of unmanned flatbed trucks.

[0027] For further information, see Figure 1-2 The port dispatching collaborative management system is used to exchange information with other port equipment to ensure seamless connection of work tasks between equipment and provide a comprehensive visual interface to display the overall operation status of the port.

[0028] For further information, see Figure 1-2 The smart sensor hardware includes lidar, millimeter-wave radar, camera and ultrasonic sensor.

[0029] For further information, see Figure 1-2 The global fusion situational awareness builds a real-time dynamic environment model through multi-sensor data fusion, accurately identifies obstacles, dynamic vehicles and pedestrians, and the multiple redundant fusion positioning is based on the multi-source fusion of GNSS, inertial navigation IMU, visual SLAM and port ground signs. The redundant design ensures positioning in signal-restricted areas.

[0030] For further information, see Figure 1-2The high-precision motion control adopts high-precision motor control technology, which is used for smooth driving and precise parking of vehicles on complex paths, dynamically adjusting speed and direction to ensure safety and stability under high-load conditions. The humanized driving decision planning is used to simulate human driving decisions and plan the optimal driving path through a combination of deep learning and rules.

[0031] For further information, see Figure 1-2 The task instruction interaction is used for the cloud scheduling platform to send task instructions to the unmanned flatbed vehicle, including information such as the starting position and the destination. After receiving the instruction, the vehicle generates a driving path through the path planning module and executes it. The real-time status report of the vehicle will upload the unmanned flatbed vehicle's own operating status to the cloud platform at a regular interval. The cloud platform dynamically adjusts the scheduling strategy according to the vehicle status and optimizes task allocation.

[0032] In this embodiment, the cloud-based intelligent dispatching platform, by connecting to the port information systems such as the port TOS system, the yard crane / quay crane remote control system, issues task instructions to the autonomous driving vehicle through real-time container operation task information, receives the global path feedback from the vehicle, and presents the real-time operation status of the port area in two dimensions based on vehicle status information, high-precision maps of the port area, etc. It includes five subsystems: vehicle cloud control system, operation task management system, autonomous driving operation monitoring system, intelligent network operation dispatching system, and port dispatching collaborative management.

[0033] The vehicle cloud control system is responsible for the global path planning, real-time scheduling and traffic status prediction of the unmanned flatbed trucks to ensure the efficiency and safety of port transportation.

[0034] The operation task management system realizes the full process management of container loading and unloading tasks, including task allocation, status tracking and exception handling.

[0035] The autonomous driving operation monitoring system monitors the operating status of the unmanned flatbed truck in real time, including vehicle positioning, sensor data, operating trajectory and environmental perception information, and supports fault diagnosis and remote intervention.

[0036] Intelligent connected operation and dispatching system: Based on 5G communication and Internet of Vehicles technology, it provides multi-fleet collaborative management and efficient communication mechanism across devices to optimize dispatching efficiency.

[0037] The port dispatching collaborative management system realizes collaborative operation with other port operation systems, such as quay cranes, yard cranes, and yard management systems, to ensure seamless connection between transportation and loading and unloading in the entire port area.

[0038] The unmanned flatbed transport system is based on the autonomous driving function realized by the intelligent hardware of the autonomous driving vehicle, that is, based on a series of intelligent sensor hardware such as cameras, lidar, millimeter-wave radar, ultrasonic radar, inertial navigation combination, on-board 5G communication equipment, and on-board computing kits, it realizes high-level L4 autonomous driving functions such as full-domain fusion situational awareness, multiple redundant fusion positioning, high-speed and high-precision motion control, and humanoid driving decision planning.

[0039] The vehicle-cloud collaboration module establishes a port internal network connection with the cloud-based intelligent dispatching platform to realize functions such as task instruction interaction and vehicle real-time status reporting, receive task instructions issued by the cloud, including path planning and dispatching commands, and provide real-time feedback on vehicle status and task execution. The vehicle's operating data, such as location, speed, task status, and sensor information, is uploaded to the cloud in real time for analysis and processing by the intelligent dispatching platform.

[0040] The intelligent dispatching and transportation system of unmanned flatbed trucks in ports has the following specific operation steps: S1: The port TOS system generates a loading operation plan.

[0041] S2: The port TOS system sends the operation tasks to the cloud-based intelligent scheduling platform. The content sent includes: container quantity, container number, container size, container collection and unloading locations for horizontal transportation, etc.

[0042] S3: The cloud-based intelligent dispatching platform assigns appropriate unmanned flatbed vehicles to perform tasks in sequence based on TOS operation tasks, and issues corresponding dispatching instructions to the unmanned flatbed vehicles. The unmanned flatbed vehicles can then perform autonomous driving tasks according to the tasks.

[0043] S4: The unmanned flatbed truck enters and starts to perform the autonomous driving task. The cloud-based intelligent scheduling platform will feedback the status of the unmanned flatbed truck and the relationship between the tasks assigned to the unmanned flatbed truck to the TOS system.

[0044] S5: When the unmanned flatbed truck arrives at the entrance of the yard operation area, the cloud-based intelligent dispatching platform reports the entry notification to the yard crane remote control system, informing the unmanned flatbed truck to enter the operation area.

[0045] S6: After the unmanned flatbed vehicle enters the operation, it is guided and assisted by the CPS (alignment) signal and simultaneously senses the large aircraft to achieve more accurate alignment, precisely locates the operating position and parks.

[0046] S7: The remote control system of the yard crane confirms that the unmanned flatbed vehicle has parked accurately and parks. The yard crane grabs the container and places it on the unmanned flatbed vehicle.

[0047] S8: The cloud-based intelligent dispatching platform connects to the remote control system of the yard crane to obtain information on whether the yard crane container release operation is completed, the open and closed status of the spreader lock, and whether the spreader height has reached a safe height. After the container is released and the spreader reaches a safe height, the unmanned flatbed truck is dispatched to the quay crane.

[0048] S9: After the unmanned flatbed truck arrives at the quay crane, the cloud-based intelligent dispatching platform will obtain the current position of the quay crane and dispatch the unmanned flatbed truck to stop under the crane's operating area. If there are multiple vehicles, they will queue up and wait.

[0049] S10: After the unmanned flatbed truck stops under the operating area of ​​the large crane on the quay crane, the cloud-based intelligent dispatching platform will obtain the CPS (positioning) guidance signal of the remote control system, dispatch the unmanned flatbed truck for precise positioning, and sense the parking line mark of the large crane to achieve more accurate positioning.

[0050] S11: After the unmanned flatbed truck is aligned, it parks and reports to the quay crane remote control system through the cloud control platform to carry out the loading operation.

[0051] S12: The cloud-based intelligent dispatching platform connects to the remote control system of the quay crane to obtain the open and closed status of the spreader lock and the spreader height in real time. After determining that the quay crane has completed grabbing the container and the spreader has reached a safe height, it updates the task status and the vehicle status of the unmanned flatbed truck.

[0052] S13: The cloud-based intelligent dispatching platform dispatches the unmanned flatbed truck to leave the quay crane operation area to carry out subsequent operation tasks or return to the vehicle center station.

[0053] Each module of the intelligent dispatching and transportation system of the above-mentioned unmanned flatbed trucks in ports can be implemented in whole or in part by software, hardware and their combination. Each of the above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the corresponding operations of each of the above modules.

[0054] The status information of the unmanned flatbed truck includes its location, power and load. Other port equipment includes quay cranes and yard equipment. Signal-restricted areas such as container yards have their own operating status including location, speed and task progress. The working principle of the present invention is: The system optimally allocates dynamic tasks to unmanned flatbed trucks, improves scheduling efficiency, and realizes data interaction between the unmanned flatbed trucks and the cloud platform through the vehicle-cloud collaborative alignment module, achieving precise alignment.

[0055] Through the implementation of the present invention, the port unmanned flatbed truck transportation system will be able to greatly improve operating efficiency and reduce operating costs while ensuring safety, providing strong support for the intelligent development of port logistics.

[0056] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An intelligent dispatching and transportation system for unmanned flatbed trucks in ports, comprising a cloud-based intelligent dispatching platform, an unmanned flatbed truck transportation system and a vehicle-cloud collaboration module, characterized in that: Also includes: The cloud-based intelligent dispatching platform includes a vehicle cloud control system, an operation task management system, an autonomous driving operation monitoring system, an intelligent network operation dispatching system, and a port dispatching collaborative management system; The unmanned flatbed transport system includes intelligent sensor hardware, global fusion situational awareness, multiple redundant fusion positioning, high-precision motion control and humanoid driving decision-making planning; The vehicle-cloud collaboration module includes task instruction interaction and real-time vehicle status reporting.

2. The intelligent dispatching and transportation system for unmanned flatbed trucks in ports according to claim 1 is characterized in that: The vehicle cloud control system is used for cloud management of status information of unmanned flatbed vehicles.

3. The intelligent dispatching and transportation system for unmanned flatbed trucks in ports according to claim 2 is characterized in that: The operation task management system is used to receive port container loading and unloading operation tasks, and to perform task decomposition and priority sorting. The task management is linked with the port production planning system in real time.

4. The intelligent dispatching and transportation system for unmanned flatbed trucks in ports according to claim 3 is characterized in that: The autonomous driving operation monitoring system is used to monitor the operating status of the unmanned flatbed vehicle in real time, including path tracking, environmental perception and obstacle avoidance, and provide abnormal alarm function to notify the dispatcher when the vehicle deviates from the planned path or encounters an obstacle.

5. The intelligent dispatching and transportation system for unmanned flatbed vehicles in ports according to claim 4 is characterized in that: The intelligent networked operation and dispatching system is used to dynamically optimize vehicle allocation and task scheduling by combining traffic information inside and outside the port, weather conditions and task urgency, realize the coordinated dispatch of large-scale vehicle groups, and achieve efficient utilization of unmanned flatbed trucks.

6. The intelligent dispatching and transportation system for unmanned flatbed trucks in ports according to claim 5 is characterized in that: The port dispatching collaborative management system is used to exchange information with other port equipment to ensure seamless connection of work tasks between equipment, provide a comprehensive visual interface, and display the overall operating status of the port.

7. The intelligent dispatching and transportation system for unmanned flatbed trucks in ports according to claim 1 is characterized in that: The smart sensor hardware includes lidar, millimeter-wave radar, camera and ultrasonic sensor.

8. The intelligent dispatching and transportation system for unmanned flatbed trucks in ports according to claim 7 is characterized in that: The global fusion situational awareness builds a real-time dynamic environment model through multi-sensor data fusion, accurately identifies obstacles, dynamic vehicles and pedestrians, and the multiple redundant fusion positioning is based on the multi-source fusion of GNSS, inertial navigation IMU, visual SLAM and port ground signs. The redundant design ensures positioning in signal-restricted areas.

9. The intelligent dispatching and transportation system for unmanned flatbed trucks in ports according to claim 8 is characterized in that: The high-precision motion control adopts high-precision motor control technology, which is used for smooth driving and precise parking of vehicles on complex paths, dynamically adjusting speed and direction to ensure safety and stability under high-load conditions. The humanized driving decision planning is used to simulate human driving decisions, and plans the optimal driving path through a combination of deep learning and rules.

10. The intelligent dispatching and transportation system for unmanned flatbed trucks in ports according to claim 1 is characterized in that: The task instruction interaction is used by the cloud scheduling platform to send task instructions to the unmanned flatbed vehicle, including information such as the starting position and the destination. After receiving the instructions, the vehicle generates and executes the driving path through the path planning module. The real-time status reporting of the vehicle will upload the unmanned flatbed vehicle's own operating status to the cloud platform at a regular interval. The cloud platform dynamically adjusts the scheduling strategy according to the vehicle status and optimizes task allocation.

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