In-port navigation system and method

Abstract

The invention provides an in-port navigation system and method, the in-port navigation system comprises a navigation SDK integration module and a traffic data fusion processing module, the navigation SDK integration module is used for integrating a navigation SDK; and the traffic data fusion processing module is used for carrying out fusion and navigation on the traffic road condition data in the harbor. According to the technical scheme, more accurate navigation service can be realized through traffic road condition data butt joint, and the function and service level of an in-port navigation system are further improved.

Description

Background Art

[0002] The existing in-port navigation systems have the following main disadvantages: Signal is vulnerable to interference: In the port environment, due to factors such as container stacking, tunnels, and high-rise buildings, GPS signals may be blocked and reflected, resulting in signal loss and inaccurate positioning. Signal interference such as radio waves will also affect the positioning accuracy and stability of the navigation system.

[0003] Low update frequency: The in-port environment often changes, such as the opening of new shipping lanes and the adjustment of container yards. However, the data update of the navigation system may not be able to keep up with these changes in a timely manner, resulting in inaccurate navigation information. Some navigation systems may need to purchase additional data packages to obtain the latest map information, increasing the usage cost.

[0004] Poor autonomy: The existing in-port navigation systems often rely on external signal sources (such as GPS) for positioning, with poor autonomy. Once the external signal source is interfered with or fails, the positioning ability of the navigation system will be severely affected.

[0005] Strong dependence: The driver or operator has too strong a dependence on the navigation system, which may lead to the inability to independently plan routes and perform driving operations without the navigation system. This increases the operation risk, especially when the navigation system fails or the signal is unstable.

[0006] High cost: The initial purchase cost and the later maintenance cost of the in-port navigation system may be relatively high, which may be difficult for some small ports or logistics enterprises to bear. Summary of the Invention

[0007] This application provides an in-port navigation system and method to provide more intelligent, efficient, and safe pilotage services for ports, contribute to the construction of smart ports, and promote the digital transformation of transportation.

[0008] In the first aspect, an in-port navigation system is provided, including: a navigation SDK integration module and a traffic data fusion and processing module, where, The navigation SDK integration module is used to integrate the navigation SDK; The traffic data fusion and processing module is used to fuse and navigate the in-port traffic condition data.

[0009] In the above technical solution, by setting up a navigation SDK integration module and a traffic data fusion processing module, the navigation SDK integration module is used to integrate the navigation SDK; the traffic data fusion processing module is used to fuse and navigate the traffic condition data in the port; through the docking of traffic condition data, more accurate navigation services can be realized, further improving the functions and service levels of the in-port navigation system; providing a more intelligent, efficient and safe pilotage service for the port, contributing to the construction of a smart port and promoting the digital transformation of transportation.

[0010] In a specific feasible implementation, it further includes: a service docking and integration module, where the service docking and integration module is used to cooperate with the operations of the production system to transfer and collaborate on information.

[0011] In a specific feasible implementation, it further includes: a navigation track and anomaly query and traceability module, where the navigation track and anomaly query and traceability module is used to query the historical navigation tracks of vehicles, replay the navigation tracks, and create relevant interfaces for the transmission of navigation track data.

[0012] In a specific feasible implementation, it further includes: a virtual traffic light module, where the virtual traffic light module is used to present virtual traffic lights in the scenario and cooperate with corresponding management.

[0013] In a specific feasible implementation, it further includes: a custom voice broadcast module, where the custom voice broadcast module is used to perform custom voice broadcasts for navigation.

[0014] In a specific feasible implementation, the traffic data fusion processing module includes: A traffic condition data docking unit, which is used to dock the container truck data within the tenderer and judge the traffic conditions of the roads; and to dock the data of vehicle-road collaborative V2X traffic congestion events; A route planning strategy unit, which is used to respond to a route planning request for congestion avoidance strategies according to the traffic conditions after docking or perceiving the traffic conditions; A vehicle aggregation alarm unit, which is used to identify vehicle aggregation behaviors after docking the container truck data and external container truck data, and trigger an anomaly alarm callback.

[0015] In a specific feasible implementation, the service docking and integration module includes: A gantry crane crossing street data unit, which is used to sense the position of the gantry crane crossing the street and transfer, and guide and control the surrounding vehicles involved; An unmanned truck positioning data unit, which is used to synchronize the positioning data of unmanned trucks and support the judgment of traffic conditions and the recognition of aggregation behaviors; A notice / message information synchronization unit, which is used to connect to a notice / message platform; A real-time positioning information uploading unit, which is used to upload the positioning information of external trucks in real time.

[0016] In a specific feasible implementation, the navigation trajectory and anomaly query and traceability module includes: A navigation trajectory query unit, which is used to query the historical navigation trajectory of a vehicle and perform playback processing on the navigation trajectory; An anomaly event query unit, which is used to trace and handle anomalies.

[0017] In a specific feasible implementation, the navigation SDK integration module includes: A path planning section, which is used for path planning of user tasks; A navigation section, which is used for navigation of user tasks.

[0018] In a second aspect, a port navigation method is provided, including the following steps: Integrate a navigation SDK using the navigation SDK integration module; Use the traffic data fusion processing module to fuse and navigate the port traffic condition data; Use the service docking and integration module to cooperate with the production system's operations to transmit and collaborate on information; Use the navigation trajectory and anomaly query and traceability module to query the historical navigation trajectory of a vehicle, perform playback processing on the navigation trajectory, and create relevant interfaces for navigation trajectory data transmission; Use the virtual traffic light module to present virtual traffic lights in the scenario and cooperate with corresponding management; Use the custom voice broadcast module to perform custom voice broadcasts for navigation.

[0019] In the above technical solution, by setting up a navigation SDK integration module and a traffic data fusion processing module, the navigation SDK integration module is used to integrate a navigation SDK; the traffic data fusion processing module is used to fuse and navigate the port traffic condition data; through the docking of traffic condition data, more accurate navigation services can be realized, further improving the functions and service levels of the port navigation system; providing a more intelligent, efficient, and safe navigation service for the port, contributing to the construction of a smart port and promoting the digital transformation of transportation. Description of the Drawings

[0020] Figure 1 It is a structural block diagram of the port navigation system provided by the embodiment of the present application; Figure 2Flow chart of the in-port navigation method provided by the embodiments of the present application. Detailed implementation manners

[0021] The present application will be further described in detail below with reference to the accompanying drawings and embodiments. Through these descriptions, the features and advantages of the present application will become more clearly defined.

[0022] The special term "exemplary" here means "serving as an example, embodiment or illustration". Any embodiment described as "exemplary" here does not have to be construed as superior or better than other embodiments. Although various aspects of the embodiments are shown in the drawings, the drawings do not have to be drawn to scale unless otherwise specified.

[0023] In addition, the technical features involved in different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0024] To facilitate the understanding of the in-port navigation system and method provided by the embodiments of the present application, its application scenario will be described first. The in-port navigation system and method provided by the embodiments of the present application are used to provide more intelligent, efficient and safe pilotage services for ports, contribute to the construction of smart ports, and promote the digital transformation of transportation. The main disadvantages of existing in-port navigation systems mainly include the following aspects: Signal interference: In the port environment, due to factors such as container stacking, tunnels and high-rise buildings, GPS signals may be blocked and reflected, resulting in signal loss and inaccurate positioning. Signal interference such as radio waves will also affect the positioning accuracy and stability of the navigation system. Low update frequency: The in-port environment often changes, such as the opening of new waterways and the adjustment of container yards, but the data update of the navigation system may not be able to keep up with these changes in time, resulting in inaccurate navigation information. Some navigation systems may need to purchase additional data packages to obtain the latest map information, increasing the usage cost. Poor autonomy: Existing in-port navigation systems often rely on external signal sources (such as GPS) for positioning, with poor autonomy. Once the external signal source is interfered with or fails, the positioning ability of the navigation system will be severely affected. Strong dependence: The driver or operator is too dependent on the navigation system, which may lead to the inability to independently plan routes and perform driving operations without the navigation system. This increases the operation risk, especially when the navigation system fails or the signal is unstable. High cost: The initial purchase cost and later maintenance cost of the in-port navigation system may be relatively high, which may be difficult for some small ports or logistics enterprises to bear. For this reason, the embodiments of the present application provide an in-port navigation system and method to provide more intelligent, efficient and safe pilotage services for ports, contribute to the construction of smart ports, and promote the digital transformation of transportation. The following will be described in detail with reference to specific drawings and embodiments.

[0025] Definition and term explanation: (1)UI: The human-computer interaction of the software, the overall design of the actual operation logic and the interface aesthetics.

[0026] (2)H5: HTML5, which is a language description method for constructing web content.

[0027] (3)POI: Point of Interest, which refers to places or features on the map that can attract people's attention or have special significance. It can be a building, a gas station, an office, etc. A POI will carry information such as name, category, longitude, and latitude, and is a comprehensive information with location information.

[0028] (4)BDS: BeiDou Navigation Satellite System.

[0029] (5)Mobile native application: An application created using local programming languages and development tools for specific mobile platforms (such as iOS, Android, etc.).

[0030] (6)TTS: Abbreviation for Text To Speech in English, which means text-to-speech in Chinese. It is an artificial intelligence technology that realizes the technology of converting text into speech for broadcasting.

[0031] (7)UAT: Abbreviation for User Acceptance Test in English, which refers to user acceptance testing. It is often a verification test organized for customers / users before submitting to the customer to obtain the user's judgment on the usability of the current system.

[0032] (8)V2X: Vehicle-to-everything, which belongs to a type of unmanned driving technology. It emphasizes the efficient docking and collaboration between vehicles and roads (signs, signal controls), and through comprehensive perception and control, better ensures smooth traffic.

[0033] (9)Third-level equal protection assessment: An important concept in the field of information security. It is an inspection and assessment activity carried out by the equal protection assessment agency on the security level protection status of information systems that do not involve state secrets in accordance with the regulations of the national network security level protection system, relevant management specifications, and technical standards.

[0034] Reference Figure 1 and Figure 2 , Figure 1 is the structural block diagram of the in-port navigation system provided by the embodiment of the present application; Figure 2 is the flow block diagram of the in-port navigation method provided by the embodiment of the present application.

[0035] In Figure 1 the embodiment of the present application provides an in-port navigation system, including: a navigation SDK integration module and a traffic data fusion processing module, where, The navigation SDK integration module is used to integrate the navigation SDK; The traffic data fusion and processing module is used to fuse and navigate the traffic condition data in the port.

[0036] In the above technical solution, by setting the navigation SDK integration module and the traffic data fusion and processing module, the navigation SDK integration module is used to integrate the navigation SDK; the traffic data fusion and processing module is used to fuse and navigate the traffic condition data in the port; through the docking of traffic condition data, more accurate navigation services can be realized, further improving the function and service level of the in-port navigation system; providing a more intelligent, efficient and safe leading service for the port, contributing to the construction of a smart port and promoting the digital transformation of transportation.

[0037] In a specific feasible implementation scheme, it further includes: a service docking and integration module, where The service docking and integration module is used to cooperate with the operations of the production system to transmit and collaborate on information.

[0038] In a specific feasible implementation scheme, it further includes: a navigation track and anomaly query and traceability module, where The navigation track and anomaly query and traceability module is used to query the historical navigation tracks of vehicles, replay the navigation tracks, and create relevant interfaces for the transmission of navigation track data.

[0039] In a specific feasible implementation scheme, it further includes: a virtual traffic light module, where The virtual traffic light module is used to present virtual traffic lights in the scenario and cooperate with corresponding management.

[0040] In a specific feasible implementation scheme, it further includes: a custom voice broadcast module, where The custom voice broadcast module is used to perform custom voice broadcasts for navigation.

[0041] In a specific feasible implementation scheme, the traffic data fusion and processing module includes: A traffic condition data docking unit, which is used to dock the container truck data within the tenderer and judge the traffic conditions of the roads; and to dock the data of vehicle-road cooperation V2X traffic congestion events; A route planning strategy unit, which is used to respond to the route planning request for congestion avoidance strategies according to the traffic conditions after docking or perceiving the traffic conditions; A vehicle aggregation alarm unit, which is used to identify vehicle aggregation behaviors after docking the container truck data inside and outside the port and trigger an abnormal alarm callback.

[0042] In a specific feasible implementation scheme, the service docking and integration module includes: The gantry crane crossing data unit is used to sense the position of the gantry crane during crossing and transfer, and guide and control the surrounding vehicles involved; The unmanned truck positioning data unit is used to synchronize the positioning data of unmanned trucks and support the judgment of traffic conditions and the recognition of aggregation behaviors; The announcement / message information synchronization unit is used to connect to the announcement / message platform; The real-time positioning information uploading unit is used to upload the positioning information of external trucks in real time.

[0043] In a specific feasible implementation, the navigation trajectory and anomaly query and traceability module includes: The navigation trajectory query unit is used to query the historical navigation trajectories of vehicles and perform playback processing on the navigation trajectories; The anomaly event query unit is used to trace and handle anomaly situations.

[0044] In a specific feasible implementation, the navigation SDK integration module includes: The path planning section is used for path planning of user tasks; The navigation section is used for navigation of user tasks.

[0045] Specifically, referring to Figure 1 , for the complex business scenarios in current port operations, such as gantry crane crossing and transfer, unmanned container truck intersections, vehicle aggregation in mixed traffic environments, etc., through big data collection, calculation, analysis and event perception, functions such as traffic light display and custom voice broadcast are improved and optimized to further ensure the smoothness and safety of vehicle operation. At the same time, through the docking of traffic condition data, more accurate navigation services can be realized, further improving the functions and service levels of the system; providing more intelligent, efficient and safe leading services for the port, contributing to the construction of smart ports and promoting the digital transformation of transportation. Specifically, it includes: 1. Custom voice broadcast module 1.1 TTS model Deploy a privatized text-to-speech broadcast model with no less than 400 concurrent channels. Support the following services: It is possible to select a voice library of female or male voices for broadcast; It is possible to pause or continue the content during broadcast; It is possible to cancel the current synthesis and playback.

[0046] 1.2 Navigation custom voice broadcast During the navigation process, including various stages before, during and after travel, it supports the voice broadcast function of announcements and messages for specific business types and specific vehicles, specifically including: Before navigation: It is necessary to support the announcement or message specified during navigation initiation to be broadcasted. During navigation: It is possible to issue and broadcast announcements or messages during navigation for specific business types, vehicle ranges, etc., and reduce the voice volume of the navigation itself. And other required broadcasts when passing through specific locations, fences, etc. After navigation: It is necessary to support the announcement or message specified to be broadcasted after navigation ends.

[0047] 2. Traffic data fusion and processing module 2.1 Docking of traffic condition data Support the docking of container truck data within the tenderer, and combine the algorithm model to judge the traffic conditions of the road. Support the data docking for vehicle-road collaboration (V2X) traffic congestion events.

[0048] 2.2 Support for route planning strategies to avoid congestion Support, after docking or perceiving traffic conditions, to respond to the route planning request for congestion avoidance strategies according to the traffic conditions, so as to better support the logistics operations within the port.

[0049] 2.3 Support for alarming vehicle aggregation Support, after docking the data of internal and external container trucks, to identify the vehicle aggregation behavior within a certain range and trigger an abnormal alarm callback.

[0050] 3. Virtual traffic light module Support the presentation of virtual traffic lights in the following scenarios and cooperate with the corresponding management requirements: Support the presentation of a virtual red light on the navigation interface of external container trucks when they are about to intersect with driverless container trucks, and cooperate with voice broadcasts to remind the corresponding vehicles, and pay attention to the interference and priority processing with the navigation voice. Present a green light and allow passage after the driverless container truck has left; give an abnormal event callback to external container trucks that do not comply with the red light waiting.

[0051] Support the presentation of a virtual red light on the navigation interface of relevant external container trucks that may be involved during the special operation of gantry cranes crossing the street, and cooperate with voice broadcasts to remind the corresponding vehicles, and pay attention to the interference and priority processing with the navigation voice.

[0052] Present a green light and allow passage after the gantry crane has completed the street crossing operation; give an abnormal event callback to external container trucks that do not comply with the red light waiting.

[0053] 4. Navigation track and exception query and traceability module 4.1 Navigation track query The management backend needs to store the navigation track and support filtering by vehicle, time and other conditions, so as to query the historical navigation track of the relevant vehicle and replay the navigation track. At the same time, it is necessary to create the relevant interface for the transmission of navigation track data, so as to form a channel for track data output.

[0054] 4.2 Abnormal event query For operations such as deviation from the route, driving in prohibited areas, and not waiting for virtual traffic lights, the system supports the interface for triggering callback events and provides the function of querying abnormal events, so that users can trace and deal with abnormal situations.

[0055] 5. Business docking and integration module In order to better cooperate with the operation of the production system, it is necessary to realize the transmission and coordination of information among multiple systems. The integration of external truck navigation mainly includes the following aspects: 5.1 Gantry crane crossing data unit It is necessary to connect to the production operation system to sense the location of the gantry crane crossing the street (such as intersection, direction), and according to the start time and end time of the operation, link the traffic light display function to guide and control the surrounding vehicles.

[0056] 5.2 Unmanned container truck positioning data unit The positioning data of unmanned container trucks can be synchronized through message queues and other technical means to support the judgment of traffic conditions and the identification of behaviors such as aggregation.

[0057] 5.3 Announcement / message information synchronization unit Connect to the announcement / message platform to achieve interactive connection of related broadcast content and push information to specific objects.

[0058] 5.4 Real-time positioning information upload unit Upload the location information of external collection trucks in real time; upload it to the big data platform in a unified manner, and the big data platform distributes it to the sub-platforms.

[0059] 6.Navigation SDK integration module 6.1 SDK Integration Unit It is necessary to combine the current characteristics of the external truck driver APP development environment and provide a well-adapted SDK version package, including Android and IOS. The main considerations are as follows 1. Compatibility: Good compatibility with the current driver APP to ensure that all APIs are effective and can be called smoothly; 2. Stability: ensure the stable operation of various functions in navigation; 3. UI adaptation: Maintain good interface effects on devices of different sizes.

[0060] 6.2 Path Planning Section Design a user task path planning module to achieve the following points: Task switching, supporting the setting of pre-navigation tasks and the dynamic switching of tasks during navigation.

[0061] Path planning, docking with the path planning API of the navigation SDK and rendering on the map, supporting the quick search and insertion of waypoints.

[0062] Waypoint setting, in addition to supporting waypoint setting during path planning, also supporting the quick search and insertion of waypoints during navigation, and automatically re-planning the path and resuming navigation after insertion.

[0063] POI search, supporting POI search before and during navigation, supporting both ordinary search box search and quick button search.

[0064] Notifications, automatically detecting whether there are announcement reminders after entering the navigation module, detecting announcements in real time during navigation, supporting text and voice announcements. The voice announcements use the Baidu TTS interface.

[0065] 6.3 Navigation section After integrating the SDK, further enrich and improve the driver navigation function on the built-in navigation page of the SDK according to the proposed business requirements, including: Real-time location upload, after the navigation module is opened, the APP location is uploaded in real time, supporting background resume upload.

[0066] POI and waypoints, supporting the search of POIs before and after navigation and the insertion of path points, and being able to re-initiate planning after the navigation information changes and automatically navigate according to the new route.

[0067] Confirm arrival, adding a manual trigger to confirm arrival at the destination, which requires positioning data verification, and there is a certain penalty mechanism in case of multiple drivers pressing this button randomly.

[0068] One-key to go out, configurable fixed entrances and exits, and the driver can navigate to go out with one key. For example, the operation tasks at the Beilun Mountain site need to be set to only enter from the Beilun Mountain gate.

[0069] Independent floating window navigation, supporting that when the navigation degrades during the journey, the navigation window can run independently and float on the interface (similar to the floating effect of WeChat video).

[0070] Navigation reminder, after entering the gate, the APP reminds the driver to turn on the navigation, and encourages the truck drivers to keep the navigation on throughout the journey through means such as points.

[0071] 6.4 Customer service section To further improve and enhance the driver service quality, design an instant messaging function, including: Message definition, clearly defining the message protocol for the interaction between the driver APP and the message server.

[0072] Heartbeat detection and reconnection. After the mobile network is disconnected and then restored, the navigation program can automatically reconnect to the server for subsequent navigation and voice announcements.

[0073] Personal message sending and receiving. The driver can interact with the designated customer service through personal messages.

[0074] Group message sending and receiving. When the driver encounters special situations, he can send messages to all customer services.

[0075] Message rule control. In order to better achieve the interaction effect, a series of reasonable message rule control mechanisms are set to avoid the generation of ineffective and illegal information between both parties.

[0076] In Figure 2 , the embodiments of the present application provide a port navigation method, including the following steps: Integrate the navigation SDK using the navigation SDK integration module; Fuse and navigate the port traffic condition data using the traffic data fusion processing module; Use the service docking and integration module to cooperate with the operations of the production system to transfer and collaborate on information; Use the navigation track and exception query and trace module to query the historical navigation track of the vehicle, replay the navigation track, and create relevant interfaces for the transmission of navigation track data; Use the virtual traffic light module to present and manage the virtual traffic lights in the scenario; Use the custom voice announcement module to make custom voice announcements for navigation.

[0077] In the above technical solution, by setting the navigation SDK integration module and the traffic data fusion processing module, the navigation SDK integration module is used to integrate the navigation SDK; the traffic data fusion processing module is used to fuse and navigate the port traffic condition data; through the docking of traffic condition data, more accurate navigation services can be realized, further improving the functions and service levels of the port navigation system; providing a more intelligent, efficient, and safe navigation service for the port, contributing to the construction of a smart port and promoting the digital transformation of transportation.

[0078] Those skilled in the art of the relevant technical field know that the present application can be implemented as a system, a method, or a computer program product.

[0079] Accordingly, the present disclosure may be embodied in the following forms, namely: it may be entirely hardware, entirely software (including firmware, resident software, microcode, etc.), or a combination of hardware and software, generally referred to herein as "circuit", "module" or "system". In addition, in some embodiments, the present application may also be implemented in the form of a computer program product in one or more computer-readable media, which contain computer-readable program code.

[0080] Any combination of one or more computer-readable media may be used. The computer-readable media may be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (a non-exhaustive list) of the computer-readable storage medium include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus, or device.

[0081] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application. On this basis, various substitutions and improvements can be made to the present application, and all of these fall within the protection scope of the present application.

Claims

1. A port navigation system, characterized in that: include: Navigation SDK integration module and traffic data fusion processing module, among which, The navigation SDK integration module is used to integrate the navigation SDK; The traffic data fusion processing module is used to fuse and navigate the traffic road condition data within the port.

2. The port navigation system according to claim 1, characterized in that: Also includes: Business docking and integration module, including: The business connection and integration module is used to cooperate with the operation of the production system to transmit and coordinate information.

3. The port navigation system according to claim 2, characterized in that: Also includes: Navigation track and abnormal query tracing module, including: The navigation track and abnormal query tracing module is used to query the historical navigation track of the vehicle, replay the navigation track, and create a related interface for navigation track data transmission.

4. The port navigation system according to claim 3, characterized in that: Also includes: Virtual traffic light module, where The virtual traffic light module is used to present the virtual traffic light in the scene and cooperate with corresponding management.

5. The port navigation system according to claim 4, characterized in that: Also includes: Customized voice broadcast module, including: The custom voice broadcast module is used to perform custom voice broadcast for navigation.

6. The port navigation system according to claim 5, characterized in that: The traffic data fusion processing module includes: Traffic data docking unit, used to dock with the container truck data within the tenderer and judge the traffic conditions of the road; as well as data docking of vehicle-road cooperative V2X traffic congestion events; A route planning strategy unit is used to respond to a route planning request for a congestion avoidance strategy based on the traffic conditions after docking or sensing the traffic conditions; The vehicle gathering alarm unit is used to identify the vehicle gathering behavior after connecting to the internal and external container truck data, and trigger abnormal alarm callback.

7. The port navigation system according to claim 6, characterized in that: The business connection and integration module includes: The gantry crane crossing data unit is used to sense the location of the gantry crane crossing the street and guide and control the surrounding vehicles; The unmanned truck positioning data unit is used to synchronize the positioning data of unmanned trucks and support the judgment of traffic conditions and the identification of gathering behaviors; Announcement / message information synchronization unit, used to connect to the announcement / message platform; The real-time positioning information uploading unit is used to upload the positioning information of the external container truck in real time.

8. The port navigation system according to claim 7, characterized in that: The navigation track and abnormal query tracing module includes: A navigation track query unit, used to query the historical navigation track of the vehicle and replay the navigation track; The abnormal event query unit is used to trace and handle abnormal situations.

9. The port navigation system according to claim 8, characterized in that: The navigation SDK integration module includes: Path planning section, used for path planning of user tasks; Navigation panel, used for navigation of user tasks.

10. A method for navigation in a port, characterized in that: The following steps are involved: Integrate the navigation SDK using the navigation SDK integration module; Use the traffic data fusion processing module to integrate and navigate the port traffic data; Use business docking and integration modules to coordinate with production system operations to transmit and coordinate information; Use the navigation track and exception query tracing module to query the historical navigation track of the vehicle, replay the navigation track, and create relevant interfaces for navigation track data transmission; Use the virtual traffic light module to present virtual traffic lights in the scene and coordinate corresponding management; Use the custom voice broadcast module to customize the navigation voice broadcast.

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