Gantry RTK device failure processing method, device and storage medium

Abstract

The application relates to a quay crane RTK device failure processing method, device and equipment and a storage medium. The foregoing method comprises the following steps: acquiring a first quay crane position reported by an RTK device of a quay crane and a positioning solution state corresponding to the first quay crane position, determining an operation state of the RTK device according to the first quay crane position and the positioning solution state corresponding to the first quay crane position, in response to the RTK device of the quay crane being in a failure state, acquiring historical positioning data and sensing positioning data of the quay crane, and determining the position of the quay crane according to the historical positioning data and the sensing positioning data. The method can accurately identify the failure state of the quay crane RTK device and still position the quay crane in the RTK failure state.

Description

Technical Field

[0001] This application relates to the field of quay crane operation technology, and in particular to a method, apparatus, equipment and storage medium for handling failures of quay crane RTK equipment. Background Technology

[0002] In port automated driving transportation systems, the positioning accuracy of quay cranes is crucial to loading and unloading efficiency, equipment operation safety, and multi-equipment collaborative scheduling. High-precision positioning based on RTK technology can acquire the quay crane's position, pose, and trajectory in real time, providing a data foundation for collaborative operations between quay cranes and container trucks, route planning, and intelligent scheduling.

[0003] Due to the complex operating environment of ports, RTK equipment is prone to signal interruptions and malfunctions, leading to positioning failures and safety hazards such as equipment collisions and abnormal loading and unloading operations. Traditional technologies rely on manual inspection to check equipment status and handle faults. This method depends on subjective human judgment, which is prone to misjudgments and omissions, resulting in low accuracy in anomaly identification and thus affecting the overall efficiency of automated transportation operations in ports. Summary of the Invention

[0004] Therefore, it is necessary to provide a method, apparatus, device, and storage medium for handling failures of RTK equipment for quay cranes, which can accurately identify the failure state of the quay crane and locate the quay crane even in the failure state, in order to address the above-mentioned technical problems.

[0005] In a first aspect, this application provides a method for handling failures of quay crane RTK equipment, including: Obtain the location of the first quay crane and the corresponding positioning solution status reported by the RTK device of the quay crane; The operating status of the RTK equipment is determined based on the location of the first quay crane and the corresponding positioning solution status. In response to the RTK equipment of the quay crane being in a failed state, historical positioning data and sensing positioning data of the quay crane are acquired; The location of the quay crane is determined based on historical positioning data and sensor positioning data.

[0006] In one embodiment, the RTK equipment failure handling method for quay cranes further includes: Obtain the reporting time of the first shore bridge position. The operating status of the RTK equipment is determined based on the location of the first quay crane and the corresponding positioning solution, including: When the location solution state corresponding to the first quay crane position does not belong to the preset solution state set, or the time difference between the reported time and the current time is greater than the preset time threshold, the operating state of the RTK equipment of the quay crane is determined to be in a failed state.

[0007] In one embodiment, the RTK device includes multiple units, and the operating state of the RTK device is determined based on the position of the first quay crane and the corresponding positioning solution state, including: The candidate RTK device set is determined based on the operating status of each RTK device; The reference position is determined based on the first quay crane position output by each candidate RTK device in the candidate RTK device set, and the deviation of the first quay crane position output by each candidate RTK device relative to the reference position is calculated. The positioning accuracy error of each candidate RTK device is determined based on the first quay crane position output by each candidate RTK device. The reliability score of each candidate RTK device is determined based on the positioning solution status, positioning accuracy error, and deviation of the first quay bridge position output by each candidate RTK device relative to the reference position. When the credibility scores of all candidate RTK devices are lower than the preset threshold, the RTK device of the quay crane is determined to be in a failed state.

[0008] In one embodiment, the RTK equipment failure handling method for quay cranes further includes: If the RTK equipment of the quay crane is in a failure state, obtain the operating status of the quay crane; When the quay crane is in normal operation, obtain the location of the second quay crane, which is the location of the quay crane carried in the work order of the quay crane; The first driving route is determined based on the location of the second quay bridge; The process of acquiring historical positioning data and sensor positioning data of the quay crane includes: When the vehicle is driven to the working area of ​​the quay crane according to the first driving path, the historical positioning data and perception positioning data of the quay crane are obtained.

[0009] In one embodiment, the RTK equipment failure handling method for quay cranes further includes: When the quay crane is under maintenance, obtain the last location of the quay crane before the RTK equipment fails. The final location is reported to the dispatch server, which then adds the quay crane's operating area to a preset blacklist based on the final location and intercepts the quay crane's operating orders.

[0010] In one embodiment, the RTK equipment failure handling method for quay cranes further includes: If the RTK equipment of the quay crane is in a malfunctioning state, and the historical positioning data and sensing positioning data of the quay crane both fail to be acquired, at least one preset emergency stopping point is acquired. Determine the second driving route based on the emergency stopping point; Determine the target emergency stopping point based on the second driving route, and control the vehicle to drive to the target emergency stopping point.

[0011] In one embodiment, determining the target emergency stopping point based on the second driving path includes: The second driving route determines the target route that meets the traffic constraints of the quay crane operation area. Determine the target emergency stopping point based on the target route; The traffic constraints in the quay crane operation area include the location of obstacles and driving / turning constraints within the operation area.

[0012] Secondly, this application provides a failure handling device for quay crane RTK equipment, comprising: The acquisition module is used to acquire the location of the first quay crane reported by the RTK device of the quay crane and the location solution status corresponding to the location of the first quay crane. The determination module is used to determine the operating status of the RTK equipment based on the position of the first quay crane and the corresponding positioning solution status of the first quay crane. The positioning module is used to acquire historical positioning data and sensing positioning data of the quay crane in response to the failure of the RTK equipment of the quay crane; The processing module determines the location of the quay crane based on historical positioning data and perceived positioning data.

[0013] Thirdly, this application provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the quay crane RTK equipment failure handling method provided in any embodiment of the first aspect of this application.

[0014] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the quay crane RTK equipment failure handling method provided in any embodiment of the first aspect of this application.

[0015] The aforementioned method, apparatus, equipment, and storage medium for handling RTK equipment failure of quay cranes improve the accuracy of RTK equipment failure state identification by synchronously integrating the first quay crane position, positioning accuracy error, and positioning solution status reported by the RTK equipment. This avoids misjudgments and omissions caused by single-dimensional judgment. Based on the identification of RTK failure state, an appropriate positioning method is determined. Specifically, when RTK failure is detected, this application can combine historical positioning data and perceived positioning data to comprehensively analyze and obtain the quay crane's position information at the time of RTK equipment failure. This solves the problem of being unable to locate the quay crane in the RTK failure state, effectively compensates for the lack of quay crane positioning, ensures continuous and uninterrupted positioning of the quay crane in complex port environments, and improves the overall transportation operation efficiency of automated port operations. Attached Figure Description

[0016] Figure 1 This is a flowchart illustrating the failure handling method for quay crane RTK equipment in some embodiments; Figure 2 This is a flowchart illustrating the steps for determining the operating status of the RTK device based on the position of the first quay bridge, the positioning accuracy error, and the positioning solution status in some embodiments. Figure 3 This is a structural block diagram of the failure handling device for quay crane RTK equipment in some embodiments; Figure 4 This is a diagram showing the internal structure of a computer device in some embodiments. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0018] In a first aspect, this application provides a method for handling failures of RTK (Remote Timing and Control) equipment for quay cranes, such as... Figure 1 As shown, taking the application of this method to an in-vehicle terminal as an example, the steps include: Step S11: Obtain the location of the first quay crane reported by the RTK device of the quay crane and the location solution status corresponding to the location of the first quay crane.

[0019] RTK (Real-Time Kinematic) equipment refers to equipment that uses real-time dynamic carrier phase differential positioning technology for positioning.

[0020] The first quay crane position refers to the positioning position of the quay crane output by the RTK equipment of the quay crane.

[0021] The positioning solution status is an indicator used to measure the quality of the positioning result after the positioning equipment completes the satellite positioning calculation. It is used to determine whether the first quay bridge position reported by the RTK equipment is available and the level of accuracy.

[0022] Specifically, the RTK device can periodically report the location of the first quay bridge obtained by its own positioning, as well as the positioning solution status corresponding to the location of the first quay bridge.

[0023] Step S12: Determine the operating status of the RTK device based on the location of the first quay crane and the positioning solution status corresponding to the location of the first quay crane.

[0024] The operating status of an RTK device refers to whether the RTK device is operating normally.

[0025] Specifically, this application can combine the location of the first quay crane and the corresponding positioning solution status to comprehensively determine whether the operating status of the RTK equipment is normal. For example, it can determine whether the location of the first quay crane is accurate and what level of positioning solution status is being processed. Based on these results, a comprehensive analysis is conducted to determine the operating status of the corresponding RTK equipment.

[0026] Step S13: In response to the RTK device of the quay crane being in a failed state, acquire the historical positioning data and sensing positioning data of the quay crane.

[0027] The RTK equipment of the quay crane being in a failure state refers to the RTK equipment of the quay crane being in an inoperable state. Specifically, the failure state means that the equipment is unable to output positioning data, or the output positioning data is invalid, or the output positioning data is inaccurate, etc.

[0028] The perception and positioning data is the positioning data calculated by the relevant models of the perception module of the autonomous vehicle.

[0029] Specifically, the process of acquiring perception and positioning data may include: collecting port environmental feature information in real time through perception modules such as vehicle-mounted LiDAR and cameras, inputting the data into a preset perception and positioning model, and obtaining perception and positioning data.

[0030] Step S14: Determine the location of the quay crane based on historical positioning data and sensor positioning data.

[0031] Specifically, when the RTK device is operating normally and the positioning is effective, the positioning results of the RTK device can be used for path planning.

[0032] When the RTK device is in a malfunctioning state, the location of the quay crane can be determined using historical positioning data and sensing positioning data, and then the calculation results can be used for path planning.

[0033] The process of determining the location of the quay bridge using historical positioning data and perceived positioning data may include: calculating the location by weighting the historical positioning data, perceived positioning data, and corresponding weight values. The weight allocation can be set based on the update time of the historical positioning and the stability of the perceived positioning.

[0034] In one embodiment, the RTK device failure handling method for the quay crane further includes: obtaining the reporting time of the first quay crane position, and determining the operating state of the RTK device based on the first quay crane position and the positioning solution state corresponding to the first quay crane position, including: when the positioning solution state corresponding to the first quay crane position does not belong to the preset solution state set, or the time difference between the reporting time and the current time is greater than the preset time threshold, the operating state of the RTK device of the quay crane is determined to be a failure state.

[0035] The reporting time refers to the reporting time of the position of the first quay bridge and the status of the positioning solution.

[0036] The preset solution state set refers to the pre-set collection of abnormal positioning solution states that are substandard in positioning quality or cannot meet the requirements of high-precision port operations.

[0037] Specifically, the RTK equipment of the quay crane will report its own positioning data in real time. The positioning data includes the position of the first quay crane, the positioning solution status corresponding to the position of the first quay crane, and the reporting time.

[0038] Furthermore, this application sequentially determines whether the positioning solution state does not fall into the preset solution state set, whether the positioning accuracy error value is greater than the preset accuracy threshold, and whether the time difference between the reporting time and the current time is greater than the preset time threshold. When any of the above determination conditions are met, the RTK equipment of the quay crane is determined to be in a failed state.

[0039] This application uses multi-condition verification to quickly and accurately identify abnormal RTK device positioning results, avoiding the problem of inaccurate identification results caused by a single indicator.

[0040] In one embodiment, the RTK device includes multiple units, and the operating state of the RTK device is determined based on the position of the first quay crane and the corresponding positioning solution state, including: Step S21: Determine the candidate RTK device set based on the operating status of each RTK device.

[0041] Step S22: Determine the reference position based on the first quay crane position output by each candidate RTK device in the candidate RTK device set, and calculate the deviation of the first quay crane position output by each candidate RTK device relative to the reference position.

[0042] Step S23: Determine the positioning accuracy error of each candidate RTK device based on the first quay bridge position output by each candidate RTK device.

[0043] Step S24: Determine the reliability score of each candidate RTK device based on the positioning solution status, positioning accuracy error, and deviation of the first quay bridge position output by each candidate RTK device relative to the reference position.

[0044] Step S25: When the credibility scores of each candidate RTK device are all lower than the preset threshold, it is determined that the RTK device of the quay crane is in a failed state.

[0045] The reference position is a reference position calculated based on the positioning of each RTK device in the candidate RTK device set. Subsequently, the first quay crane position of each candidate RTK device is compared with the reference position to obtain the deviation between each first quay crane position and the reference position.

[0046] Positioning accuracy error refers to the error in the position of the first quay bridge compared to the reference position.

[0047] Deviation is the spatial distance difference between the first quay bridge position output by the candidate RTK device and the reference position, used to measure the degree to which the device's positioning result deviates from the reference position.

[0048] The reliability score is a quantitative score calculated by combining the positioning accuracy error, positioning solution status, and position deviation of each candidate RTK device, and is used to evaluate the reliability of the positioning results.

[0049] Specifically, determining the reference position based on the location of each candidate RTK device within the candidate RTK device set may include: First, a set of candidate RTK devices that can output positioning data is selected based on the operating status of each RTK device. Then, the first quay bridge positions output by each candidate RTK device in the set are sorted. Based on the sorting, the median of the coordinates corresponding to each first quay bridge position is calculated to obtain the reference position.

[0050] Furthermore, the spatial deviation of each first quay crane position relative to the reference position is calculated. Then, the reliability score is calculated by combining the positioning accuracy error, positioning solution status and deviation of each candidate RTK device. When the reliability scores of all candidate RTK devices are lower than the preset threshold, it is determined that each RTK device of the quay crane is in a failed state.

[0051] The formula for calculating the credibility score can be: Among them, score i (t) represents the reliability score of the i-th device at time t, w1, w2, and w3 represent the weights corresponding to the positioning solution state, positioning accuracy error, and deviation, respectively, and q i For real-time positioning solution status of the device, sq() represents the positioning solution status quality mapping function, σ i σ represents the standard deviation of the position error of the equipment in this positioning result. o As the preset accuracy reference value, r i R is the deviation between the position of the first quay crane output by the i-th RTK device and the reference position. o This is the preset deviation benchmark value.

[0052] In another embodiment, this application may also calculate the average distance between the first quay bridge position output by each candidate RTK device and the first quay bridge position output by each of the other candidate RTK devices for the distance between the first quay bridge positions output by each pair of devices in the candidate RTK device set, and further calculate the reliability score corresponding to each RTK device based on the average value calculated for each RTK device, the positioning accuracy error and the positioning solution status.

[0053] This application calculates the deviation between the first quay crane position output by each RTK device and the reference position. Based on the deviation, positioning accuracy error, and positioning solution status, a reliability score is calculated. Through multi-dimensional weighted scoring, a quantitative assessment of positioning reliability is achieved, avoiding misjudgment of overall failure due to individual device malfunctions and improving the accuracy of quay crane RTK system status determination.

[0054] In another embodiment, this application can also determine whether the RTK device is in a failed state based on the positioning accuracy error. When the positioning accuracy error of the RTK device is higher than a preset value, the RTK device is determined to be in a failed state.

[0055] In one embodiment, the RTK equipment failure handling method for the quay crane further includes: in response to the RTK equipment of the quay crane being in a failure state, obtaining the operating status of the quay crane; when the quay crane is in a normal operating state, obtaining the second quay crane location, the second quay crane location being the quay crane location carried in the quay crane's work order; determining a first driving path based on the second quay crane location; and obtaining the historical positioning data and sensing positioning data of the quay crane, including: when controlling the vehicle to drive to the quay crane's work area according to the first driving path, obtaining the historical positioning data and sensing positioning data of the quay crane.

[0056] The operational status of the quay crane specifically includes its normal operating status and its abnormal operating status.

[0057] The second quay crane location refers to the quay crane location extracted from the quay crane work order, which is different from the first quay crane location, which refers to the quay crane location output by the RTK equipment.

[0058] The quay crane operation area refers to the core area on a port terminal used for container loading and unloading operations. It is usually located at the front of the terminal and is the designated space for quay cranes to transfer cargo between ships and the land side.

[0059] Specifically, this application can obtain the work order corresponding to the quay crane through the scheduling server, further extract the location of the quay crane carried in the work order to obtain the location of the second quay crane, and further perform path planning based on the location of the second quay crane to generate a first driving path. The first driving path is the path for the autonomous vehicle to travel from the current location to the location of the second quay crane.

[0060] When the autonomous vehicle travels along the first driving path to the quay crane operation area, it acquires the historical positioning data and perception positioning data of the quay crane.

[0061] In this application, when the RTK equipment of the quay crane is in a malfunctioning state, a first driving path can be generated based on the coarse positioning of the second quay crane. When the vehicle reaches the quay crane operation area, it can switch to perception positioning. Since the second quay crane position is a coarse location, a coarse positioning can be performed before entering the quay crane operation area. Once inside the quay crane operation area, the position of the quay crane can be more accurately obtained through perception positioning and historical positioning data, and then the driving path can be replanned based on the precise position of the quay crane.

[0062] This application enables coarse positioning based on the second quay crane position in the quay crane operation order to complete basic driving path planning when the quay crane RTK positioning fails and the equipment is operating normally; after entering the quay crane operation area, it switches to perception positioning mode, integrates multi-source positioning data to obtain accurate position and dynamically optimizes driving path, thus solving the problems of quay crane inability to be positioned and path planning failure caused by RTK positioning failure.

[0063] In one embodiment, the method for handling RTK equipment failure of a quay crane further includes: when the quay crane is under maintenance, obtaining the last location of the quay crane before the RTK equipment failure, reporting the last location to the scheduling server, and adding the quay crane's work area to a preset blacklist area based on the last location, and intercepting the quay crane's work orders.

[0064] Among them, the maintenance status of the quay crane is the state in which the quay crane cannot work normally and cannot be moved, such as being in a state of shutdown for inspection, maintenance and repair.

[0065] The final location refers to the latest valid spatial coordinates of the quay crane recorded and saved before the RTK equipment of the quay crane fails and cannot output valid positioning data.

[0066] The dispatch server is the core server of the port automation dispatch server, responsible for uniformly allocating quay crane operation tasks, controlling the operation paths of vehicles and equipment, and coordinating all operational resources in the port.

[0067] The operating area corresponding to the quay crane is the designated operating range of the container loading and unloading task that the quay crane is currently performing or will soon perform, including the preset operating container area, the range of the travel trajectory, and the safe operating boundary.

[0068] The preset blacklist area is a pre-configured area in the scheduling server, used to prohibit vehicles from traveling through this area during route planning.

[0069] Specifically, when a quay crane enters an abnormal operating state and the RTK positioning device fails, the last positioning position of the quay crane just before the RTK fails is retrieved and saved. Then, the last positioning position is reported to the dispatch server. The dispatch server determines the current abnormal position of the quay crane based on the last positioning position, immediately intercepts the existing and subsequent work orders assigned to the quay crane, and marks the quay crane's work area and adds it to the system's preset blacklist area, prohibiting the issuance of new tasks and other equipment from entering the quay crane's work area.

[0070] The beneficial effects of this embodiment are: when the RTK equipment of the quay crane fails and cannot be accurately located, the last reliable location of the quay crane can be quickly locked and synchronized to the dispatch server, and abnormal equipment operation tasks can be intercepted in a timely manner to avoid invalid or dangerous operations. At the same time, it prevents the vehicle's driving route from passing through the blacklist area during route planning, and prevents the dispatch server from continuing to dispatch orders or other equipment to enter the area, which may cause collision-related safety accidents.

[0071] In one embodiment, the RTK device failure handling method for the quay crane further includes: in response to the RTK device of the quay crane being in a failure state, and the failure to acquire both the historical positioning data and the perception positioning data of the quay crane, acquiring at least one preset emergency stopping point, determining a second driving path based on the emergency stopping point, determining a target emergency stopping point based on the second driving path, and controlling the vehicle to drive to the target emergency stopping point.

[0072] Emergency parking points refer to safe parking locations planned and set up in advance within the work area. Specifically, emergency parking points must meet the following requirements: they must not occupy busy traffic lanes, they must not occupy yard operation areas, they must not affect the access path of quay cranes, they must not occupy the buffer zone of main roads, and they must not affect the safety zone at the yard entrance.

[0073] The second driving path refers to the path taken by the autonomous vehicle from its current location to each corresponding emergency stopping point.

[0074] The target emergency stopping point is the stopping point closest to the current location of the autonomous vehicle.

[0075] Specifically, when the RTK equipment of the quay crane fails and historical positioning and perception positioning data are both unavailable, the preset emergency stopping point is retrieved, a corresponding second driving route is planned based on the emergency stopping point, the target emergency stopping point is determined, and the quay crane is controlled to drive to the target emergency stopping point and stop safely.

[0076] The beneficial effect of this embodiment is that it can still guide the quay crane to a safe stop in scenarios where multiple positioning methods fail, avoid equipment loss of control and collision, and improve the safety of quay crane operation and the reliability of emergency response.

[0077] In one embodiment, determining the target emergency stopping point based on the second driving path includes: determining a target path that meets the traffic constraints of the quay crane operation area based on the second driving path, and determining the target emergency stopping point based on the target path, wherein the traffic constraints of the quay crane operation area include the location of obstacles and driving steering constraints within the quay crane operation area.

[0078] Traffic constraints in the quay crane operation area refer to the restrictive conditions set on the movement and operation of personnel, equipment, and autonomous vehicles in the area to ensure safety and improve efficiency when quay cranes are carrying out loading and unloading operations at container terminals.

[0079] Obstacle location refers to the spatial coordinates and distribution information of fixed or dynamic obstacles such as containers, other equipment, buildings, and restricted areas within the quay crane operation area.

[0080] Driving and steering constraints are steering constraints corresponding to certain locations within the quay crane's operating area, such as the turning direction at an intersection and the minimum turning space.

[0081] Specifically, among multiple driving paths leading to the emergency stopping point, candidate paths that have no collision risk and meet the turning requirements are selected by combining preset conditions such as the location of obstacles in the quay crane operation area and vehicle driving and steering constraints. Then, the emergency stopping point closest to the autonomous vehicle is selected from the candidate paths as the target emergency stopping point.

[0082] The beneficial effect of this embodiment is that by combining road condition information, obstacles and vehicle steering constraints in the quay crane operation area to select the path, it can be ensured that the quay crane will not collide when it fails to locate and makes emergency driving, thereby further improving the safety and feasibility of the emergency stopping process.

[0083] In one embodiment, the RTK equipment failure handling method for the quay crane further includes: real-time detection of the communication link status; if the dispatching server service is detected to be down, offline and unavailable, or the communication connection between the remote control center and the autonomous vehicle is disconnected, the main communication link of the dispatching service is determined to be faulty.

[0084] When the primary communication link fails, communication is maintained through a pre-built backup channel. The backup channel can send control commands to the autonomous vehicle via a remote control center server, enabling control functions such as emergency braking, stationary braking, and route replanning.

[0085] In one embodiment, this application can also monitor the operating status of key hardware of autonomous vehicles in real time. When any hardware failure or abnormality is detected in any system such as braking, steering, power, or vehicle control, an emergency braking procedure is immediately triggered, and the risk of obstruction of the autonomous vehicle's passage path for quay crane operations or obstruction of the main road within the site is checked. If the risk of path obstruction is determined, the autonomous vehicle is controlled to drive at low speed to the nearest safe area for parking, and the vehicle failure information is broadcast at the same time.

[0086] Furthermore, when the current fault condition cannot be handled independently, it can switch to manual handling mode, initiate an assistance request to the remote server, and simultaneously provide the quay crane number, operation type, current path, and scope of the blockage.

[0087] In a second aspect, this application provides a failure handling device for quay crane RTK equipment, such as Figure 2 As shown, the failure handling device for quay crane RTK equipment includes: an acquisition module 31, a determination module 32, a positioning module 33, and a processing module 34, wherein: The acquisition module 31 is used to acquire the location of the first quay crane reported by the RTK device of the quay crane and the location solution status corresponding to the location of the first quay crane. The determination module 32 is used to determine the operating status of the RTK equipment based on the position of the first quay crane and the positioning solution status corresponding to the position of the first quay crane. The positioning module 33 is used to acquire historical positioning data and sensing positioning data of the quay crane in response to the RTK equipment of the quay crane being in a failed state. Processing module 34 determines the location of the quay bridge based on historical positioning data and perceived positioning data.

[0088] In one embodiment, the acquisition module 31 can also acquire the reporting time of the first quay bridge position, and the determination module 32 can determine that the operating state of the quay bridge's RTK device is in a failed state when the positioning solution state corresponding to the first quay bridge position does not belong to the preset solution state set, or when the time difference between the reporting time and the current time is greater than a preset time threshold.

[0089] In one embodiment, the RTK device includes multiple devices. The determining module 32 can determine a set of candidate RTK devices based on the operating status of each RTK device, determine a reference position based on the first quay crane position output by each candidate RTK device in the candidate RTK device set, calculate the deviation of the first quay crane position output by each candidate RTK device relative to the reference position, determine the positioning accuracy error of each candidate RTK device based on the first quay crane position output by each candidate RTK device, determine the reliability score of each candidate RTK device based on the positioning solution status, positioning accuracy error, and deviation of the first quay crane position output by each candidate RTK device relative to the reference position, and determine the reliability score of each candidate RTK device when the reliability score of each candidate RTK device is lower than a preset threshold, determining that the RTK device of the quay crane is in a failed state.

[0090] In one embodiment, the determining module 32 can also respond to the RTK equipment of the quay crane being in a failure state, obtain the operating status of the quay crane, and when the quay crane is in a normal operating state, obtain the second quay crane location, which is the quay crane location carried in the quay crane's work order, and determine the first driving path based on the second quay crane location. When the positioning module 33 controls the vehicle to drive to the quay crane's working area according to the first driving path, it can obtain the historical positioning data and perception positioning data of the quay crane.

[0091] In one embodiment, when the quay crane is under maintenance, the processing module 34 can obtain the last location of the quay crane before the RTK equipment fails, report the last location to the scheduling server, and the scheduling server can add the quay crane's work area to a preset blacklist area based on the last location and intercept the quay crane's work orders.

[0092] In one embodiment, the processing module 34 may respond to the RTK device of the quay crane being in a malfunctioning state and the failure to acquire both the historical positioning data and the perception positioning data of the quay crane, acquire at least one preset emergency stopping point, determine a second driving path based on the emergency stopping point, determine a target emergency stopping point based on the second driving path, and control the vehicle to drive to the target emergency stopping point.

[0093] In one embodiment, the processing module 34 can determine a target path that meets the traffic constraints of the quay crane operation area based on the second driving path, and determine a target emergency stopping point based on the target path. The traffic constraints of the quay crane operation area include the location of obstacles and driving steering constraints within the quay crane operation area.

[0094] In a third aspect, this application provides a computer device including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the quay crane RTK equipment failure handling method provided in any embodiment of the first aspect of this application.

[0095] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 4 As shown, the computer device includes a processor, memory, network interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The network interface is used to communicate with external terminals via a network connection. When the computer program is executed by the processor, it implements a failure handling method for a quay crane RTK device. The display screen can be an LCD screen or an e-ink display screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the computer device casing, or an external keyboard, touchpad, or mouse.

[0096] In a fourth aspect, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the quay crane RTK equipment failure handling method provided in any embodiment of the first aspect of this application.

[0097] The computer-readable storage medium may be Figure 4 The computer-readable storage medium in the computer device shown.

[0098] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0099] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0100] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for handling failures of RTK (Remote Time Kinematic) equipment for quay cranes, characterized in that, The method includes: Obtain the location of the first quay crane reported by the RTK device of the quay crane and the location solution status corresponding to the location of the first quay crane; The operating status of the RTK device is determined based on the location of the first quay crane and the positioning solution state corresponding to the location of the first quay crane. In response to the RTK device of the quay crane being in a disabled state, the historical positioning data and sensing positioning data of the quay crane are acquired; The location of the quay bridge is determined based on the historical positioning data and the perceived positioning data.

2. The method according to claim 1, characterized in that, The method further includes: Obtain the reporting time of the first quay crane's position. Determining the operating status of the RTK equipment based on the location of the first quay crane and the corresponding positioning solution status includes: When the location solution state corresponding to the first quay crane position does not belong to the preset solution state set, or when the time difference between the reported time and the current time is greater than the preset time threshold, the operating state of the RTK equipment of the quay crane is determined to be in a failed state.

3. The method according to claim 1, characterized in that, The RTK device includes multiple units, and determining the operating status of the RTK device based on the location of the first quay crane and the corresponding positioning solution status includes: The candidate RTK device set is determined based on the operating status of each RTK device; A reference position is determined based on the first quay crane position output by each candidate RTK device in the candidate RTK device set, and the deviation of the first quay crane position output by each candidate RTK device relative to the reference position is calculated. The positioning accuracy error of each candidate RTK device is determined based on the first quay bridge position output by each candidate RTK device. The reliability score of each candidate RTK device is determined based on the positioning solution status, positioning accuracy error, and deviation of the first quay bridge position output by each candidate RTK device relative to the reference position. When the credibility scores of all candidate RTK devices are lower than a preset threshold, the RTK device of the quay crane is determined to be in a failed state.

4. The method according to claim 1, characterized in that, The method further includes: In response to the RTK equipment of the quay crane being in a failure state, the operating status of the quay crane is obtained; When the quay crane is in normal operation, the second quay crane location is obtained, which is the quay crane location carried in the work order of the quay crane; The first travel route is determined based on the location of the second quay bridge; The process of acquiring the historical positioning data and sensing positioning data of the quay crane includes: When the vehicle is controlled to travel to the working area of ​​the quay crane according to the first driving path, the historical positioning data and perception positioning data of the quay crane are obtained.

5. The method according to claim 4, characterized in that, The method further includes: When the quay crane is under maintenance, obtain the last positioning position of the quay crane before the failure of the RTK equipment. The last location is reported to the scheduling server, which then adds the quay crane's work area to a preset blacklist based on the last location and intercepts the quay crane's work orders.

6. The method according to claim 1, characterized in that, The method further includes: In response to the failure of the RTK device of the quay crane, and the failure to acquire both the historical positioning data and the sensing positioning data of the quay crane, at least one preset emergency stopping point is acquired. Determine the second driving route based on the emergency stopping point; The target emergency stopping point is determined based on the second driving path, and the vehicle is controlled to drive to the target emergency stopping point.

7. The method according to claim 6, characterized in that, Determining the target emergency stopping point based on the second driving path includes: The second travel path determines the target path that meets the traffic constraints of the quay crane operation area; Determine the target emergency stopping point based on the target path; The traffic constraints in the quay crane operation area include the location of obstacles and driving / turning constraints within the quay crane operation area.

8. A failure handling device for RTK equipment of a quay crane, characterized in that, The device includes: The acquisition module is used to acquire the location of the first quay crane reported by the RTK device of the quay crane and the location solution status corresponding to the location of the first quay crane. The determination module is used to determine the operating status of the RTK device based on the location of the first quay crane and the positioning solution status corresponding to the location of the first quay crane. The positioning module is used to acquire historical positioning data and sensing positioning data of the quay crane in response to the RTK device of the quay crane being in a failure state. The processing module determines the location of the quay bridge based on the historical positioning data and the perceived positioning data.

9. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

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