CN115830900A - Unmanned truck terminal instruction processing method and system based on port TOS system and storage medium - Google Patents

Abstract

The invention relates to an unmanned truck terminal instruction processing method, system and storage medium based on a port TOS system, wherein the method comprises the following steps: m1: and based on the instruction information issued by the TOS central control platform, extracting task number data information, task type data information and data information of task points in the instruction information, if the task number data information is repeated, feeding back specific error information to the TOS central control platform, and otherwise, executing the step M2. The invention not only realizes the truncation of wrong TOS instructions, but also prevents various dangerous conditions caused by instruction errors; the preprocessing of the instruction is also finished, so that each module at the vehicle end can quickly instruct the type to acquire the required field, and the instruction execution is more definite; meanwhile, the problem of real-time instruction execution result feedback between the vehicle end and the central control is solved, so that the central control platform can know the vehicle end instruction execution condition in time, and the platform scheduling capability and the truck concentration work efficiency are improved.

Description

A method, system and method for processing unmanned truck-side instructions based on a port TOS system storage medium

technical field

The present invention relates to the technical field of unmanned truck collection, in particular to an instruction processing method, system and storage medium of an unmanned truck collection terminal based on a port TOS system.

Background technique

At present, most terminals introduce TOS operating system in order to manage and control all aspects of port operations. The system can use its own task allocation module to complete the delivery of operation instructions for quay cranes, stackers, manned truck collection and unmanned truck collection. At the same time, the current unmanned truck-side instruction processing method for the port TOS operating system only realizes the feedback of instruction broadcast and instruction response, and most of them only support the processing of single-scenario operation instructions. As a result, unmanned collection trucks cannot avoid dangerous situations that may be caused by incorrect instructions, and cannot realize full-scenario port operations, reducing the universality and failure efficiency of unmanned collection trucks.

In the prior art, the patent (CN113636362A) proposes an automatic operation method and system for unmanned truck collection in port empty container yards. This method realizes unmanned truck collection based on port operating system instructions, self-vehicle positioning module and communication module. Order processing and interaction within the empty container yard. This method is only suitable for command processing and interaction of empty container yards. Although it meets the needs of unmanned truck yard operations, the scene is relatively single and cannot meet the command processing of other common operating scenarios in ports, such as quayside crane loading and unloading containers, parking areas Parking, etc.; at the same time, although the method has processed the instructions, it has not verified the issued instructions, and there is a risk of unmanned trucks executing wrong instructions and colliding with containers or stackers.

Contents of the invention

In view of the above deficiencies in the prior art, the present invention provides an instruction processing method, system and storage medium for unmanned trucks based on the port TOS system, which not only realizes the truncation of wrong TOS instructions, but also prevents various errors caused by instruction errors. It also completes the preprocessing of the instructions, so that each module of the car can quickly obtain the required fields of the instructions, and the execution of the instructions is more clear; at the same time, it solves the problem of real-time command execution results feedback between the car and the central control. This enables the central control platform to keep abreast of the execution of vehicle-end instructions, and improves the platform's scheduling capabilities and collection truck work efficiency.

In order to achieve the above object and other related objects, the technical solutions provided by the present invention are as follows:

A method for processing instructions at the end of an unmanned truck based on a port TOS system, the method comprising:

M1: Based on the instruction information issued by the TOS central control platform, extract the task number data information, task type data information and task point data information in the instruction information. If the task number data information is repeated, it will feed back the specific information to the TOS central control platform error message, otherwise execute step M2;

M2: According to the task type data information in the instruction information, if the task type data information is incorrect, feed back specific error information to the TOS central control platform, otherwise perform step M3:

M3: According to the data information of the task point in the instruction information, obtain the path data information and scene data information of the task point, and feed back the information that the instruction is issued successfully to the TOS central control platform;

M4: According to the route data information and scene data information of the task point, the global route data information is transmitted to the map engine and planning module of the unmanned collection card through the Service communication mechanism of the vehicle-mounted ROS operating system.

Further, in step M3, if the route data information of the mission point is empty or the scene data information of the mission point does not match, specific error information is fed back to the TOS central control platform.

Further, the path data information of the mission point includes road ID information, latitude and longitude information of the mission point, and heading angle data information of the unmanned truck.

Further, the scenario data information of the task point includes yard operation scenario data information, quay crane operation scenario data information, buffer zone operation scenario data information and parking area parking scenario data information.

Further, the task type data information includes RR type data information, RS type data information and SS type data information.

In order to achieve the above object and other related objects, the present invention also provides an instruction processing system at the end of the unmanned truck based on the port TOS system, the system includes:

The TOS central control platform is used to issue instruction information for unmanned card collection;

The vehicle end instruction receiving module is connected with the TOS central control platform, and is used to receive the instruction information issued by the TOS central control platform;

The vehicle-end instruction processing module is connected with the vehicle-end instruction receiving module, and is used to process the data information received by the vehicle-end instruction receiving module;

The vehicle-end instruction feedback module is connected with the vehicle-end instruction processing module, and is used to send the feedback information of the vehicle-end instruction processing module to the vehicle-end instruction receiving module, and the vehicle-end instruction receiving module feeds back information to The TOS central control platform;

The vehicle-end instruction broadcasting module is connected with the vehicle-end instruction processing module, and is used to broadcast the task data processed by the vehicle-end instruction processing module to the vehicle-end map engine module and the vehicle-end planning module.

Further, the car-side map engine module is used to obtain high-precision road and work area information; the car-side planning module is used to obtain task data processed by the car-side instruction processing module.

Further, the vehicle-side command processing module includes a high-precision map processing unit, an integrated navigation positioning information calling unit, and a data analysis unit.

Further, the data analysis unit is connected with the high-precision map processing unit and the integrated navigation and positioning unit, and is used to obtain the positioning information provided by the high-precision map processing unit and the integrated navigation and positioning information calling unit.

In order to achieve the above object and other related objects, the present invention also provides a computer-readable storage medium, which is programmed or configured to execute any one of the above-mentioned port TOS-based unmanned centralized A computer program for a truck-side instruction processing method.

The present invention has the following positive effects:

1. The present invention realizes the parsing and processing of instructions at the vehicle end, converts the instruction into a special executable data format at the vehicle end, and broadcasts it to the map engine and the planning and decision-making module, so as to realize the unmanned collection card operation according to the instruction.

2. The present invention realizes the instruction analysis ability of unmanned collection trucks for various operations in the port, and improves the adaptability of unmanned collection trucks to all scenarios.

3. The present invention increases the verification of the instructions issued by the TOS central control system to avoid dangerous situations that may be caused when instructions are issued incorrectly.

4. The present invention solves the real-time feedback problem of the TOS central control platform and the vehicle terminal command response, and improves the working efficiency of the UAV card.

Description of drawings

Fig. 1 is a schematic flow sheet of the method of the present invention;

Fig. 2 is a schematic diagram of the system framework of the present invention;

Fig. 3 is a schematic diagram of the framework of the vehicle-side instruction processing module of the present invention.

Detailed ways

Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and they should be regarded as exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

Embodiment 1: as shown in Figure 1, a kind of unmanned collection truck end order processing method based on port TOS system, described method comprises:

M1: Based on the instruction information issued by the TOS central control platform, extract the task number data information, task type data information and task point data information in the instruction information. If the task number data information is repeated, it will feed back the specific information to the TOS central control platform error message, otherwise execute step M2;

M2: According to the task type data information in the instruction information, if the task type data information is incorrect, feed back specific error information to the TOS central control platform, otherwise perform step M3:

M3: According to the data information of the task point in the instruction information, obtain the path data information and scene data information of the task point, and feed back the information that the instruction is issued successfully to the TOS central control platform;

M4: According to the route data information and scene data information of the task point, the global route data information is transmitted to the map engine and planning module of the unmanned collection card through the Service communication mechanism of the vehicle-mounted ROS operating system.

In this embodiment, in step M3, if the path data information of the mission point is empty or the scene data information of the mission point does not match, specific error information is fed back to the TOS central control platform.

In this embodiment, the route data information of the mission point includes road ID information, latitude and longitude information of the mission point, and heading angle data information of the unmanned truck.

In this embodiment, the scenario data information of the task point includes yard operation scenario data information, quay crane operation scenario data information, buffer zone operation scenario data information and parking area parking scenario data information.

In this embodiment, the task type data information includes RR type data information, RS type data information and SS type data information.

Embodiment 2: On the basis of the port TOS system-based instruction processing method at the unmanned truck end of Embodiment 1, the present invention will be further described below.

As shown in Figure 2, the present invention provides an instruction processing system at the unmanned truck end based on the port TOS system, the system includes:

The TOS central control platform is used to issue instruction information for unmanned card collection;

The vehicle end instruction receiving module is connected with the TOS central control platform, and is used to receive the instruction information issued by the TOS central control platform;

The vehicle-end instruction processing module is connected with the vehicle-end instruction receiving module, and is used to process the data information received by the vehicle-end instruction receiving module;

The vehicle-end instruction feedback module is connected with the vehicle-end instruction processing module, and is used to send the feedback information of the vehicle-end instruction processing module to the vehicle-end instruction receiving module, and the vehicle-end instruction receiving module feeds back information to The TOS central control platform;

The vehicle-end instruction broadcasting module is connected with the vehicle-end instruction processing module, and is used to broadcast the task data processed by the vehicle-end instruction processing module to the vehicle-end map engine module and the vehicle-end planning module.

In this embodiment, the vehicle-side map engine module is used to obtain high-precision road and work area information; the vehicle-side planning module is used to obtain task data processed by the vehicle-side instruction processing module.

In this embodiment, as shown in FIG. 3 , the vehicle-end instruction processing module includes a high-precision map processing unit, an integrated navigation positioning information calling unit, and a data analysis unit.

In this embodiment, the data analysis unit is connected with the high-precision map processing unit and the integrated navigation and positioning unit, and is used to obtain the positioning provided by the high-precision map processing unit and the integrated navigation and positioning information calling unit information.

In order to achieve the above object and other related objects, the present invention also provides a computer-readable storage medium, which is programmed or configured to execute any one of the above-mentioned port TOS-based unmanned centralized A computer program for a truck-side instruction processing method.

To sum up, the present invention not only realizes the truncation of wrong TOS commands, prevents various dangerous situations caused by wrong commands, but also completes the preprocessing of commands, so that each module at the vehicle end can quickly command and obtain their own required fields , the command execution is more clear; at the same time, it solves the problem of real-time command execution result feedback between the car end and the central control platform, so that the central control platform can keep abreast of the vehicle end instruction execution status, and improve the platform scheduling ability and collection truck work efficiency.

The specific implementation manners described above do not limit the protection scope of the present disclosure. It should be apparent to those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made depending on design requirements and other factors. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present disclosure shall be included within the protection scope of the present disclosure.

Claims (10)

1. An unmanned collection truck end instruction processing method based on port TOS system, characterized in that, the method comprises: M1: Based on the instruction information issued by the TOS central control platform, extract the task number data information, task type data information and task point data information in the instruction information. If the task number data information is repeated, it will feed back the specific information to the TOS central control platform error message, otherwise execute step M2; M2: According to the task type data information in the instruction information, if the task type data information is incorrect, feed back specific error information to the TOS central control platform, otherwise perform step M3: M3: According to the data information of the task point in the instruction information, obtain the path data information and scene data information of the task point, and feed back the information that the instruction is issued successfully to the TOS central control platform; M4: According to the route data information and scene data information of the task point, the global route data information is transmitted to the map engine and planning module of the unmanned collection card through the Service communication mechanism of the vehicle-mounted ROS operating system. 2. The unmanned truck-side instruction processing method based on the port TOS system according to claim 1, characterized in that, in step M3, if the path data information of the task point is empty or the scene of the task point If the data information does not match, specific error information will be fed back to the TOS central control platform. 3. The unmanned truck terminal instruction processing method based on the port TOS system according to claim 2, characterized in that: the route data information of the mission point includes road ID information, the latitude and longitude information of the mission point and the unmanned truck Heading angle data information. 4. The unmanned collection truck end instruction processing method based on the port TOS system according to claim 2, characterized in that: the scene data information of the task point comprises yard operation scene data information, quay crane operation scene data information, The buffer operation scene data information and the parking area parking scene data information. 5. The unmanned truck-side command processing method based on the port TOS system according to claim 1, wherein the task type data information includes RR type data information, RS type data information and SS type data information. 6. An unmanned truck-side instruction processing system based on the port TOS system, characterized in that the system includes: The TOS central control platform is used to issue instruction information for unmanned card collection; The vehicle end instruction receiving module is connected with the TOS central control platform, and is used to receive the instruction information issued by the TOS central control platform; The vehicle-end instruction processing module is connected with the vehicle-end instruction receiving module, and is used to process the data information received by the vehicle-end instruction receiving module; The vehicle-end instruction feedback module is connected with the vehicle-end instruction processing module, and is used to send the feedback information of the vehicle-end instruction processing module to the vehicle-end instruction receiving module, and the vehicle-end instruction receiving module feeds back information to The TOS central control platform; The vehicle-end instruction broadcasting module is connected with the vehicle-end instruction processing module, and is used to broadcast the task data processed by the vehicle-end instruction processing module to the vehicle-end map engine module and the vehicle-end planning module. 7. The unmanned truck-side instruction processing system based on the port TOS system according to claim 6, characterized in that: the vehicle-side map engine module is used to obtain high-precision road and work area information; The vehicle-end planning module is used to obtain task data processed by the vehicle-end instruction processing module. 8. The unmanned truck-side command processing system based on the port TOS system according to claim 6, characterized in that: the vehicle-side command processing module includes a high-precision map processing unit, a combined navigation and positioning information calling unit and a data analysis unit unit. 9. The unmanned truck-side instruction processing system based on the port TOS system according to claim 8, wherein the data analysis unit is connected with the high-precision map processing unit and the integrated navigation and positioning unit, and uses to obtain the positioning information provided by the high-precision map processing unit and the integrated navigation positioning information calling unit. 10. A computer-readable storage medium, characterized in that, the computer-readable storage medium is programmed or configured to execute the unmanned collection truck terminal based on the port TOS system described in any one of claims 1-5. A computer program that instructs a processing method.

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