CN113965720A - Port unmanned centralized control platform system - Google Patents

Port unmanned centralized control platform system Download PDF

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Publication number
CN113965720A
CN113965720A CN202010678234.7A CN202010678234A CN113965720A CN 113965720 A CN113965720 A CN 113965720A CN 202010678234 A CN202010678234 A CN 202010678234A CN 113965720 A CN113965720 A CN 113965720A
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China
Prior art keywords
unmanned
module
display module
real
data
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CN202010678234.7A
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Chinese (zh)
Inventor
王超
张天雷
孙立
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TIANJIN PORT (GROUP) CO Ltd
Beijing Zhuxian Technology Co Ltd
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TIANJIN PORT (GROUP) CO Ltd
Beijing Zhuxian Technology Co Ltd
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Priority to CN202010678234.7A priority Critical patent/CN113965720A/en
Publication of CN113965720A publication Critical patent/CN113965720A/en
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/29—Geographical information databases
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T11/00—2D [Two Dimensional] image generation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T15/00—3D [Three Dimensional] image rendering
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/024—Guidance services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services

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  • Engineering & Computer Science (AREA)
  • Signal Processing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Databases & Information Systems (AREA)
  • Multimedia (AREA)
  • Remote Sensing (AREA)
  • Data Mining & Analysis (AREA)
  • General Engineering & Computer Science (AREA)
  • Computer Graphics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention provides a port unmanned hub control platform system, which comprises an unmanned hub cluster, a data transceiver module, a data display module and a scene interaction module, wherein the data transceiver module is wirelessly connected with the unmanned hub cluster, the data display module is electrically connected with the data transceiver module and wirelessly connected with the unmanned hub cluster, the scene interaction module is electrically connected with the data transceiver module, the data transceiver module is used for receiving real-time position information and real-time attitude information of the unmanned hub and issuing the real-time position information and the real-time attitude information to the data display module, the data transceiver module is also used for sending destination information of the unmanned hub cluster selected in the scene interaction module to the unmanned hub, the data display module is used for displaying video information transmitted by the unmanned hub cluster and video information of the unmanned hub cluster processed by the data transceiver module, and the scene interaction module is used for processing and transmitting information from the unmanned hub cluster to a designated destination according to a central control interface And a data receiving and transmitting module.

Description

Port unmanned centralized control platform system
Technical Field
The invention relates to the technical field of radio communication, in particular to a central control platform system for an unmanned port centralized truck.
Background
The unmanned collecting card is the future development trend of the port, the information construction of the modern port and wharf is inseparable from the construction of the intelligent logistics information system at present, and the unmanned collecting card is undergoing the target transformation from the information port to the intelligent port.
The existing unmanned centralized control platform cannot realize real-time interaction and data receiving and transmitting of port scenes and display of the port scenes and the real-time positions of the unmanned centralized control platform.
There is a need for a method and a module for a central control platform of an unmanned port container truck, which can realize 2D/3D scene integration, real-time switching between a global mode and a car following mode, and support loading of a rendered point cloud, a high-precision map, various vehicle models and a port scene model.
Disclosure of Invention
The invention provides a port unmanned centralized control platform system, which aims to solve the problem that the port scene real-time interaction, data receiving and sending and the display of the port scene and the real-time position of an unmanned centralized control platform cannot be realized in the prior art.
The invention provides a central control platform system of an unmanned port card concentrator, which comprises an unmanned card concentrator cluster, a data transceiver module, a data display module and a scene interaction module, wherein the data transceiver module is wirelessly connected with the unmanned card concentrator cluster, the data display module is electrically connected with the data transceiver module and wirelessly connected with the unmanned card concentrator cluster, the scene interaction module is electrically connected with the data transceiver module, the data transceiver module is used for receiving real-time position information and real-time attitude information of an unmanned card concentrator and issuing the real-time position information and the real-time attitude information to the data display module, the data transceiver module is also used for sending destination information of the unmanned card concentrator selected in the scene interaction module to the unmanned card concentrator, the data display module is used for displaying video information transmitted by the unmanned card concentrator cluster and video information of the unmanned card concentrator cluster processed by the data transceiver module, and the scene interaction module is used for processing and conveying information from the unmanned card concentrator cluster to a designated destination according to a central control interface To the data transceiver module.
The invention relates to a port unmanned hub central control platform system, which is a preferred mode, wherein a data display module comprises an unmanned hub monitoring video display module, an unmanned hub real-time position display module and a port scene display module, the unmanned hub monitoring video display module is in signal connection with an unmanned hub cluster, the unmanned hub real-time position display module is electrically connected with the port scene display module, the unmanned hub monitoring video display module is used for receiving monitoring videos collected by the unmanned hub cluster and displaying the monitoring videos on a central control interface, and the unmanned hub real-time position display module and the port scene display module are used for issuing unmanned hub real-time position information and real-time attitude information collected by the unmanned hub real-time position display module into a scene set by the port scene display module and sending the unmanned hub real-time position information and the real-time attitude information to the central control interface.
The port unmanned hub central control platform system comprises a plurality of unmanned hub cards, each unmanned hub card is provided with a dedicated ID, the unmanned hub cards are connected with an unmanned hub card monitoring video display module through wireless data, and the unmanned hub cards are in data connection with a data transceiver module.
As a preferred mode, the real-time position information includes position coordinates X, Y and Z of the unmanned truck, x is a position coordinate of an unmanned truck forward direction method, Y is a left position coordinate perpendicular to the unmanned truck forward direction, and Z is a position coordinate perpendicular to a plane in which a vehicle is located and facing upward.
As an optimal mode, the real-time attitude information comprises a course angle, a pitch angle and a yaw angle.
As an optimal mode, the communication mode between the unmanned centralized control platform system and the data transceiver module of the port adopts the existing port local area network of the port, and the data transceiver module is built based on the ROS system.
As an optimal mode, the data display module and the scene interaction module are built based on a VUE framework and an open-source three-dimensional GIS library Cesium.
The invention has the following beneficial effects:
(1) by the aid of the system, the effective utilization rate of the unmanned card concentrator can be improved, and the operation safety and the emergency handling capacity of the unmanned card concentrator are improved by arranging the data transceiver module, the data display module and the scene interaction module;
(2) the system strengthens the management of the unmanned card collection, thereby improving the management intensity and efficiency;
(3) the system realizes the visual, intelligent and real-time dynamic management and monitoring of ports and wharfs.
Drawings
Fig. 1 is a schematic diagram of a central control platform system of an unmanned port container truck.
Reference numerals:
1. an unmanned card collection cluster; 11. unmanned card collection; 2. a data transceiver module; 3. a data display module; 31. the unmanned card collection monitoring video display module; 32. the unmanned card collection real-time position display module; 33. a port scene display module; 4. and a scene interaction module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Example 1
As shown in fig. 1, a central control platform system for port unmanned hub includes an unmanned hub cluster 1, a data transceiver module 2, a data display module 3 and a scene interaction module 4, where the data transceiver module 2 is wirelessly connected to the unmanned hub cluster 1, the data display module 3 is electrically connected to the data transceiver module 2 and wirelessly connected to the unmanned hub cluster 1, the scene interaction module 4 is electrically connected to the data transceiver module 2, the data transceiver module 2 is configured to receive real-time position information and real-time posture information of the unmanned hub and issue the real-time position information and the real-time posture information to the data display module 3, the data transceiver module 2 is further configured to send destination information of the unmanned hub cluster 1 selected in the scene interaction module 4 to the unmanned hub, the data display module 3 is configured to display video information transmitted by the unmanned hub cluster 1 and video information of the unmanned hub cluster 1 processed by the data transceiver module 2, and the scene interaction module 4 is used for processing and transmitting information from the designated unmanned card collecting cluster 1 to a designated destination to the data transceiver module 2 according to the central control interface.
The data display module 3 comprises an unmanned hub monitoring video display module 31, an unmanned hub real-time position display module 32 and a port scene display module 33, the unmanned hub monitoring video display module 31 is in signal connection with the unmanned hub cluster 1, the unmanned hub real-time position display module 32 is electrically connected with the port scene display module 33, the unmanned hub monitoring video display module 31 is used for receiving monitoring videos collected by the unmanned hub cluster 1 and displaying the monitoring videos on a central control interface, and the unmanned hub real-time position display module 32 and the port scene display module 33 are used for issuing real-time position information and real-time posture information of the unmanned hub 11 collected by the unmanned hub real-time position display module 32 into a scene set by the port scene display module 33 and sending the real-time position information and the real-time posture information to the central control interface.
The unmanned card collecting cluster 1 comprises a plurality of unmanned card collectors 11, each unmanned card collector 11 is provided with a dedicated ID, the unmanned card collectors 11 are connected with an unmanned card collecting monitoring video display module 31 through wireless data, and the unmanned card collectors 11 are in data connection with a data transceiving module 2.
The data transceiver module 2 realizes communication between the central control platform and the unmanned centralized card 11, so as to obtain the position and the posture of the unmanned centralized card 11 in real time, wherein the position coordinates (x, y, z) of the unmanned centralized card 11 are included; the attitude comprises a course angle, a pitch angle and a yaw angle, and it is worth mentioning that the x axis is the advancing direction of the unmanned truck, the y axis is perpendicular to the advancing direction of the unmanned truck and leftwards, and the z axis is perpendicular to the ground plane where the vehicle is located and upwards; therefore, interaction between the unmanned centralized card 11 and the central control platform is realized.
Further, the communication mode between the unmanned card assembly 11 and the data transceiver module 2 utilizes the existing port lan of the port to transmit information; in addition, the data transceiver module 2 is built based on the ROS system, the information output by the unmanned hub 11 can be directly processed by adopting the building mode of the ROS system, and information conversion is not needed, so that the data conversion time is saved, and the errors of data conversion are reduced, so that the system time delay and the data transmission error rate can be reduced while the cost is saved by adopting the communication mode.
Further, an ins550 integrated navigation system which is arranged at the top of each unmanned card collection 11 is used for collecting real-time position and attitude data of the unmanned card collection, and data transmission is carried out through the port wireless local area network communication mode and the data transceiver module 2 of the central control platform.
The monitoring video of the unmanned collecting card 11 is collected by a fluorite camera arranged on the unmanned collecting card 11, is transferred by a fluorite video server and is transmitted to the data display module 3, and the fluorite screen is adopted for the unmanned collecting card video monitoring, so that the time delay can be controlled within an acceptable range of about 3 seconds; in addition, the data display module also supports loading and rendering of 2D/3D port scenes, facilitates real-time dynamic display of the pose of the unmanned container truck, can realize arbitrary switching of the 2D and 3D scenes, and supports loading and rendering of point cloud.
The real-time position display module of the unmanned container truck is realized by virtue of the procession in the js library, and the unmanned container truck can be rendered in a 2D/3D scene in real time after the real-time pose information of the unmanned container truck output by the data transceiver module is received. All rendered unmanned concentrated cards have exclusive IDs, the target concentrated card can be quickly locked through the IDs of the unmanned concentrated cards or can be directly locked by double-clicking the target concentrated card on a central control screen, and the target concentrated card locking efficiency can be improved through the design, so that the port unmanned concentrated card dispatching efficiency is improved, and the dispatching time is shortened.
The scene interaction module 4 displays information of the selected vehicle by switching the 2D/3D scene and switching the global view and the following view, translating, rotating and zooming the scene, and designating a destination for the selected unmanned aggregate card 11. The data display module 3 and the scene interaction module 4 are built on the basis of a VUE framework and an open-source three-dimensional GIS library Cesum.js and are non-ROS systems; the ROS system and the above mentioned non-ROS system are implemented by means of a ROSBridge functional package.
Further, the communication mode of the central control platform of the unmanned concentrated card 11 in this embodiment is as follows: firstly, an unmanned aggregate card 11 serializes ROS messages of real-time positions and postures acquired by a remote ins550 combined navigation system, the ROS messages of the real-time positions and postures of the unmanned aggregate card 11 are sent to a data receiving and sending module 2 through a UDP wireless local area network, the ROS messages are deserialized after the data receiving and sending module 2 receives the messages and then are issued to a data display module 3 through a BriROSge function package, and meanwhile, a fluorite wall-mounted internet camera arranged on the unmanned aggregate card 11 sends acquired monitoring videos to the data display module 3 through an http protocol to display the unmanned aggregate card monitoring videos; meanwhile, the data transceiver module 2 designates a destination for the unmanned collective card 11 selected by a control interface in the scene interaction module 4 in a 2D/3D port scene, destination information is packaged into an ROS message and then is issued to the data transceiver module 2 through ROSBrige, the data transceiver module 2 serializes the received ROS message and then transmits the ROS message to the unmanned collective card 11 through a UDP wireless local area network, and the unmanned collective card 11 executes the ROS message of the destination transmitted by the scene interaction module 4.
And further, the data display module dynamically displays the state of the unmanned card collection in a 2D/3D port scene in a real-time rendering manner through the real-time pose ROS information of the unmanned card collection 11 issued by the ROSBridge subscription data transceiver module.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims (7)

1. The utility model provides a accuse platform system in unmanned centralized truck in harbour which characterized in that: the system comprises an unmanned card gathering cluster (1), a data transceiving module (2), a data display module (3) and a scene interaction module (4), wherein the data transceiving module (2) is in wireless connection with the unmanned card gathering cluster (1), the data display module (3) is electrically connected with the data transceiving module (2) and is in wireless connection with the unmanned card gathering cluster (1), the scene interaction module (4) is electrically connected with the data transceiving module (2), the data transceiving module (2) is used for receiving real-time position information and real-time posture information of the unmanned card gathering and issuing the real-time position information and the real-time posture information to the data display module (3), and the data transceiving module (2) is also used for sending destination information of the unmanned card gathering cluster (1) selected in the scene interaction module (4) to the unmanned card gathering, the data display module (3) is used for displaying video information transmitted by the unmanned truck cluster (1) and the video information of the unmanned truck cluster (1) processed by the data transceiver module (2), and the scene interaction module (4) is used for processing and transmitting information from the unmanned truck cluster (1) to a designated destination to the data transceiver module (2) according to a central control interface.
2. The unmanned centralized control platform system for harbor collective card according to claim 1, wherein: the data display module (3) comprises an unmanned truck-mounted monitoring video display module (31), an unmanned truck-mounted real-time position display module (32) and a port scene display module (33), the unmanned card-collecting monitoring video display module (31) is in signal connection with the unmanned card-collecting cluster (1), the unmanned collecting card real-time position display module (32) is electrically connected with the port scene display module (33), the unmanned card-collecting monitoring video display module (31) is used for receiving the monitoring video collected by the unmanned card-collecting cluster (1) and displaying the monitoring video on a central control interface, the unmanned container truck real-time position display module (32) and the port scene display module (33) are used for issuing the real-time position information and the real-time attitude information of the unmanned container truck collected by the unmanned container truck real-time position display module (32) to the scene set by the port scene display module (33) and sending the real-time position information and the real-time attitude information to the central control interface.
3. The unmanned centralized control platform system for harbor collective card according to claim 2, characterized in that: the unmanned container truck cluster (1) comprises a plurality of unmanned container trucks (11), each unmanned container truck (11) is provided with an exclusive ID, the unmanned container trucks (11) are connected with the unmanned container truck monitoring video display module (31) through wireless data, and the unmanned container trucks (11) are in data connection with the data transceiver module (2).
4. The unmanned centralized control platform system for harbor collective card according to claim 1, wherein: the real-time position information comprises position coordinates X, Y and Z of the unmanned hub (11), wherein x is the position coordinate of the unmanned hub (11) in the forward direction method, Y is the left position coordinate perpendicular to the forward direction of the unmanned hub (11), and Z is the position coordinate perpendicular to the ground plane where the vehicle is located and facing upwards.
5. The unmanned centralized control platform system for harbor collective card according to claim 1, wherein: the real-time attitude information comprises a course angle, a pitch angle and a yaw angle.
6. The unmanned centralized control platform system for harbor collective card according to claim 1, wherein: the communication mode between the unmanned card cluster (1) and the data transceiver module (2) adopts the existing port local area network of a port, and the data transceiver module (2) is built based on an ROS system.
7. The unmanned centralized control platform system for harbor collective card according to claim 2, characterized in that: and the data display module (3) and the scene interaction module (4) are built on the basis of a VUE framework and an open-source three-dimensional GIS library Cesum.
CN202010678234.7A 2020-07-15 2020-07-15 Port unmanned centralized control platform system Pending CN113965720A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114924680A (en) * 2022-05-27 2022-08-19 北京斯年智驾科技有限公司 Port unmanned driving map generation method based on WEB front-end visual interface

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114924680A (en) * 2022-05-27 2022-08-19 北京斯年智驾科技有限公司 Port unmanned driving map generation method based on WEB front-end visual interface
CN114924680B (en) * 2022-05-27 2023-08-01 北京斯年智驾科技有限公司 Port unmanned map generation method based on WEB front-end visual interface

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Application publication date: 20220121