owadays, the Internet of Things (IoT) can be con- sidered an important technological revolution related to smart cities, smart homes, smart factories

N

and smart ports implementations. As the presence of smart sensing systems in ports becomes a reality, different opera- tion areas are working today in automatic mode. Examples of challenging projects related to smart ports in the IoT era can be found from Europe to Asia, to Australia, and to North Amer- ica; in all of these new architecture implementations, sensing technologies play a key role. This paper highlights the main re- quirements and the key ideas for each ports, sensing solution and also the challenges related to the calibration and testing of distributed sensing systems associated with the main equip- ment that compose the world largest ports, such as quayside cranes, automated guided vehicles for container handling and yard cranes. Details of the architecture and operations and sensing systems for smart ports are described. Commu- nication standards for smart ports are discussed, and smart ports implementation examples regarding structural health monitoring are considered. Conclusions and future research opportunities in the IoT era are addressed in the final section of the paper.

IoT in Smart Ports

Internet of Things (IoT), as defined by the IEEE, is a network of items including sensors and embedded systems which are connected to the Internet and enable physical objects to gather and exchange data [1]. As IoT rises into dominance, sensors are playing a pivotal role in measuring the physical charac- teristics of objects and converting them into numerical values, which can be read by another device or by the user. In recent years, the global sensor market has expanded year by year, and it is expected to maintain high growth rates in the future. If we look at the future-oriented projects of various governments,

such as Industry 4.0 of Germany and Made in China 2025 of China, the key to these projects is the data provided by sensors. Sensors are widely applied in different fields such as smart power grids, smart buildings, smart industries, smart cities, and smart ports.

A smart port may be defined as a fully automated port where all devices are connected via the so-called IoT Smart Port. A network of smart sensors and actuators, wireless devices, and data centers make up the key infrastruc- ture of the smart port, which allows the port authorities to provide essential services in a faster and more efficient manner. The major drivers in smart ports are productivity and efficiency gains. Various sensors such as inertial sen- sors, ultrasonic sensors, eddy current sensors, radar, lidar, imaging sensors, and RFID readers and tags are used to col- lect the required data in order to transform the “port” into a “smart port.” Pratama et al. proposed a positioning and obstacle avoidance algorithm for Automatic Guided Ve- hicles (AGV) in a partially known environment based on laser measurement systems and encoders [2]. Li and Xu proposed a novel fusion positioning strategy for land vehi- cles, which integrated the micro electromechanical-based inertial measurement unit and virtual sensor, i.e., a sliding- mode observer [3]. Kaloop et al. presented steel container crane movement analysis and assessment based on struc- tural health monitoring, in which accelerometers were used to monitor the dynamic crane behavior, and a 3-D finite element model was designed to express the static displace- ment of the crane under the different loads [4]. Carullo and Parvis presented an ultrasonic sensor to measure the dis- tance from the ground to selected points of a motor vehicle [5]. Fu et al. proposed a computer vision-based procedure with image sensors to determine the position of one con- tainer in the horizontal plane [6].

Internet of Things for Smart Ports: Technologies and Challenges

Yongsheng Yang, Meisu Zhong, Haiqing Yao, Fang Yu,

Xiuwen Fu, and Octavian Postolache

This research is supported by the National Natural Science Foundation of China, Project 6154004, Shanghai Science

and Technology Commission Project 14170501500, Shanghai Science and Technology Commission Project 16DZ2340400, Shanghai Science and Technology Commission Project 17595810300 and Instituto de Telecomunicaccedil;otilde;es, IT-IUL and Fundaccedil;atilde;o para Ciencia e Tecnologia Portugal.

34 IEEE Instrumentation amp; Measurement Magazine February 2018

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Fig. 1. The layout of an automated container terminal.

Port Architecture and Operation

An automated container terminal consists of the berthing area at the quayside, the travelling area of AGVs and a stor- age yard. More specifically, the berthing area is equipped with quay cranes (QCs) for unloading and loading containers, and the travelling area is used by AGVs to move containers from the berthing area to the storage yard where the storage yard stores import and export containers before further delivery by trucks or trains. An automated container terminal mainly uti- lizes equipment, such as QCs, AGVs, and yard cranes (YCs), for the loading and unloading operation of containers. Thus, the QCs are used to discharge containers from the ship to the AGVs or for loading containers from AGVs to the ship. AGVs implement the horizontal transportation between the shore operation and yard operation, and YCs are in charge of put- ting the containers in the corresponding locations in the yard. An example of an automated container terminal is Xiamen Ocean Gate, the first one in China, which has set the stan- dard of a global automation terminal handling system. As

a novelty at Xiamen Ocean Gate, two Rail-mounted Gantry Cranes (RMG) are deployed in the front and back of the yard. The RMG gets th

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今天，物联网（IoT）可被视为与智慧城市，智能家居，智能工厂和智能港口实施有关的重要技术革命。随着港口智能传感系统的出现成为现实，不同的运营区域现在都在自动模式下运行。从欧洲到亚洲，澳大利亚和北美洲，可以找到与物联网时代的智能港口有关的具有挑战性的项目案例;在所有这些新架构实施中，传感技术都扮演着关键角色。本文重点介绍了每个港口的主要需求和主要思想，传感解决方案以及与构成世界最大港口的主要设备相关的分布式传感系统的校准和测试的挑战，例如码头起重机，用于集装箱搬运和堆场起重机的自动引导车辆。本文描述了智能港口的架构，操作和传感系统的细节，讨论了智能港口的通信标准，并考虑了有关结构健康监测的智能港实施示例。本文的最后部分将介绍物联网时代的结论和未来研究机会。

智能港口中的物联网

由IEEE定义的物联网（IoT）是包括传感器和嵌入式系统的物品网络，它们连接到互联网并使物理对象能够收集和交换数据[1]。 随着物联网逐渐占据主导地位，传感器在测量物体的物理特性并将其转换为数值时起着举足轻重的作用，这些数值可以由其他设备或用户读取。 近年来，全球传感器市场逐年扩大，预计未来仍将保持高速增长。 如果我们看一下各个政府面向未来的项目，

如德国工业4.0和中国制造2025，这些项目的关键是传感器提供的数据。传感器广泛应用于智能电网，智能建筑，智能工业，智能城市，智能港口等不同领域。

智能港口可被定义为所有设备通过所谓的物联网智能港口连接的全自动化港口。智能传感器和执行器，无线设备和数据中心网络构成了智能港口的关键基础设施，使港口当局能够以更快，更高效的方式提供基本服务。智能港的主要驱动因素是生产力和效率提升。各种传感器如惯性传感器，超声波传感器，涡流传感器，雷达，激光雷达，成像传感器以及RFID阅读器和标签被用来收集所需数据，以便将“港口”转换为“智能港口“。Pratama等人在基于激光测量系统和编码器的部分已知环境中提出了自动导引车（AGV）的定位和避障算法[2]。 Li和Xu提出了一种新颖的陆地车辆融合定位策略，它集成了基于微机电的惯性测量单元和虚拟传感器，即滑模观测器[3]。 Kaloop等人提出了基于结构健康监测的钢制集装箱起重机运动分析和评估，其中加速度计用于监测动态起重机的行为，并设计了一个三维有限元模型来表达起重机在不同的负载下的静态位移 [4]。 Carullo和Parvis提出了一种超声波传感器来测量从地面到机动车辆选定点的距离[5]。 Fu等人提出了一个基于计算机视觉的程序与图像传感器来确定一个集装箱在水平面上的位置[6]。

物联网智能港口：技术和挑战

Yongsheng Yang, Meisu Zhong, Haiqing Yao, Fang Yu,

Xiuwen Fu, and Octavian Postolache

This research is supported by the National Natural Science Foundation of China, Project 6154004, Shanghai Science

and Technology Commission Project 14170501500, Shanghai Science and Technology Commission Project 16DZ2340400, Shanghai Science and Technology Commission Project 17595810300 and Instituto de Telecomunicaccedil;otilde;es, IT-IUL and Fundaccedil;atilde;o para Ciencia e Tecnologia Portugal.

34 IEEE Instrumentation amp; Measurement Magazine February 2018

1094-6969/18/$25.00copy;2018IEEE

图1.自动化集装箱码头的布局。

港口建筑和运营

一个自动化的集装箱码头由岸边的停泊区，AGV的行驶区域和一个仓库组成。更具体地说，靠泊区域装备有用于卸载和装载集装箱的码头起重机，并且AGV使用该行驶区域将集装箱从停泊区域移动到存储场地，在那里存储场地进一步存储进出口集装箱通过卡车或火车交付。自动化集装箱码头主要利用如码头起重机，AGV和堆场起重机等设备进行集装箱的装卸作业。因此，码头起重机用于将集装箱从船舶排放到AGV或从AGV向集装箱装载集装箱。自动导引车执行岸上作业和堆场作业之间的水平运输，而堆场起重机负责将集装箱放置在院内相应位置。自动化集装箱码头的一个例子就是厦门海关，这是中国的第一家自动化集装箱码头，它已经设定了全球自动化码头处理系统的标准。如

在厦门海关的一处新奇之处，两个轨道式门式起重机被部署在院子的前后。 轨道式门式起重机从AGV伴侣获取集装箱，然后将其卸下到场地的存储区域，或者从存储区域取出集装箱，然后将其卸载到运输卡车上。图1展示了一个典型的自动化集装箱码头的布局。

一般来说，集装箱码头运作模式可以分为两个过程：装货过程和卸货过程。图2a显示了装载和卸载船舶的具体操作程序。 AGV收到卸货指示（装货指示），然后将由码头起重机卸货的集装箱放在货场上。在卸货程序中：主小车首先从船上取下集装箱，并将其放到码头起重机上的转运平台上;然后门户手推车从转运平台上取下集装箱并将其卸载到AGV上;最后，AGV通过水平运输将集装箱放置在院子前面的AGV伴侣上。 AGV同时接收下一个任务

图2.自动港口码头操作：a）装卸船舶，b）码头区和堆场之间的AGV集装箱操作[7]。

命令，所以它会继续做下一个任务。 操作顺序如图2b所示[7]。 AGV伴侣的使用减少了AGV运行的等待时间，提高了实际运行的效率。 AGV伴侣已被广泛应用于厦门海关自动化集装箱码头，并被视为实施优化流程的一部分。

振华重工新型门式起重机有一些新型的自动化设备，这些新型的龙门起重机是为24个横向集装箱排的集装箱船而设计的。他们有3个74米长的臂架，重达2400吨，可以处理110吨的最大有效载荷。他们装备精良，能够处理第一批18,000标准箱的23艘集装箱船，这些船刚投入使用。 振华重工的新型码头起重机高度超过138米，主推车速度达到240米/分钟，龙门架速度达到约45米/分钟。它们每个重1,850,000千克，一次可以提升四个20英尺的集装箱，在每次升降中处理高达100,000千克。它们具有69.5米的提升高度和伸展范围，能够处理25个集装箱全新一代的超大型集装箱船。通过对表1所列传统集装箱码头和自动化集装箱码头的比较分析，显然自动化港口具有诸多优势和优势，特别是在节省人力

提高运营效率和经济效益，降低能耗，提高安全运行水平，提升港口形象，甚至是城市形象等方面。[8]。据估计，由于使用动力驱动车辆，自动集装箱码头比传统码头节省至少25％的能源，并减少15％的碳排放量。整个终端的模块与终端控制室的中央控制单元进行通信。因此，自动化集装箱码头已经成为未来发展的必然趋势，基于人工智能的控制优化和大数据分析实施与分布式智能传感器和执行器相关的技术，远程和自动操作的数据通信和互联网连接。

智能港口传感系统

自动集装箱码头的实施需要使用传感系统，这些系统可用于码头起重机的结构健康监测，集装箱位置检测和处理，AGV定位，导航和控制等任务。当前光纤传感器，高灵敏度磁传感器和MEMS惯性测量单元，可实现互操作的包括最新的4G和5G无线协议等领域

的发展，将扩大传感系统的互联网连接，为智能港口领域的新发展提供了巨大机遇。因此，用于集装箱识别和管理，车辆识别和管理，位置和导航服务以及与结构健康监测相关的港口码头设备安全的新智能传感架构基于接触和遥感解决方案。

基本上，结构健康监测的目标是根据待监测系统的动态或静态特性来确定是否存在损坏。在智能港口中，结构健康监测的内容主要集中在识别起重机和轨道式门式起重机中金属结构的应力和强度储备，以及微裂纹，焊缝裂纹和塑性变形等缺陷检测，在结构失效过程中负载下的应力明显超出允许值。 结构健康监测必须在

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