CN112543505A - Port area positioning system and method - Google Patents
Port area positioning system and method Download PDFInfo
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- CN112543505A CN112543505A CN202011326713.9A CN202011326713A CN112543505A CN 112543505 A CN112543505 A CN 112543505A CN 202011326713 A CN202011326713 A CN 202011326713A CN 112543505 A CN112543505 A CN 112543505A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention discloses a port area positioning system, which comprises a base station positioning mechanism, a 5G industrial router, a positioning tag assembly and a positioning management server, wherein the positioning tag assembly comprises a plurality of positioning tag devices, and a positioning chip is arranged on a positioning tag body and is electrically connected with the positioning tag body; the base station positioning mechanism is in communication connection with the positioning label assembly; and the positioning management server is in communication connection with the 5G industrial router. The invention also discloses a harbor area positioning method, which comprises the steps of receiving the positioning tag distance information reported by the base station, and calculating the relative coordinates of the positioning tags corresponding to the positioning tag distance information according to the positioning tag distance information; and confirming the position information of the label positioning operator according to the relative coordinates. The invention improves the positioning precision of port personnel, equipment and vehicles by the UWB technology, and meets the requirements of high-precision visual management of a dangerous goods storage yard of the container and high-precision positioning of vehicles under a shore bridge/field bridge by the high-precision positioning technology.
Description
Technical Field
The invention relates to the technical field of UWB positioning, in particular to a harbor area positioning system and a harbor area positioning method.
Background
The current intelligent port mainly adopts a GNSS (global navigation satellite system) differential positioning technology to position personnel, equipment and vehicles, and provides basic position information of each unit for a port business system and an operation and control system. The GNSS differential positioning system mainly comprises a GNSS satellite, a ground reference station, a positioning terminal, a data center, a communication network and the like. The ground reference station receives GPS/BD satellite signals and transmits the signals to the data center through a port internal production network; the data center calculates out the correction number of the real coordinate and the coordinate obtained by satellite positioning according to the precise coordinate of the ground reference station and the received satellite signal, and pushes the data to the terminal equipment in real time through an LTE wireless network; the positioning terminal of the user receives satellite signals and also receives correction data provided by the wireless network, and meanwhile, the positioning result is corrected in real time by combining the technologies of active satellite selection, inertial navigation, big data analysis correction and the like, so that more accurate position information is obtained.
The main defect of the GNSS differential positioning system is that the positioning accuracy is insufficient, generally only can reach the sub-meter level, and the requirement of increasingly improved position accuracy in the intelligent port cannot be met. In addition, GPS/BD satellite signals are easily shielded under a shore bridge and in a storage yard, and for dangerous goods and inspection personnel in a dangerous goods storage yard, the probability of accidents can be reduced to the minimum by high positioning precision, and the current sub-meter precision cannot meet the requirement; moreover, for monitoring the track of the port vehicle, the GNSS differential positioning system can meet the requirement, but certain errors can occur when the deviation of the trailer relative to the lane is judged. Meanwhile, due to the shielding of satellite signals, vehicles near a shore bridge and a field bridge have larger positioning errors.
After 5G network was deployed to wisdom harbour, further loading and unloading automation can be realized to store yard and bank bridge, has also provided higher requirement to the positioning accuracy of vehicle simultaneously, need reach decimetre level and even centimeter level, and present sub-meter level precision can not satisfy this requirement.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a harbor area positioning system and a harbor area positioning method, and aims to solve the technical problems that the positioning accuracy of an existing intelligent harbor is not enough, and the requirement on the positioning accuracy under a new scene cannot be met.
In order to achieve the purpose, the invention provides a port area positioning system, which comprises a base station positioning mechanism, a 5G industrial router, a positioning tag assembly and a positioning management server;
the positioning label assembly comprises a plurality of positioning label devices, each positioning label device comprises a positioning label body and a positioning chip, and the positioning chip is arranged on the positioning label body and is electrically connected with the positioning label body;
the base station positioning mechanism comprises at least one base station device which is in communication connection with the positioning label assembly;
and the base station equipment and the positioning management server are in communication connection with the 5G communication server.
Optionally, the positioning tag body is a vehicle-mounted power supply tag body, a fixed power supply tag body or a battery power supply tag body.
In order to achieve the above object, the present invention further provides a port area positioning method, which is applied to a port area positioning system, and includes the following steps:
receiving positioning tag distance information reported by a base station;
analyzing the positioning label distance information, and calculating the relative coordinates of the positioning labels corresponding to the positioning label distance information according to the analysis result;
and confirming the position information of the positioning label operator according to the relative coordinates, wherein the position information comprises the current position and the motion trail.
Optionally, the port area locating method further includes:
determining the tag types of the positioning tags, wherein the tag types comprise a vehicle-mounted UWB tag, an asset UWB tag and a personnel UWB tag;
and monitoring the port operation of the positioning label operator according to the label type and the motion trail.
Optionally, the port area locating method further includes:
determining the operation task of the positioning label operator, and determining the operation state of the positioning label operator according to the operation task;
and outputting reminding information of the abnormal operation when the error of the operation state is confirmed.
Optionally, the port area locating method further includes:
issuing an operation task to the positioning label operator according to the label type of the positioning label;
and monitoring the operation state of the positioning label operator for executing the operation task according to the running track of the positioning label.
Optionally, the port area locating method further includes:
determining the operation authority of the positioning label operator;
and monitoring the operation state of the positioning label operator in executing the operation task according to the operation authority.
Optionally, before the step of receiving the positioning tag distance information reported by the base station, the method further includes:
when detecting that a positioning tag enters a preset base station positioning area, issuing a time synchronization instruction to the positioning tag;
and after the positioning tag time synchronization is confirmed to be completed, executing the step of receiving the positioning tag distance information reported by the base station.
Optionally, the port area locating method further includes:
acquiring label information of the installed positioning label;
and correspondingly registering the label information according to the label type of the positioning label.
The invention provides a port area positioning system, which comprises a base station positioning mechanism, a 5G industrial router, a positioning tag assembly and a positioning management server, wherein the base station positioning mechanism is used for positioning a port area; the positioning label assembly comprises a plurality of positioning label devices, each positioning label device comprises a positioning label body and a positioning chip, and the positioning chip is arranged on the positioning label body and is electrically connected with the positioning label body; the base station positioning mechanism comprises at least one base station device which is in communication connection with the positioning label assembly; and the base station equipment is in communication connection with the positioning management server through the 5G industrial router. The invention also provides a port area positioning method applied to the port area positioning system, wherein during application, the positioning management server receives the positioning tag distance information reported by the base station; analyzing the positioning label distance information, and calculating the relative coordinates of the positioning labels corresponding to the positioning label distance information according to the analysis result; and confirming the position information of the positioning label operator according to the relative coordinates, wherein the position information comprises the current position and the motion trail. According to the invention, the positioning accuracy of port personnel, equipment and vehicles is improved through a UWB technology, and the problem that a positioning system generates a positioning error due to shielding of satellite signals under a shore bridge and in a storage yard is solved, so that the high-accuracy position requirements provided by scenes such as high-accuracy visual management of a container dangerous goods storage yard, high-accuracy track tracking of vehicles under the shore bridge/the field bridge, high-accuracy positioning and identification of the vehicles under a 5G scene and the like are met.
Drawings
FIG. 1 is a schematic diagram of a system architecture of a port area location system of the present invention;
FIG. 2 is a flowchart illustrating a port area locating method according to a first embodiment of the present invention;
FIG. 3 is a flowchart illustrating a port area locating method according to a second embodiment of the present invention;
FIG. 4 is a schematic view of an installation structure of each positioning device on a shore bridge;
FIG. 5 is a schematic view showing the installation of each positioning device in a bulk yard (using a single-cantilever gantry crane);
FIG. 6 is a schematic view showing the installation of each positioning device in a bulk yard (using a double-cantilever gantry crane);
fig. 7 is a schematic view of the installation of each positioning device in the hazardous material storage yard (using a single-cantilever gantry crane).
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The main solution of the embodiment of the invention is as follows: receiving positioning tag distance information reported by a base station; analyzing the positioning label distance information, and calculating the relative coordinates of the positioning labels corresponding to the positioning label distance information according to the analysis result; and confirming the position information of the positioning label operator according to the relative coordinates, wherein the position information comprises the current position and the motion trail.
Because after current wisdom harbour disposed the 5G network, further loading and unloading automation can be realized to store yard and bank bridge, has also provided higher requirement to the positioning accuracy of vehicle simultaneously, need reach decimetre level and even centimeter level, and present sub-meter level precision can not satisfy this requirement.
The invention provides a solution, which improves the positioning precision of port personnel, equipment and vehicles through UWB technology, and meets the high-precision position requirements in scenes such as high-precision visual management of container dangerous goods storage yards, high-precision track tracking of vehicles under shore bridges/yard bridges, high-precision positioning and identification of vehicles under 5G scenes and the like.
As shown in fig. 1, fig. 1 is a schematic system structure diagram of a port area positioning system of the present invention, where the port area positioning system includes a base station positioning mechanism 100, a 5G industrial router 200, a positioning tag assembly 300, and a positioning management server 400; the positioning label assembly 300 comprises a plurality of positioning label devices, each of which comprises a positioning label body and a positioning chip, wherein the positioning chip is arranged on the positioning label body and is electrically connected with the positioning label body; the base station positioning mechanism 100 comprises at least one base station device, which is in communication connection with the positioning tag assembly; the base station device and the positioning management server 400 are respectively connected with the 5G industrial router 200 in a communication way. In practical applications, the base station positioning mechanism 100 installs a plurality of base stations in the base station positioning mechanism 100 at corresponding positions of a port shore bridge and a port yard bridge in the port area according to a positioning requirement of the port area, and relates to a signal transceiving range of the base station positioning mechanism 100, when the base station is installed at the port shore bridge and the port yard bridge in the port area, the required number of the base stations is related to the volume of the port shore bridge and the port yard bridge, and when the base station is installed at the port shore bridge and the port yard bridge to realize the positioning requirement, the 5G industrial router 200 for realizing wireless communication between the base station and the positioning management server 400 is also needed to be installed, the 5G industrial router 200 performs wireless data interaction operation with the positioning management server 400 based on a 5G communication technology, and the 5G industrial router 200 is located at the position of the port shore bridge/yard bridge, and needs to have the requirements of no shielding and communication connection with the positioning management server 400, that is, when the 5G industrial router 200 is installed at the port shore bridge/yard bridge, the installation position of the 5G industrial router 200 is located in the coverage area of the 5G wireless network, so as to implement the wireless communication function between the base station positioning mechanism 100 and the positioning management server 400, further, the base station equipment installed at the port shore bridge/yard bridge is installed with a corresponding number of base station equipments according to the volume of the port shore bridge/yard bridge, as shown in fig. 4-7, fig. 4-7 are schematic diagrams of installation structures of each positioning equipment on the shore bridge/yard, when the base station equipment is installed at the port bridge/yard bridge, the mutual positions of the two routers are within the signal transceiving range so as to realize signal transceiving, and then the 5G industrial router is in communication connection with the positioning management server so as to realize positioning operation.
When the positioning requirement is realized in the current port area, the base station equipment installed on the port shore bridge and the port yard bridge needs to detect the positioning signal output by the installed positioning tag for positioning operation, the positioning tag assembly 300 disclosed in this embodiment includes a plurality of different types of positioning tag bodies, further, the positioning tag body of the positioning tag assembly is defined as a UWB positioning tag, the UWB positioning tag outputs a UWB signal to enable the base station equipment to receive and generate related distance information to be sent to the positioning management server, which relates to different operation contents, and when the positioning requirement of different operation types is realized, different positioning requirements can be realized by installing different types of positioning tags, therefore, in the port area positioning system of the present invention, the positioning tag body of the positioning tag assembly 300 includes, but is not limited to, a vehicle-mounted power supply tag body, a fixed power supply tag body or a battery power supply tag body, in practical application, the vehicle-mounted power supply tag body, the fixed power supply tag body and the battery power supply tag body are mounted to corresponding operation equipment according to different positioning requirements, wherein the vehicle-mounted power supply tag body is powered by a vehicle-mounted storage battery, is highest in refreshing frequency, maximum in emission gain and highest in power consumption, and can be mounted at the top of a port vehicle through a magnetic sticker; the fixed power supply tag body has high refreshing frequency, high emission gain and moderate power consumption, and can be fixed on the surface of safety equipment of a dangerous goods storage yard through screws; the battery powered tag body has the advantages of low refreshing frequency, low emission gain and low power consumption, and can be directly worn by port operators.
Further, according to the harbor area positioning method implemented by the present invention, when the base station device of the base station positioning mechanism 100 receives the UWB signal of the positioning tag, generates the distance information, and sends the distance information to the positioning management server 400 via the 5G industrial router 200 to realize the positioning of the operator of the positioning tag, the functions based on the current harbor operation processing, such as the analysis of the positioning data and the monitoring of the positioning operation, need to be implemented based on the related functional system of the positioning management server 400, and based on the body of the positioning management server, the terminal of the positioning management server may be a PC, a smart phone, a tablet computer, a portable computer, or other mobile or non-mobile terminal devices with system installation and wireless communication functions.
As shown in fig. 1, the terminal may include: a processor, e.g. a CPU, a network interface, a user interface, a memory, a communication bus. Wherein the communication bus is used for realizing connection communication among the components. The user interface may comprise a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface may also comprise a standard wired interface, a wireless interface. The network interface may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory may be a high-speed RAM memory or a non-volatile memory, such as a disk memory. The memory may alternatively be a storage device separate from the aforementioned processor.
Those skilled in the art will appreciate that the terminal structure shown in fig. 1 is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components. As shown in fig. 1, the memory, which is a type of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a port region locating program.
In the terminal shown in fig. 1, the network interface is mainly used for connecting a 5G industrial router and performing data communication with the 5G industrial router; the user interface is mainly used for connecting a client (user side) and carrying out data communication with the client; and the processor may be configured to invoke a port region location program stored in the memory and perform the following:
receiving positioning tag distance information reported by a base station;
analyzing the positioning label distance information, and calculating the relative coordinates of the positioning labels corresponding to the positioning label distance information according to the analysis result;
and confirming the position information of the positioning label operator according to the relative coordinates, wherein the position information comprises the current position and the motion trail.
Further, the processor may invoke a port region location program stored in the memory and further perform the following:
determining the tag types of the positioning tags, wherein the tag types comprise a vehicle-mounted UWB tag, an asset UWB tag and a personnel UWB tag;
and monitoring the port operation of the positioning label operator according to the label type and the position information.
Further, the processor 1001 may call a port region location program stored in the memory 1005, and also perform the following operations:
determining the operation task of the positioning label operator, and determining the operation state of the positioning label operator according to the operation task;
and outputting reminding information of the abnormal operation when the error of the operation state is confirmed.
Further, the processor 1001 may call a port region location program stored in the memory 1005, and also perform the following operations:
issuing an operation task to the positioning label operator according to the label type of the positioning label;
and monitoring the operation state of the positioning label operator for executing the operation task according to the running track of the positioning label.
Further, the processor 1001 may call a port region location program stored in the memory 1005, and also perform the following operations:
determining the operation authority of the positioning label operator;
and monitoring the operation state of the positioning label operator in executing the operation task according to the operation authority.
Further, the processor 1001 may call a port region location program stored in the memory 1005, and also perform the following operations:
when detecting that a positioning tag enters a preset base station positioning area, issuing a time synchronization instruction to the positioning tag;
and after the positioning tag time synchronization is confirmed to be completed, executing the step of receiving the positioning tag distance information reported by the base station.
Further, the processor 1001 may call a port region location program stored in the memory 1005, and also perform the following operations:
acquiring label information of the installed positioning label;
and correspondingly registering the label information according to the label type of the positioning label.
Referring to fig. 2, fig. 2 is a schematic flowchart of a port area positioning method according to a first embodiment of the present invention, where the port area positioning method includes:
step S10, receiving positioning label distance information reported by a base station;
the method comprises the steps that positioning label distance information reported by a base station is received according to a base station positioning system which is installed in a port area at present, the base station positioning system comprises a base station positioning mechanism, a 5G industrial router, a positioning assembly and a positioning management server, the base station positioning mechanism comprises a plurality of base station equipment, the base station equipment and the 5G industrial router are installed on the same port shore bridge and port field bridge in proportion, the data proportion of the base station equipment and the 5G industrial router is determined by the size of the shore bridge/field bridge, for example, the base station equipment with the corresponding number is set according to the size of the port shore bridge on the same port shore bridge, and the 5G industrial router is installed at a position on the port shore bridge where a 5G network signal can be received. In the embodiment of the present invention, the positioning tag is placed on an operator body, the operator has different installation schemes according to the tag type of the positioning tag, when the operator who installs the positioning tag moves to the detection area of the harbor quay bridge, the base station detects the UWB signal output from the positioning tag, when the base station detects the UWB signal of the positioning tag, the base station determines the distance between the positioning tag and the base station according to the reception time of the reception signal and generates positioning tag distance information, the positioning tag distance information includes, but is not limited to, information related to a base station device parameter, a positioning tag signal, a signal reception time, a positioning tag distance, and the like, and when the base station has a plurality of UWB, each base station generates the positioning tag distance information according to the received UWB signal, and transmits the generated positioning tag distance information to the positioning tag through a currently connected 5G industrial router And the management server realizes the position analysis of the positioning label.
When deploying the shore bridge base stations in the port area, the base stations used for positioning under the shore bridge are installed at suitable positions of the shore bridge, and according to the size of the shore bridge, each shore bridge is provided with a corresponding number of base stations and a 5G industrial router for realizing communication between the base stations and the server, for example, each shore bridge is provided with four base stations and a 5G industrial router, and among 4 base stations, one of the base stations is connected with the 5G industrial router installed on the shore bridge, specifically as shown in fig. 4, fig. 4 is an installation structure schematic diagram of each positioning device on the shore bridge. In addition, when the port area is located, the area related to the location requirement further includes a yard, the yard includes but is not limited to a bulk cargo yard and a hazardous article yard, and the demands of different types of yards when the location is realized are different, so that the base stations used for the yard location can be installed on the bridges (rubber-tyred container gantry cranes) in the port area, and according to the location range of the bridges, a corresponding number of base stations and corresponding 5G industrial routers can be installed on each bridge. According to the type of the site bridge, four base stations are installed on each single-cantilever portal crane, eight base stations are installed on each double-cantilever portal crane, and four base stations are installed on one side of the site bridge. In 4 base stations on each site bridge (or each side of the site bridge), one base station is connected with a 5G industrial router on the site bridge, specifically as shown in fig. 5, 6 and 7, fig. 5 is a schematic view of installation of each positioning device on a bulk cargo yard (adopting a single-cantilever portal crane), and fig. 6 is a schematic view of installation of each positioning device on the bulk cargo yard (adopting a double-single-cantilever portal crane). Fig. 7 is a schematic view of the installation of each positioning device on the dangerous goods storage yard (adopting a single-cantilever gantry crane).
Further, before the step of receiving the positioning tag distance information reported by the base station, the method further includes:
when detecting that a positioning tag enters a preset base station positioning area, issuing a time synchronization instruction to the positioning tag;
and after the positioning tag time synchronization is confirmed to be completed, executing the step of receiving the positioning tag distance information reported by the base station.
Positioning equipment deployment is carried out on positioning equipment in the port area according to the positioning requirement of the current port area, namely after a positioning base station and a 5G industrial router are deployed on equipment such as a shore bridge, a storage yard and the like, positioning service of port area operators is carried out according to the deployed positioning equipment, wherein the positioning management server pushes a time synchronization instruction to a positioning label entering a position detection area when the positioning label operator is detected to enter the range of the position detection area in consideration of the position difference caused by the time difference, so that the time of the positioning label is synchronized with the time of the position detection equipment in the position detection area, namely four base stations deployed on the shore bridge/field bridge, and after the time synchronization of the base station deployed on the shore bridge and the positioning label is determined to be completed, namely after errors caused by clock deviation disappear, and performing positioning detection on the positioning label, namely performing position detection operation on the positioning label according to the positioning label distance information reported by the base station after time synchronization.
Step S20, analyzing the positioning label distance information, and calculating the relative coordinate of the positioning label corresponding to the positioning label distance information according to the analysis result;
step S30, determining the position information of the positioning label operator according to the relative coordinates, wherein the position information comprises the current position and the motion track.
Analyzing the positioning tag distance information according to the received positioning tag distance information reported by the base station, integrating the positioning tag distance information according to a positioning tag identifier in the positioning tag distance information when analyzing the positioning tag distance information, performing integration operation based on a unique identifier of a positioning tag in the positioning tag distance information as a reference when integrating the positioning tag distance information, determining a relative coordinate of the positioning tag corresponding to the positioning tag distance information according to an integration result, in practical application, calculating a relative distance to the positioning tag based on a port shore bridge/yard bridge where the base station is located, wherein the calculation of the relative distance of the positioning tag can be obtained by a related mathematical method, so the calculation steps of the relative distance of the positioning tag can be as follows:
when the distance between the trailer and each shore bridge/yard bridge is judged, an operator provided with a positioning tag is exemplified as a carrier trailer provided with the positioning tag, after the carrier trailer enters a loading and unloading lane, a vehicle-mounted tag on the carrier trailer and all base stations in a communication range perform time difference of flight (TOF) continuous distance measurement (time synchronization is not performed), and each base station pushes the distance data of the positioning tag on the carrier trailer to a positioning management server; the positioning management server roughly calculates the distance between the carrying trailer and each shore bridge/yard bridge according to the distance information, finds out the shore bridge/yard bridge closest to the trailer, and the specific expression is as follows:
in the above expression, dT,iThe distance between the ith shore bridge/yard bridge and the label is defined; dTtoM,iThe distance between the Mth base station on the ith shore bridge/field bridge and the label is calculated; dMtoN,iThe distance between the Mth base station and the Nth base station on the ith shore bridge/yard bridge is calculated; h isTThe height difference between the base station and the label mounting position; Δ xTThe tag is offset in the longitudinal direction of the lane with respect to the trailer alignment center.
For convenience of calculation, approximate values are taken:
d 'in the above expression'T,iThe distance approximation value between the ith shore bridge/yard bridge and the label is obtained; Δ dRThe correction value is approximate and constant.
Furthermore, the specific steps of positioning and calculating according to the distance data provided by the four base stations on the nearest shore bridge/yard bridge can be measured and calculated by establishing a space rectangular coordinate system.
In order to realize distance measurement, a corresponding spatial rectangular coordinate system can be established for each shore bridge to describe the position of the tag relative to the shore bridge/field bridge, the rectangular coordinate system is established by taking the base station 1 as an origin, the transverse direction of the lane is set as an x-axis, the longitudinal direction is set as a y-axis, and the vertical direction is set as a z-axis. After each base station on the shore bridge/yard bridge is installed, the position relative to the shore bridge/yard bridge is fixed, so the coordinates of each base station and each part of the shore bridge/yard bridge are known quantities. Since the position of each lane is fixed relative to the shore bridge, the x-axis coordinate corresponding to each lane is also a known quantity.
The distance from the tag to each base station is accurately measured through a constructed space rectangular coordinate system, after an operator provided with a positioning tag enters the accurate positioning range of a UWB base station on a nearest shore bridge/field bridge, the positioning management server lists a corresponding spherical equation according to distance information, calculates the relative coordinate of the tag under a shore bridge/field bridge coordinate system through an improved spherical intersection method (SX algorithm), and adds the relative position of the tag relative to a trailer generated by the coordinate and the tag installation position to obtain the relative coordinate of the trailer under the shore bridge/field bridge coordinate system. The specific calculation formula can be expressed as:
in the above calculation formula, [ x ]T,i,yT,i,yT,i]TThe coordinates of the label under the ith shore bridge/yard bridge coordinate system are obtained; x is the number ofM,i、yM,i、zM,iRespectively are the x-axis, y-axis and z-axis coordinates of the Mth base station under the ith shore bridge/field bridge coordinate system.
When the work state of the operator is detected by the positioning tag, the main detection work is to determine the movement track deviation or the work position navigation of the operator during the work, taking the detection work of the movement track deviation as an example, the x-axis coordinate of the obtained relative coordinate of the loading trailer is compared with the x-axis coordinate corresponding to the central axis of the preset lane according to the running track of the loading trailer with the positioning tag installed currently, and if the difference value of the two coordinates exceeds a certain value, the driving of the trailer is considered to be deviated from the preset lane.
Furthermore, trailer operation navigation operation can be performed through the established space rectangular coordinate system, the relative coordinate of the loading trailer provided with the positioning tag can be converted into an actual coordinate, the actual coordinate is used for correcting GNSS positioning errors, and the accuracy of functions such as track tracking of the loading trailer in the background management system is maintained. The coordinates can be obtained by superimposing the relative coordinates of the loading trailer and the actual coordinates of the base station 1 (origin), while the absolute coordinates of the actual 1 can be obtained by initially measuring the y-axis displacement obtained by the coordinate superimposing encoder.
The technical solution as described above can be implemented only on the premise that each operator is installed with a positioning tag, and in general, when performing positioning monitoring work in a port area, in addition to deploying a base station and a 5G industrial router for related positioning, each port operator needs to be installed with a positioning tag, and according to the positioning requirement and the operation type of each operator, a positioning tag of a corresponding type is installed, that is, the method for locating a port area further includes:
acquiring label information of the installed positioning label;
and correspondingly registering the label information according to the label type of the positioning label.
When UWB positioning tags are attached to safety devices in port vehicles and hazardous material storage yards, corresponding positioning tag types are attached according to the operation types of operators, such as transportation vehicles, materials, and port personnel who perform operations in port areas, and devices, goods, and personnel who need positioning detection during operations. According to the positioning requirement, the UWB tags installed (or worn) by each positioning unit are all one, namely, each vehicle is provided with one positioning tag, each safety device is provided with one positioning tag, and each person wears one positioning tag. In view of the power supply problem of each positioning unit, different positioning units use different types of positioning tags, and in the embodiment of the invention, the positioning tags comprise three types of positioning tags according to different application functions, namely the tag types comprise a vehicle-mounted UWB tag, an asset UWB tag and a personnel UWB tag, and the positioning tags of different types have different refreshing frequencies and emission gains. The method specifically comprises the following steps:
the vehicle-mounted UWB tag used by the port vehicle is arranged on the roof of the vehicle through a magnetic sticker, and is powered by a vehicle-mounted storage battery, so that the refreshing frequency is highest, the emission gain is maximum, and the power consumption is highest; the asset type UWB tag used by the safety equipment in the dangerous goods storage yard is fixed on the surface of the equipment through screws, the refreshing frequency is high, the emission gain is large, and the power consumption is moderate; the work-card type personnel UWB tag used by port personnel is worn on the chest, the refreshing frequency is low, the emission gain is small, and the power consumption is lowest.
In the embodiment, the UWB technology is used for improving the positioning precision of port personnel, equipment and vehicles, and meeting the high-precision position requirements in scenes such as high-precision visual management of a container dangerous goods storage yard, high-precision track tracking of vehicles under a shore bridge/yard bridge, high-precision positioning and recognition of vehicles under a 5G scene and the like.
Further, referring to fig. 3, fig. 3 is a schematic flowchart of a port area positioning method according to a second embodiment of the present invention, and based on the first embodiment shown in fig. 2, the port area positioning method further includes:
step S40, determining the label type of the positioning label, wherein the label type comprises a vehicle-mounted UWB label, an asset UWB label and a personnel UWB label;
step S50, monitoring the port operation of the positioning label operator according to the label type and the position information.
In the present embodiment, when the positioning tag signal detected by the base station specifies the position information of the operator corresponding to the positioning tag and detects the operation state of the operator, the operation type of the operator may be specified based on the tag type of the positioning tag, and the corresponding detection operation may be performed. And, according to the operation demand of the loading trailer, the background management system plans the lane track and the loading and unloading point of the loading trailer according to the actual need, determines the driving lane of the loading trailer and the loading and unloading point which needs to be reached, during the operation, the loading trailer operator, namely, the driver drives the trailer into the loading and unloading lane of the operation area according to the operation command pushed by the background, as the application of the space rectangular coordinate system about the positioning created in step S20, compares the x-axis coordinate of the obtained relative coordinate of the loading trailer with the x-axis coordinate corresponding to the central axis of the predetermined lane according to the detection result of the position information when the loading trailer operates, and if the difference value between the two exceeds a certain value, the driving of the trailer is considered to be deviated from the predetermined lane. The above is a detection operation performed by performing position detection based on the position information of the loaded trailer.
Or, according to the job types of different operators, related job abnormity reminding information can be further performed, that is, the port area positioning method further includes:
determining the operation task of the positioning label operator, and determining the operation state of the positioning label operator according to the operation task;
and outputting reminding information of the abnormal operation when the error of the operation state is confirmed.
When the detection operation is carried out according to the position information of the positioning label operator, the corresponding operation detection operation is carried out according to the operation task of the positioning label operator, for example, when the position track of the loading trailer is determined to have deviation relative to a preset lane by the detection of the running track of the loading trailer based on the position information, the positioning management server can issue corresponding operation abnormity reminding information, and when the reminding information of the operation abnormity is realized, the vehicle-mounted terminal can be controlled by a UWB label or a 5G wireless network to send out an alarm to inform a driver to correct the misoperation and return to the correct lane.
Further, when the location detection operation of the port area is implemented, the method may further perform corresponding operation state detection for a related operation task, that is, the method for locating the port area further includes:
issuing an operation task to the positioning label operator according to the label type of the positioning label;
and monitoring the operation state of the positioning label operator for executing the operation task according to the running track of the positioning label.
When the positioning detection work of the positioning label operator is carried out under a shore bridge and a field bridge in a port area, the positioning detection work also comprises the positioning and the operation under the shore bridge and the field bridge. For example, when the loading trailer approaches a predetermined loading and unloading place, the driver can be helped to stop the vehicle to a designated loading area quickly and accurately according to the operation task and the running track of the loading trailer. After the driver parks, can also carry out long-range automatic loading and unloading operation, specific step is:
when the loading trailer approaches the loading and unloading site, the shore bridge/yard bridge used for loading and unloading is the nearest shore bridge/yard bridge, and the shore bridge/yard bridge is in a static state. The four base stations on the shore bridge/yard bridge are used for positioning the trailer, and the position of the trailer relative to the shore bridge/yard bridge is accurately judged.
The positioning management server pushes the accurate position of the trailer to the vehicle-mounted terminal according to the operation task of loading the trailer, controls the display to provide detailed position information prompt for a driver, and helps the driver to accurately and quickly stop the vehicle to a specified loading area
After the driver parks, the background controls the shore bridge/yard bridge PLC through the 5G wireless network according to the accurate position information to carry out remote automatic loading and unloading.
Meanwhile, according to the positioning requirement of the current port area, the safe position detection operation of a dangerous goods storage yard can be carried out, namely after the dangerous goods container arrives at the dangerous goods storage yard, the safety management of dangerous goods needs to be carried out aiming at port personnel, vehicles and safety equipment. The method comprises the following specific steps:
the method comprises the steps that a positioning base station and a 5G industrial router are installed on a dangerous goods storage yard, so that positioning tags in a certain range, namely the dangerous goods storage yard, can be positioned in real time through a UWB base station, a positioning management server resolves distance information of the dangerous goods storage yard positioning tags reported by the base station in the dangerous goods storage yard, obtains and records the current position and the historical position of each positioning tag, and meanwhile, the movement of a camera is controlled to track people and vehicles through the moving position of an operator, namely the positioning information of a work brand type UWB tag or a vehicle-mounted type UWB tag, the specific detection work of the system is realized, and related operation tasks can be set and issued through an operating system of the positioning management server. Furthermore, when the current dangerous goods storage yard carries out position detection, the positioning management server issues related work tasks to the work plate type UWB tags within the position detection range, for example, when the positioning management server registers the safe position of the dangerous goods storage yard, the positioning management server possesses related operator authority based on the registration operation of the safe position, and the IDs of the work plate type UWB tags and the vehicle UWB tags within the range are compared with the authority list. If the unit does not have the access authority, the background controls the UWB tag to send out an alarm, and asks a worker or a vehicle without the safe position registration operation to leave the dangerous goods storage yard, and informs an administrator to process, namely the harbor area positioning method further comprises the following steps:
determining the operation authority of the positioning label operator;
and monitoring the operation state of the positioning label operator in executing the operation task according to the operation authority.
And the background can judge whether the execution of the operation task of the positioning label operator is in a normal state or not according to the recorded label historical position and the current position of the positioning label. For example, when the operation state is determined according to the detected position information of the safety equipment of the dangerous goods yard, if the abnormal position information reported by the position tag installed on the safety equipment in the dangerous goods yard is detected, it is determined that the abnormal change occurs to the safety equipment of the dangerous goods yard, which indicates that the safety equipment may be damaged. Or if the I-brand UWB safety tag and the vehicle-mounted position tag staying for a long time are found in the detection range of the dangerous goods storage yard, the positions of the operating personnel and the vehicle can be confirmed to stay at a certain position in the dangerous goods storage yard for a long time, and the personnel and the vehicle in the position detection area are judged to possibly suffer from accidents. Furthermore, after the accident is finished, the positioning management server can also monitor and record the responsibility determination for the accident according to the precise track confirmed by the registered position information of each positioning label operator and the corresponding camera.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (9)
1. A port area positioning system is characterized by comprising a base station positioning mechanism, a 5G industrial router, a positioning tag assembly and a positioning management server;
the positioning label assembly comprises a plurality of positioning label devices, each positioning label device comprises a positioning label body and a positioning chip, and the positioning chip is arranged on the positioning label body and is electrically connected with the positioning label body;
the base station positioning mechanism comprises at least one base station device which is in communication connection with the positioning label assembly;
and the base station equipment and the positioning management server are in communication connection with the 5G communication server.
2. The port area locating system of claim 1, wherein the locating tag body is a vehicle-mounted power tag body, a stationary power tag body, or a battery-powered tag body.
3. A port area positioning method is applied to a port area positioning system, and the port area positioning method comprises the following steps:
receiving positioning tag distance information reported by a base station;
analyzing the positioning label distance information, and calculating the relative coordinates of the positioning labels corresponding to the positioning label distance information according to the analysis result;
and confirming the position information of the positioning label operator according to the relative coordinates, wherein the position information comprises the current position and the motion trail.
4. The port area locating method of claim 3, further comprising:
determining the tag types of the positioning tags, wherein the tag types comprise a vehicle-mounted UWB tag, an asset UWB tag and a personnel UWB tag;
and monitoring the port operation of the positioning label operator according to the label type and the position information.
5. The port area locating method of claim 4, further comprising:
determining the operation task of the positioning label operator, and determining the operation state of the positioning label operator according to the operation task;
and outputting reminding information of the abnormal operation when the error of the operation state is confirmed.
6. The port area locating method of claim 5, further comprising:
issuing an operation task to the positioning label operator according to the label type of the positioning label;
and monitoring the operation state of the positioning label operator for executing the operation task according to the running track of the positioning label.
7. The port area locating method of claim 5, further comprising:
determining the operation authority of the positioning label operator;
and monitoring the operation state of the positioning label operator in executing the operation task according to the operation authority.
8. The port area positioning method according to claim 3, wherein before the step of receiving the positioning tag distance information reported by the base station, the method further comprises:
when detecting that a positioning tag enters a preset base station positioning area, issuing a time synchronization instruction to the positioning tag;
and after the positioning tag time synchronization is confirmed to be completed, executing the step of receiving the positioning tag distance information reported by the base station.
9. The port area locating method of claim 3, further comprising:
acquiring label information of the installed positioning label;
and correspondingly registering the label information according to the label type of the positioning label.
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