CN112543505B - Harbor area positioning system and method - Google Patents
Harbor area positioning system and method Download PDFInfo
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- CN112543505B CN112543505B CN202011326713.9A CN202011326713A CN112543505B CN 112543505 B CN112543505 B CN 112543505B CN 202011326713 A CN202011326713 A CN 202011326713A CN 112543505 B CN112543505 B CN 112543505B
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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
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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 tag assembly; and the positioning management server is in communication connection with the 5G industrial router. The invention also discloses a port area positioning method, which is used for receiving the positioning label distance information reported by the base station and calculating the relative coordinates of the positioning label corresponding to the positioning label distance information according to the positioning label distance information; and confirming the position information of the positioning label operator according to the relative coordinates. The invention improves the positioning precision of port personnel, equipment and vehicles by UWB technology, and meets the high-precision positioning requirement of the high-precision visual management of the container dangerous goods yard and the vehicles under the shore bridge/yard bridge by high-precision positioning technology.
Description
Technical Field
The invention relates to the technical field of UWB positioning, in particular to a port area positioning system and method.
Background
At present, a GNSS (global navigation satellite system) differential positioning technology is mainly adopted for positioning personnel, equipment and vehicles, and basic position information of each unit is provided for a port service system and a control system. The GNSS differential positioning system mainly comprises GNSS satellites, ground reference stations, positioning terminals, a data center, a communication network and the like. The ground reference station receives GPS/BD satellite signals and transmits the GPS/BD satellite signals to the data center through a port internal production network; the data center calculates the correction of the real coordinates and the coordinates obtained by satellite positioning according to the precise coordinates of the ground reference station and the received satellite signals, and pushes the data to the terminal equipment in real time through the LTE wireless network; the positioning terminal of the user receives satellite signals and correction data provided by the wireless network, and simultaneously combines the technologies of active satellite selection, inertial navigation, big data analysis correction and the like to correct the positioning result in real time so as to obtain more accurate position information.
The main defect of the GNSS differential positioning system is insufficient positioning precision, generally only sub-meter level can be achieved, and the requirement of increasingly improved position precision in an intelligent port cannot be met. In addition, GPS/BD satellite signals are easy to be shielded under a shore bridge and in a storage yard, and for dangerous goods and patrol personnel in the dangerous goods storage yard, very high positioning precision is required to minimize the probability of accidents, and the current sub-meter precision cannot meet the requirements; moreover, for monitoring the track of the port vehicle, the GNSS differential positioning system can meet the requirements, but when determining the offset of the trailer relative to the lane, a certain error will already occur. Meanwhile, due to the shielding of satellite signals, larger positioning errors can occur to vehicles near the shore bridge and the field bridge.
After the intelligent port deploys the 5G network, a yard and a quay bridge can realize further loading and unloading automation, and meanwhile, higher requirements are also put forward on the positioning accuracy of vehicles, which are required to reach the decimeter level or even the centimeter level, and the existing sub-meter level accuracy cannot meet the requirements.
The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present invention and is not intended to represent an admission that the foregoing is prior art.
Disclosure of Invention
The invention mainly aims to provide a port area positioning system and method, which aim to solve the technical problems that the positioning accuracy of the existing intelligent port is insufficient and the requirement on the positioning accuracy in a new scene cannot be met.
In order to achieve the above object, the present invention provides a harbor area positioning system, which includes a base station positioning mechanism, a 5G industrial router, a positioning tag assembly and a positioning management server;
the positioning tag assembly comprises a plurality of positioning tag devices, wherein the positioning tag devices comprise positioning tag bodies and positioning chips, and the positioning chips are arranged on the positioning tag bodies and are electrically connected with the positioning tag bodies;
the base station positioning mechanism comprises at least one base station device, and the base station device is in communication connection with the positioning tag assembly;
and the base station equipment and the positioning management server are both in communication connection with the 5G industrial router.
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 label distance information reported by a base station;
analyzing the positioning label distance information, and calculating the relative coordinates of the positioning label 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 positioning method further includes:
determining the tag type of the positioning tag, wherein the tag type comprises a vehicle-mounted UWB tag, an asset UWB tag and a personnel UWB tag;
and monitoring port operation of the positioning label operator according to the label type and the motion trail.
Optionally, the port area positioning method further includes:
determining the job task of the positioning label operator, and determining the job state of the positioning label operator according to the job task;
and outputting reminding information of abnormal operation when the operation state is confirmed to be in error.
Optionally, the port area positioning method further includes:
issuing a business task to the positioning label operator according to the label type of the positioning label;
and monitoring the operation state of the operation task executed by the positioning label operator according to the operation track of the positioning label.
Optionally, the port area positioning method further includes:
determining the operation authority of the positioning label operator;
and monitoring the working state of the positioning label operator in executing the working task according to the working authority.
Optionally, before the step of receiving the positioning tag distance information reported by the base station, the method further includes:
when the positioning label is detected to enter a preset base station positioning area, a time synchronization instruction is issued to the positioning label;
and after confirming that the time synchronization of the positioning label is finished, executing the step of receiving the distance information of the positioning label reported by the base station.
Optionally, the port area positioning method further includes:
acquiring label information of the installed positioning labels;
and correspondingly registering the label information according to the label type of the positioning label.
The invention provides a harbor area positioning system, which comprises a base station positioning mechanism, a 5G industrial router, a positioning label assembly and a positioning management server, wherein the base station positioning mechanism comprises a positioning label assembly, a positioning management server and a positioning management server; the positioning tag assembly comprises a plurality of positioning tag devices, wherein the positioning tag devices comprise positioning tag bodies and positioning chips, and the positioning chips are arranged on the positioning tag bodies and are electrically connected with the positioning tag bodies; the base station positioning mechanism comprises at least one base station device, and the base station device is in communication connection with the positioning tag assembly; 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, and the positioning management server receives the positioning label distance information reported by the base station when in application; analyzing the positioning label distance information, and calculating the relative coordinates of the positioning label 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. The positioning precision of port personnel, equipment and vehicles is improved through the UWB technology, the problem that positioning errors are generated by a positioning system under a quay crane and in a storage yard due to satellite signal shielding is solved, and therefore the high-precision position requirements of scenes such as high-precision visual management of container dangerous goods storage yards, high-precision track tracking of vehicles under the quay crane/yard crane, high-precision positioning and recognition of vehicles under 5G scenes and the like are met.
Drawings
FIG. 1 is a schematic diagram of a system architecture of a port area location system according to the present invention;
FIG. 2 is a flowchart of a port area positioning method according to a first embodiment of the present invention;
FIG. 3 is a flow chart of a second embodiment of the port area locating method according to the present invention;
FIG. 4 is a schematic view of the installation structure of each positioning device on the quay crane;
FIG. 5 is a schematic diagram of the installation of positioning equipment in a bulk yard (employing a single-boom gantry crane);
FIG. 6 is a schematic diagram of the installation of positioning equipment in a bulk yard (employing a double-cantilever gantry crane);
FIG. 7 is a schematic diagram of the installation of each positioning device in a hazardous materials yard (employing a single-boom gantry crane).
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The main solutions of the embodiments of the present invention are: receiving positioning label distance information reported by a base station; analyzing the positioning label distance information, and calculating the relative coordinates of the positioning label 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.
As the existing intelligent port deploys the 5G network, a yard and a quay bridge can realize further loading and unloading automation, and simultaneously, higher requirements are also put forward on the positioning precision of vehicles, which are required to reach the decimeter level or even the centimeter level, and the existing sub-meter level precision cannot meet the requirements.
The invention provides a solution, which improves the positioning precision of port personnel, equipment and vehicles by UWB technology, and meets the high-precision position requirements put forward by the scenes of high-precision visual management of container dangerous goods yards, high-precision track tracking of vehicles under shore bridges/yard bridges, high-precision positioning and recognition of vehicles under 5G scenes and the like.
As shown in fig. 1, fig. 1 is a schematic system structure diagram of a harbor area positioning system according to the present invention, wherein the harbor 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 tag assembly 300 comprises a plurality of positioning tag devices, wherein the positioning tag devices comprise positioning tag bodies and positioning chips, and the positioning chips are arranged on the positioning tag bodies and are electrically connected with the positioning tag bodies; the base station positioning mechanism 100 comprises at least one base station device, and the base station device is in communication connection with the positioning tag assembly; the base station device and the location management server 400 are respectively in communication connection with the 5G industrial router 200. In practical applications, the base station positioning mechanism 100 installs a plurality of base station devices in the base station positioning mechanism 100 at corresponding positions of a port bridge and a port bridge in the port area according to positioning requirements of the port area, and relates to a base station device signal transceiving range of the base station positioning mechanism 100, when the base station devices are installed at the port bridge and the port bridge in the port area, the number of the required base station devices is related to the volumes of the port bridge and the port bridge, and when the port bridge and the port bridge are installed with the base station devices to realize positioning requirements, a 5G industrial router 200 for realizing wireless communication between the base station and the positioning management server 400 is also installed, the 5G industrial router 200 performs wireless data interaction operation with the positioning management server 400 based on a 5G communication technology, the 5G industrial router 200 is located at the location of the port bridge/farm bridge, and is required to have the requirements of no shielding and communication connection with the positioning management server 400, that is, when the port bridge/farm bridge installs the 5G industrial router 200, the installation location of the 5G industrial router 200 is located within 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, according to the volume of the port bridge/farm bridge, the same port bridge/farm bridge installs a corresponding number of base station devices, as shown in fig. 4-7, fig. 4-7 are schematic installation structures of each positioning device on/in the port bridge/farm, when the base station device is installed on the port bridge/farm bridge, the mutual positions of the router are in the signal receiving and transmitting range so as to realize signal receiving and transmitting, and further realize positioning operation by carrying out communication connection between the 5G industrial router and the positioning management server.
When the positioning requirements are met in the current port area, the base station equipment installed at the port bridge and the port bridge needs to detect positioning signals output by installed positioning tags to perform positioning operation, the positioning tag assembly 300 disclosed in the embodiment comprises a plurality of positioning tag bodies of different types, further, the positioning tag bodies of the positioning tag assembly are defined as UWB positioning tags, the UWB positioning tags output UWB signals to enable the base station equipment to receive and generate relevant distance information to send the distance information to a positioning management server, different operation contents are involved, when the positioning requirements of different operation types are met, different positioning requirements can be met by installing different types of positioning tags, therefore, in the port area positioning system of the invention, the positioning tag bodies of the positioning tag assembly 300 comprise but are not limited to vehicle-mounted power tag bodies, fixed power tag bodies or battery power tag bodies, and in practical application, the vehicle-mounted power tag bodies are installed to corresponding operation equipment according to different positioning requirements, the vehicle-mounted power tag bodies are the highest in refreshing frequency and the highest in emission gain and the maximum, and the vehicle-mounted power consumption is the top of a port vehicle; the fixed power supply tag has higher body refreshing frequency, larger emission gain and moderate power consumption, and can be fixed on the surface of safety equipment in a dangerous goods yard through screws; the battery-powered tag has the advantages of lower body refreshing frequency, smaller emission gain and lowest power consumption, and can be worn by port operators directly.
Further, according to the port area positioning method of 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 implement positioning of the positioning tag operator, the positioning management server 400 needs to implement functions based on current port operation processing related to analysis of positioning data and monitoring of positioning operation based on a 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, or may be a mobile or non-mobile terminal device having system installation and wireless communication functions, such as a smart phone, a tablet computer, and a portable computer.
As shown in fig. 1, the terminal may include: a processor, such as a CPU, network interface, user interface, memory, communications bus. Wherein the communication bus is used to enable connection communication between these components. The user interface may comprise a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface may further 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 stable memory (non-volatile memory), such as a disk memory. The memory may alternatively be a storage device separate from the aforementioned processor.
It will be appreciated by those skilled in the art that the terminal structure shown in fig. 1 is not limiting of the terminal and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components. As shown in fig. 1, an operating system, a network communication module, a user interface module, and a port area location program may be included in a memory as one type of computer storage medium.
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 end) and carrying out data communication with the client; and the processor may be configured to call a port area location program stored in the memory and perform the following operations:
receiving positioning label distance information reported by a base station;
analyzing the positioning label distance information, and calculating the relative coordinates of the positioning label 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 call a port area location program stored in the memory, and further perform the following operations:
determining the tag type of the positioning tag, wherein the tag type comprises a vehicle-mounted UWB tag, an asset UWB tag and a personnel UWB tag;
and monitoring port operation of the positioning tag operator according to the tag type and the position information.
Further, the processor 1001 may call the port area location program stored in the memory 1005, and further perform the following operations:
determining the job task of the positioning label operator, and determining the job state of the positioning label operator according to the job task;
and outputting reminding information of abnormal operation when the operation state is confirmed to be in error.
Further, the processor 1001 may call the port area location program stored in the memory 1005, and further perform the following operations:
issuing a business task to the positioning label operator according to the label type of the positioning label;
and monitoring the operation state of the operation task executed by the positioning label operator according to the operation track of the positioning label.
Further, the processor 1001 may call the port area location program stored in the memory 1005, and further perform the following operations:
determining the operation authority of the positioning label operator;
and monitoring the working state of the positioning label operator in executing the working task according to the working authority.
Further, the processor 1001 may call the port area location program stored in the memory 1005, and further perform the following operations:
when the positioning label is detected to enter a preset base station positioning area, a time synchronization instruction is issued to the positioning label;
and after confirming that the time synchronization of the positioning label is finished, executing the step of receiving the distance information of the positioning label reported by the base station.
Further, the processor 1001 may call the port area location program stored in the memory 1005, and further perform the following operations:
acquiring label information of the installed positioning labels;
and correspondingly registering the label information according to the label type of the positioning label.
Referring to fig. 2, fig. 2 is a flow chart of a first embodiment of a port area positioning method according to the present invention, where the port area positioning method includes:
step S10, receiving positioning label distance information reported by a base station;
according to the base station positioning system installed in the port area at present, positioning label distance information reported by a base station is received, 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 bridge and port bridge according to proportion, the data proportion of the base station equipment and the 5G industrial router is determined by the size of the port bridge/bridge, for example, the corresponding number of base station equipment is set on the same port bridge according to the size of the port bridge, and the 5G industrial router is installed on the port bridge at a position capable of receiving 5G network signals. In the embodiment of the invention, the positioning tag is arranged on an operator body, the operator has different installation schemes according to the tag type of the positioning tag, when the operator installing the positioning tag moves to a detection area of the port shore bridge, a base station detects a UWB signal output by the positioning tag, when the base station detects the UWB signal of the positioning tag, the base station judges the distance between the positioning tag and the base station according to the receiving time of a receiving signal and generates positioning tag distance information, wherein the positioning tag distance information comprises but is not limited to information related to base station equipment parameters, positioning tag UWB signals, signal receiving time, positioning tag distance and the like, and when the base station has a plurality of base stations, each base station generates the positioning tag distance information according to the received UWB signals and sends the generated positioning tag distance information to a positioning management server through a 5G industrial router connected currently to realize the position analysis of the positioning tag.
When a base station of a shore bridge in a port area is deployed, base stations for positioning under the shore bridge are installed at proper 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 5G industrial routers for realizing communication between the base stations and the server, for example, each shore bridge is provided with four base stations and one 5G industrial router, one of the 4 base stations is connected with the 5G industrial router installed on the shore bridge, and particularly as shown in fig. 4, fig. 4 is a schematic diagram of the installation structure of each positioning device on the shore bridge. And, when the harbour area is fixed a position, the area that involves the location demand still includes the stock yard, the stock yard includes but is not limited to bulk cargo stock yard and dangerous goods stock yard, the demand is different when realizing the location in different grade type stock yard, consequently, can install the basic station that stock yard location was used on the bridge (tire formula container portal crane) of harbour area, according to the location scope of bridge, can install corresponding quantity basic station and corresponding 5G industrial router at every bridge, in this embodiment, install four or eight basic stations, a 5G industrial router at each bridge. According to the type of the field bridge, four base stations are arranged on each base of the single-cantilever portal crane, eight base stations are arranged on each base of the double-cantilever portal crane, and four base stations are arranged on one side of the field bridge. Among the 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, as shown in fig. 5, 6 and 7, fig. 5 is a schematic installation diagram of positioning devices on a bulk storage yard (using a single-cantilever gantry crane), and fig. 6 is a schematic installation diagram of positioning devices on a bulk storage yard (using a double-single-cantilever gantry crane). FIG. 7 is a schematic diagram of the installation of various positioning devices on a hazardous materials yard (employing a single-boom gantry crane).
Further, before the step of receiving the positioning tag distance information reported by the base station, the method further includes:
when the positioning label is detected to enter a preset base station positioning area, a time synchronization instruction is issued to the positioning label;
and after confirming that the time synchronization of the positioning label is finished, executing the step of receiving the distance information of the positioning label reported by the base station.
Positioning equipment deployment is carried out on positioning equipment in a port area according to positioning requirements of the port area, namely positioning base stations and 5G industrial routers are deployed on equipment such as a quay bridge and a storage yard, positioning service is carried out on operators in the port area according to the deployed positioning equipment, wherein when the fact that a positioning label operator enters a range of a position detection area is detected, a positioning management server pushes a time synchronization instruction on a positioning label which has entered the position detection area, 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 quay bridge/the field bridge, after the fact that the time synchronization of the base stations deployed on the quay bridge and the positioning label is completed is determined, namely after errors caused by clock deviation disappear, positioning detection of the positioning label is carried out, namely the position detection operation of the positioning label is carried out according to positioning label distance information reported by the base stations after the time synchronization.
Step S20, analyzing the positioning label distance information, and calculating the relative coordinates of the positioning label corresponding to the positioning label distance information according to the analysis result;
and 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 trail.
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 positioning tag identifications in the positioning tag distance information when analyzing the positioning tag distance information, and performing integration operation based on unique identifications of positioning tags in the positioning tag distance information as references when integrating the positioning tag distance information, and determining relative coordinates of positioning tags corresponding to the positioning tag distance information according to integration results, wherein in practical application, the relative distance between the positioning tags can be calculated based on a port bank bridge/field bridge where the base station is located, and the relative distance calculation of the positioning tags can be obtained through a related mathematical method, so that the calculation steps of the relative distance of the positioning tags can be as follows:
when judging the distance between the trailer and each shore bridge/field bridge, an operator provided with a positioning tag, such as a carrying trailer provided with the positioning tag, after the carrying trailer enters a loading and unloading lane, the carrying tag on the carrying trailer and all base stations in a communication range perform time of flight (TOF) continuous ranging (without time synchronization), and each base station pushes the distance data of the positioning tag on the carrying trailer to a positioning management server; according to the distance information, the positioning management server roughly calculates the distance between the carrying trailer and each shore bridge/field bridge, and finds out the closest shore bridge/field bridge to the trailer, wherein the specific expression is as follows:
in the above expression, d T,i The distance between the ith bank bridge/field bridge and the tag; d, d TtoM,i The distance between the ith base station and the tag on the ith bank bridge/field bridge is the distance between the ith base station and the tag; d, d MtoN,i The distance between the Mth base station and the Nth base station on the ith shore bridge/field bridge is as follows; h is a T The height difference between the base station and the tag installation position is set; Δx T The tag is positioned offset in the longitudinal direction of the lane relative to the trailer.
For the convenience of calculation, approximate values are taken:
d 'in the above expression' T,i The distance between the ith bank bridge/field bridge and the tag is approximate; Δd R The value is approximately corrected and is a fixed value.
Furthermore, the specific step of performing positioning calculation according to the distance data provided by the four base stations on the closest shore bridge/field bridge can be implemented by establishing a space rectangular coordinate system.
For practical harbor area, because the shore bridge and the field bridge can move horizontally in the longitudinal direction of the lane, in order to realize distance measurement and calculation, a corresponding space 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 space rectangular coordinate system is constructed by taking the base station 1 as the origin, the transverse direction of the lane is set as the x-axis, the longitudinal direction is set as the y-axis, and the vertical direction is set as the z-axis. After each base station on a quay/field bridge is installed, the position relative to the quay/field bridge is fixed, so the coordinates of each base station and each part of the quay/field bridge are known quantities. The x-axis coordinates corresponding to each lane are also known because of the fixed position of each lane relative to the quay.
And (3) accurately measuring the distance from the label to each base station through the constructed space rectangular coordinate system, and after an operator provided with the positioning label enters the accurate positioning range of the UWB base station on the closest shore bridge/field bridge, listing a corresponding spherical equation by the positioning management server according to the distance information, calculating the relative coordinate of the label under the shore bridge/field bridge coordinate system through an improved spherical intersection method (SX algorithm), and adding the relative position of the label generated by the coordinate and the label mounting position relative to the trailer 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 ,y T,i ,y T,i ] T The coordinates of the label in the ith quay bridge/field bridge coordinate system; x is x M,i 、y M,i 、z M,i The coordinates are respectively the x-axis, y-axis and z-axis of the Mth base station under the ith quay/field bridge coordinate system.
When the detection of the working state of an operator is realized through the positioning label, the main detection operation is to determine the movement track deviation or the operation position navigation and the like of the operator when the operator performs the operation, the detection operation of the operation movement track deviation is taken as an example, the obtained x-axis coordinate of the relative coordinate of the loading trailer is compared with the x-axis coordinate corresponding to the central axis of a preset lane according to the movement track of the loading trailer currently provided with the positioning label, and if the difference value of the x-axis coordinate and the x-axis coordinate exceeds a certain value, the running of the loading trailer is considered to deviate from the preset lane.
Furthermore, the trailer running navigation operation can be performed through the constructed space rectangular coordinate system, and the relative coordinates of the loading trailer provided with the positioning tag can be converted into actual coordinates for correcting GNSS positioning errors, so that 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 superimposing the y-axis displacement obtained by the encoder with the initial measured coordinates.
The implementation of the technical solution shown above can be implemented on the premise that each operator installs a positioning tag, generally, when positioning and monitoring work is performed in a port area, besides deploying a base station and a 5G industrial router for related positioning, the positioning tag needs to be installed on each port operator, and according to the positioning requirement and the operation type of each operator, a positioning tag of a corresponding type is installed, namely, the port area positioning method further includes:
acquiring label information of the installed positioning labels;
and correspondingly registering the label information according to the label type of the positioning label.
When UWB positioning labels are installed on safety equipment in port vehicles and dangerous goods yards, corresponding positioning label types are installed according to operation types of operators, and the port operators refer to equipment/goods/personnel which need to be positioned and detected during operation, such as transportation tools, materials, port personnel and the like which operate in port areas. According to the positioning requirement, the UWB label installed (or worn) by each positioning unit is one, namely, each vehicle is provided with one positioning label, each safety device is provided with one positioning label, and each person wears one positioning label. In consideration 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 vehicle-mounted UWB tags, asset UWB tags and personnel UWB tags, and the different types of positioning tags have different refreshing frequencies and transmitting gains. The method specifically comprises the following steps:
the vehicle-mounted UWB tag used for the port vehicle is mounted on the roof through a magnetic paste, and is powered by a vehicle-mounted storage battery, so that the refreshing frequency is highest, the emission gain is highest, and the power consumption is highest; the asset type UWB tag used by the safety equipment in the dangerous goods yard is fixed on the surface of the equipment through the screw, the refreshing frequency is high, the emission gain is high, and the power consumption is moderate; the worker's tablet formula personnel type UWB label that port personnel used wears in the chest, and refresh frequency is lower, and emission gain is less, and power consumption is minimum.
In the embodiment, the positioning precision of port personnel, equipment and vehicles is improved through the UWB technology, and the requirements of high-precision visual management of container dangerous goods yards, high-precision track tracking of vehicles under shore bridges/yard bridges, high-precision positioning and recognition of the vehicles under 5G scenes and other scenes are met.
Further, referring to fig. 3, fig. 3 is a schematic flow chart of a second embodiment of the port area positioning method according to the present invention, based on the first embodiment shown in fig. 2, the port area positioning method further includes:
step S40, determining the tag type of the positioning tag, wherein the tag type comprises a vehicle-mounted UWB tag, an asset UWB tag and a personnel UWB tag;
and S50, monitoring port operation of the positioning tag operator according to the tag type and the position information.
In this embodiment, when the position information of the corresponding positioning tag operator is determined by the positioning tag signal detected by the base station to detect the operation state of the operator, the operation type of the operator may be determined according to the tag type of the positioning tag, so as to implement the corresponding detection operation. And according to the operation requirement of loading the trailer, the background management system plans the lane track and the loading and unloading points of the loading trailer according to the actual requirement, determines the driving lane of the loading trailer and the loading and unloading points to be reached, in the operation, a loading trailer operator, namely a driver drives the trailer into the loading and unloading lane of the operation area according to the operation command pushed by the background, the application of the space rectangular coordinate system for positioning, which is created in the step S20, compares the obtained x-axis coordinate of the relative coordinate of the loading trailer with the x-axis coordinate corresponding to the central axis of the preset lane according to the detection result of the position information when the loading trailer operates, and if the difference value of the two exceeds a certain value, the driving of the trailer is considered to deviate from the preset lane. As described above, the detection operation performed for performing the position detection based on the position information of the loading trailer.
Or, according to the operation types of different operators, related operation abnormality reminding information can be further carried out, namely, the port area positioning method further comprises the following steps:
determining the job task of the positioning label operator, and determining the job state of the positioning label operator according to the job task;
and outputting reminding information of abnormal operation when the operation state is confirmed to be in error.
When detecting operation is performed according to the position information of the positioning label operator, corresponding operation detection operation is performed according to the operation task of the positioning label operator, for example, when the loading trailer is detected based on the running track of the position information and the position track of the loading trailer is determined to deviate from a preset lane, the positioning management server can issue corresponding operation abnormality reminding information, and when the operation abnormality reminding information is achieved, the vehicle-mounted terminal can be controlled to send out an alarm through the UWB label or the 5G wireless network to inform a driver to correct the error operation and return to the correct lane.
Further, when implementing the positioning detection operation of the port area, the corresponding operation state detection can be further performed for the related operation task, that is, the port area positioning method further includes:
issuing a business task to the positioning label operator according to the label type of the positioning label;
and monitoring the operation state of the operation task executed by the positioning label operator according to the operation track of the positioning label.
When the positioning detection work of the positioning label operator is carried out under the shore bridge and the field bridge in the port area, the positioning detection work also comprises positioning and operation under the shore bridge and the field bridge. For example, when a loading trailer approaches a predetermined loading location, the driver may be assisted in stopping the vehicle quickly and accurately to the designated loading area based on the loading trailer's job task and trajectory. After the driver parks, the remote automatic loading and unloading operation can be carried out, and the specific steps are as follows:
when the loading trailer approaches the loading and unloading place, the quay/field bridge used for loading and unloading is the nearest quay/field bridge, which shall be in a stationary state. And positioning the trailer by using four base stations on the shore bridge/field bridge, and accurately judging the position of the trailer relative to the shore bridge/field bridge.
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 designated loading area
After a driver parks, the background controls the shore bridge/field bridge PLC according to the accurate position information through a 5G wireless network to carry out remote automatic loading and unloading.
Meanwhile, according to the positioning requirements of the current port area, the safety position detection operation of the dangerous goods yard can be performed, namely, after the dangerous goods container arrives at the dangerous goods yard, safety management of dangerous goods is performed 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 in a dangerous goods yard, so that a positioning tag, namely the dangerous goods yard, in a certain range is positioned in real time through a UWB base station, the positioning management server solves the distance information of the dangerous goods yard positioning tag reported by the base station in the dangerous goods yard, obtains and records the current position and the historical position of each positioning tag, meanwhile, the moving position of an operator, namely the positioning information of a tablet type UWB tag or a vehicle type UWB tag, controls the camera to move to track personnel and vehicles, and specific detection work is carried out, and an operation system of the positioning management server can be used for setting and issuing related operation tasks. Further, when the current dangerous goods yard detects the position, the positioning management server issues related operation tasks to the tablet type UWB label within the position detection range, for example, when the positioning management server registers the safe position of the dangerous goods yard, the positioning management server has related operator permission based on the registration operation of the safe position, and the IDs of the tablet type and the vehicle type UWB label within the range are compared with the permission list. If the unit does not have the access authority, the background will control the UWB tag to send out an alarm, and the personnel or vehicles which do not have the operation authority of the security position registration operation are required to leave the dangerous goods storage yard, and the manager is notified to process, namely, the port area positioning method further comprises the following steps:
determining the operation authority of the positioning label operator;
and monitoring the working state of the positioning label operator in executing the working task according to the working authority.
According to the recorded historical label position and current label position of the positioning label, the background can judge whether the execution of the job task of the positioning label operator is in a normal state or not. For example, when the operation state is determined according to the detected position information of the safety equipment in the dangerous goods yard, if the position information reported by the position tag installed on the safety equipment in the dangerous goods yard is detected to be abnormal, abnormal change of the safety equipment in the dangerous goods yard is determined, and the safety equipment is possibly damaged. Or if the worker-type UWB security tag and the vehicle-mounted position tag which stay for a long time are found in the detection range of the dangerous goods yard, the worker and the vehicle can be confirmed to stay at a certain position in the dangerous goods yard for a long time, and the worker and the vehicle in the position detection area are judged to possibly encounter accidents, in this case, the positioning management server can send corresponding alarms to the manager according to the condition of the UWB positioning tag, and the manager can observe the condition through a camera and can arrange related workers to go to process. Further, after the accident is finished, the positioning management server can also determine responsibility for the accident according to the accurate track confirmed by the position information of each registered positioning label operator and the corresponding camera monitoring record.
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 one … …" does not exclude the presence of other like elements in a process, method, medicament or system comprising such element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above, comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (8)
1. The port area positioning system is characterized by comprising a base station positioning mechanism, a 5G industrial router, a positioning label assembly and a positioning management server;
the positioning tag assembly comprises a plurality of positioning tag devices, wherein the positioning tag devices comprise positioning tag bodies and positioning chips, and the positioning chips are arranged on the positioning tag bodies and are electrically connected with the positioning tag bodies;
the base station positioning mechanism comprises at least one base station device, and the base station device is in communication connection with the positioning tag assembly;
the base station equipment and the positioning management server are both in communication connection with the 5G industrial router;
the positioning tag is a UWB tag, and the positioning management server is used for determining the operation authority of the positioning tag operator; monitoring the operation state of the positioning label operator in executing the operation task according to the operation authority; when the operation state of the positioning label operator is not consistent with the operation authority, notifying related personnel and controlling the positioning label to give an alarm; when the operation state of the positioning label operators is within the detection range of the dangerous goods yard and the time when the position of the positioning label operators is unchanged exceeds the preset time, an alarm is sent to related personnel, and the movement track of each positioning label operator is determined according to the position information of each positioning label operator.
2. The port area location system of claim 1, wherein the location tag body is a vehicle-mounted power tag body, a stationary power tag body, or a battery-powered tag body.
3. A harbor area positioning method, wherein the harbor area positioning method is applied to a harbor area positioning system, and the harbor area positioning method comprises the following steps:
receiving positioning label distance information reported by a base station;
analyzing the positioning label distance information, and calculating the relative coordinates of the positioning label corresponding to the positioning label distance information according to the analysis result;
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;
the positioning tag is a UWB tag, and the port area positioning method further comprises the following steps:
determining the operation authority of the positioning label operator;
monitoring the operation state of the positioning label operator in executing the operation task according to the operation authority;
when the operation state of the positioning label operator is not consistent with the operation authority, notifying related personnel and controlling the positioning label to give an alarm;
when the operation state of the positioning label operators is within the detection range of the dangerous goods yard and the time when the position of the positioning label operators is unchanged exceeds the preset time, an alarm is sent to related personnel, and the movement track of each positioning label operator is determined according to the position information of each positioning label operator.
4. The port area locating method according to claim 3, wherein the port area locating method further comprises:
determining a tag type of the positioning tag, wherein the tag type comprises a vehicle-mounted UWB tag, an asset UWB tag or a personnel UWB tag;
and monitoring port operation of the positioning tag operator according to the tag type and the position information.
5. The port area locating method according to claim 4, wherein the port area locating method further comprises:
determining the job task of the positioning label operator, and determining the job state of the positioning label operator according to the job task;
and outputting reminding information of abnormal operation when the operation state is confirmed to be in error.
6. The port area locating method according to claim 5, wherein the port area locating method further comprises:
issuing a business task to the positioning label operator according to the label type of the positioning label;
and monitoring the operation state of the operation task executed by the positioning label operator according to the operation track of the positioning label.
7. The port area positioning method as set forth in claim 3, wherein before the step of receiving the positioning tag distance information reported by the base station, the method further comprises:
when the positioning label is detected to enter a preset base station positioning area, a time synchronization instruction is issued to the positioning label;
and after confirming that the time synchronization of the positioning label is finished, executing the step of receiving the distance information of the positioning label reported by the base station.
8. The port area locating method according to claim 3, wherein the port area locating method further comprises:
acquiring label information of the installed positioning labels;
and correspondingly registering the label information according to the label type of the positioning label.
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| CN113993204A (en) * | 2021-09-24 | 2022-01-28 | 郑州宝冶钢结构有限公司 | Personnel positioning system based on UWB and 5G technologies |
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