CN115728786A - Beidou-based anti-collision method and system for large-scale port operation mechanical equipment - Google Patents
Beidou-based anti-collision method and system for large-scale port operation mechanical equipment Download PDFInfo
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Abstract
The invention provides a Beidou-based anti-collision method and system for large-scale operation mechanical equipment of a port, wherein the method comprises the following steps: s1: based on the Beidou terminal, the port mechanical equipment is positioned, and a vector electronic map of the port is displayed; s2: establishing a mechanical equipment attitude model according to the type of the mechanical equipment; s3: based on Beidou positioning, an electronic fence is defined for a port area, and an abnormal alarm rule of mechanical equipment is formulated; s4: judging the real-time posture of the mechanical equipment according to the Beidou terminal; s5: and performing anti-collision early warning on the mechanical equipment according to the attitude model of the mechanical equipment, the positioning information of the mechanical equipment and the real-time attitude of the mechanical equipment. The method realizes the quick and accurate positioning and posture judgment of the large-scale operation mechanical equipment of the port, combines the port area vector electronic map to demarcate the electronic fence, integrates the quick and accurate discovery of the abnormal conditions of the mechanical equipment, and realizes the anti-collision early warning of the mechanical equipment. Powerful support is provided for port safety production.
Description
Technical Field
The invention relates to the technical field of mechanical equipment anti-collision, in particular to a Beidou-based anti-collision system and method for large-scale port operation mechanical equipment.
Background
Coastal ports are used as a starting place and a destination of ocean transportation, are water cargo collecting and distributing places, are important hubs for connecting other transportation such as roads and railways, and along with the continuous increase of economy in China, the production tasks of the ports are gradually increased, the production safety management of the ports is under greater pressure, and the operation of the ports is more dangerous. Large-scale operation machinery equipment such as port yard cranes, bridge cranes, tyre cranes and the like are basic units of modern port operation and are related to the safety and the efficiency of the whole port operation. Meanwhile, the Beidou system in China is constructed, popularized and applied late, is not widely used in ports at present, and most of ports in China are not used for related application by using the Beidou technology.
Some solutions have been proposed at the present stage to solve the safety problem of port operation, and on one hand, the prior art solutions involve less electronic fence planning on port operation machinery and equipment, and lack accurate equipment exception information acquisition at the first time. On the other hand, the existing technical means mostly monitor the distance information between the operations of the port machinery equipment, the judgment on the equipment posture is lacked, the accurate anti-collision early warning cannot be carried out, the anti-collision position information cannot be acquired, and the accurate control cannot be realized. So that the safe operation management of the port has defects.
Disclosure of Invention
The invention provides an anti-collision system and method for large port operation mechanical equipment based on Beidou fusion. Powerful support is provided for port safe production, unsafe factors are eliminated quickly and in real time, and the safety guarantee level and production service capacity of port operation are effectively improved.
The specific technical scheme of the invention is as follows:
in a first aspect, the invention provides a Beidou-based anti-collision method for large-scale operation mechanical equipment in a port, which comprises the following steps:
s1: based on the Beidou terminal, the port mechanical equipment is positioned, and a vector electronic map of the port is displayed;
s2: establishing a mechanical equipment attitude model according to the type of the mechanical equipment;
s3: based on Beidou positioning, an electronic fence is defined for a port area, and an abnormal alarm rule of mechanical equipment is formulated;
s4: judging the real-time posture of the mechanical equipment according to the Beidou terminal;
s5: and performing anti-collision early warning on the mechanical equipment according to the attitude model of the mechanical equipment, the positioning information of the mechanical equipment and the real-time attitude of the mechanical equipment.
In some embodiments, the S1 comprises:
s11: acquiring positioning information of the mechanical equipment at a port by using a Beidou terminal;
s12: the Beidou terminal sends the positioning information of the mechanical equipment to the monitoring center, and the position display of the mechanical equipment on the vector electronic map is realized through position information protocol analysis.
In some embodiments, said S3 comprises:
s31: defining an electronic fence according to the operation range of the port mechanical equipment;
s32: setting an electronic fence alarm rule, wherein the alarm rule comprises an alarm for entering an forbidden entering area, an alarm for working out of a specified range, an alarm for moving overspeed, an alarm for abnormal stay and an alarm for working out of a specified time;
s33: and sending the mechanical equipment information triggering the alarm rule to a monitoring center through wireless communication and giving an alarm.
In some embodiments, said S4 comprises:
s41: the method comprises the steps that real-time attitude information of mechanical equipment is collected through a Beidou terminal and is sent to a monitoring center through wireless communication;
s42: and comparing the collected real-time attitude information of the mechanical equipment with the attitude model of the mechanical equipment to finish the attitude judgment of the mechanical equipment.
In some embodiments, the S5 comprises:
s51: pre-judging the situation and the part which are possibly collided according to the real-time posture judgment result of the mechanical equipment and the kinematic characteristics among the mechanical equipment;
s52: monitoring the relative position between the mechanical equipment in real time through a Beidou terminal;
s53: and triggering an anti-collision alarm when the distance between the parts of the mechanical equipment where collision is likely to occur is less than a preset safety distance.
In a second aspect, the invention provides an anti-collision system for large-scale operation machinery equipment in a port based on Beidou, which comprises:
the mechanical equipment positioning module is used for positioning port mechanical equipment based on the Beidou terminal and displaying a vector electronic map at a port;
the mechanical equipment attitude model module is used for establishing a mechanical equipment attitude model according to the type of the mechanical equipment;
the rule making module is used for demarcating an electronic fence for a port area based on Beidou positioning and making an abnormal alarm rule of mechanical equipment;
the attitude judgment module is used for judging the real-time attitude of the mechanical equipment according to the Beidou terminal;
and the collision early warning module is used for performing collision early warning on the mechanical equipment according to the attitude model of the mechanical equipment, the positioning information of the mechanical equipment and the real-time attitude of the mechanical equipment.
In some embodiments, the mechanical device positioning module comprises:
the positioning information acquisition submodule is used for acquiring positioning information of the mechanical equipment at a port by using the Beidou terminal;
and the positioning display submodule is used for sending the positioning information of the mechanical equipment to the monitoring center by the Beidou terminal and realizing the position display of the mechanical equipment on the vector electronic map through position information protocol analysis.
In some embodiments, the rule formulation module comprises:
the electronic fence demarcation submodule is used for demarcating an electronic fence according to the operation range of the port mechanical equipment;
the alarm rule making submodule is used for making an alarm rule of the electronic fence, and comprises an alarm for entering an forbidden entering area, an alarm for working out of a specified range, a mobile overspeed alarm, an abnormal stay alarm and an alarm for working out of a specified time;
and the alarm submodule is used for sending the mechanical equipment information triggering the alarm rule to a monitoring center through wireless communication and giving an alarm.
In some embodiments, the pose discrimination module comprises:
the attitude acquisition submodule is used for acquiring real-time attitude information of the mechanical equipment through the Beidou terminal and transmitting the real-time attitude information to the monitoring center through wireless communication;
and the posture comparison submodule is used for comparing the acquired real-time posture information of the mechanical equipment with the posture model of the mechanical equipment to finish the posture judgment of the mechanical equipment.
In some embodiments, the collision warning module comprises:
the collision part pre-judging submodule is used for pre-judging the situation and the part which are possibly collided according to the real-time posture judging result of the mechanical equipment and the kinematic characteristics among the mechanical equipment;
the position monitoring submodule is used for monitoring the relative position between the mechanical equipment in real time through the Beidou terminal;
and the alarm triggering submodule is used for triggering the anti-collision alarm when the distance between the parts which are possibly collided between the mechanical equipment is less than the preset safety distance.
The beneficial effect of this application is:
the invention provides an anti-collision method and system for large port operation mechanical equipment based on Beidou fusion. Powerful support is provided for port safety production, unsafe factors are eliminated quickly and in real time, and the safety guarantee level and the production service capacity of port operation are effectively improved.
Drawings
FIG. 1 is a flow chart of an anti-collision method for big-sized port operation mechanical equipment based on Beidou;
FIG. 2 is a sub-flowchart of step S1 of the present application;
FIG. 3 is a sub-flowchart of step S3 of the present application;
FIG. 4 is a sub-flowchart of step S4 of the present application;
fig. 5 is a sub-flowchart of step S5 of the present application.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
In order that the above objects, features and advantages of the present application can be more clearly understood, the present disclosure will be further described in detail with reference to the accompanying drawings and examples. It is to be understood that the embodiments described are only a few embodiments of the present disclosure, and not all embodiments. The specific embodiments described herein are merely illustrative of the disclosure and are not limiting of the application. All other embodiments obtained by a person of ordinary skill in the art based on the described embodiments of the present application are within the scope of protection of the present application.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
Fig. 1 is a flow chart of the anti-collision method for the big-sized port operation mechanical equipment based on the big dipper.
The anti-collision method for the large-scale port operation mechanical equipment based on the Beidou comprises the following steps of:
s1: based on the Beidou terminal, the port mechanical equipment is positioned, and a vector electronic map of the port is displayed;
in some embodiments, in combination with fig. 2, which is a sub-flowchart of step S1 of the present solution, the step S1 further includes:
s11: acquiring positioning information of the mechanical equipment at a port by using a Beidou terminal;
s12: the Beidou terminal sends the positioning information of the mechanical equipment to the monitoring center, and the position display of the mechanical equipment on the vector electronic map is realized through position information protocol analysis.
Specifically, big dipper terminal in this scheme is installed on harbour mechanical equipment, can utilize big dipper system's high accuracy location technique, realize the accurate location to harbour mechanical equipment, and simultaneously, machinery loading terminal can send position information to the surveillance center and receive, and the surveillance center can realize the inquiry of mechanical real-time position after carrying out the position information agreement analysis to the realization realizes harbour mechanical equipment basic information inquiry at harbour district vector electronic map, including basic information such as equipment type, equipment name, serial number, the department of affiliated, detailed technical index, maintenance and in service behavior.
S2: establishing a mechanical equipment attitude model according to the type of the mechanical equipment;
according to the scheme, according to the different types of the mechanical equipment, respective mechanical equipment attitude models are established for the mechanical equipment of different ports, so that the mechanical equipment attitude models can be used as reference objects in real-time attitude judgment of the mechanical equipment.
S3: and (4) based on Beidou positioning, demarcating an electronic fence for the port area, and formulating an abnormal alarm rule of mechanical equipment.
In some embodiments, in combination with the sub-flowchart of step S3 of fig. 3, that is, the present solution, said S3 includes:
s31: defining an electronic fence according to the operation range of the port mechanical equipment;
s32: setting an electronic fence alarm rule, wherein the alarm rule comprises an alarm for entering an forbidden entering area, an alarm for working out of a specified range, an alarm for moving overspeed, an alarm for abnormal stay and an alarm for working out of a specified time;
s33: and sending the mechanical equipment information triggering the alarm rule to a monitoring center through wireless communication and giving an alarm.
Specifically, according to the scheme, the running range of the specified mechanical equipment is defined on the harbor electronic map by inputting longitude and latitude or manually defining an area and the like, so that the electronic fence is formed. Aiming at the defined electronic fence, various alarm rules are edited in advance, wherein the alarm rules comprise an alarm for entering an entrance forbidding area, an alarm for working out of a specified range, an alarm for moving overspeed, an alarm for abnormal stay, an alarm for working out of a specified time and the like. Through the Beidou high-precision positioning technology, when the mechanical equipment has the condition of triggering alarm, the monitoring center end and the mechanical equipment cockpit end system automatically perform sound and light alarm at the same time through WLAN/4G wireless network communication, and the position of the mechanical equipment and alarm information are immediately fed back and highlighted in an electronic map.
S4: judging the real-time posture of the mechanical equipment according to the Beidou terminal;
in some embodiments, in combination with the sub-flowchart of step S4 of fig. 4, that is, the present solution, said S4 includes:
s41: the method comprises the steps that real-time attitude information of mechanical equipment is collected through a Beidou terminal and is sent to a monitoring center through wireless communication;
s42: and comparing the collected real-time attitude information of the mechanical equipment with the attitude model of the mechanical equipment to finish the attitude judgment of the mechanical equipment.
Specifically, in order to prevent collision between port loading and unloading operation mechanical equipment, the attitude of the mechanical equipment needs to be acquired through a Beidou terminal supporting an attitude measurement technology besides acquiring operation conditions such as mechanical equipment displacement and speed information in real time. Firstly, attitude information of an azimuth angle and a pitch angle of a mechanical equipment arm support is collected in real time through a Beidou terminal supporting an attitude measurement technology, and is transmitted back to a monitoring center in real time through a WLAN/4G wireless network. According to the scheme, the data acquisition process of the Beidou terminal is as follows, firstly, the Beidou terminal receives differential correction data (supporting RTCM2.X and RTCM3.X format decoding and processing) broadcasted by a base station, then receives GNSS satellite signals, fuses the GNSS satellite signals with the differential correction data, obtains a high-precision resolving result by using an RTK and azimuth angle processing algorithm, encodes the high-precision resolving result according to an NMEA0183 format universally used in the industry, and feeds the high-precision resolving result back to the system for use. And for the real-time attitude judgment of the mechanical equipment, vertical attitude (elevation information and vertical position difference data) and horizontal attitude (including displacement information and horizontal position difference data) of the mechanical equipment during port loading and unloading operation are analyzed and judged.
S5: and performing anti-collision early warning on the mechanical equipment according to the attitude model of the mechanical equipment, the positioning information of the mechanical equipment and the real-time attitude of the mechanical equipment.
In some embodiments, in combination with fig. 5, which is a sub-flowchart of step S5 of the present solution, said S5 includes:
s51: pre-judging the situation and the part which are possibly collided according to the real-time posture judgment result of the mechanical equipment and the kinematic characteristics among the mechanical equipment;
s52: monitoring the relative position between the mechanical equipment in real time through a Beidou terminal;
s53: and triggering an anti-collision alarm when the distance between the parts of the mechanical equipment where collision is likely to occur is less than a preset safety distance.
Specifically, the technical scheme includes that technologies such as Beidou positioning and WLAN/4G communication are adopted, electronic fence alarm information and real-time attitude analysis results of mechanical equipment are fused according to vector electronic map information of a field, and collision situations and parts between the mechanical equipment are predicted according to kinematic characteristics. The Beidou terminal supporting the attitude measurement technology can acquire attitude information such as an azimuth angle and a pitch angle of an equipment arm support, and the Beidou terminal can acquire vertical attitude including elevation information and vertical position difference during operation of port mechanical equipment; the horizontal attitude comprises displacement information and a horizontal position difference, and then attitude information such as an azimuth angle and a pitch angle of the equipment arm support, elevation information and a vertical position difference are combined; and the horizontal posture comprises displacement information and horizontal position difference, so that the judgment of the operation posture and the trend of the equipment can be realized. When the equipment is abnormal in operation, triggering an electronic fence alarm rule, combining the analysis result of the operation posture of the equipment, judging the operation trend of the equipment according to the motion characteristics of the equipment, judging the situation and the position of the equipment which are likely to collide according to the trend, and triggering anti-collision early warning when the distance between the equipment at the pre-judged collision position is smaller than the preset safety distance. And when the predicted distance between the collision position devices is larger than the preset safety distance, indicating safety. It should be noted that the system adopts technologies such as big dipper location, WLAN/4G communication, according to the map information in place, carries out real-time supervision to relative position and distance between equipment, can realize that the anticollision of harbour machinery equipment reaches centimetre level precision.
It is worth mentioning that, in combination with the harbor area vector electronic map, the method can also provide the data of the accurate position of the current operating mechanical equipment, the relative position with the target equipment and the like for the watching personnel and the driving operators in a visual and intuitive mode, and the data is used as a supplementary means for the driving operators to control and operate by visual observation/video observation, so as to assist the driving operators to realize accurate control and operation, thereby further avoiding the collision among the equipment.
The invention also provides an anti-collision system for the large-scale operation mechanical equipment in the port based on the Beidou, which comprises the following components:
the mechanical equipment positioning module is used for positioning the port mechanical equipment based on the Beidou terminal and displaying a vector electronic map of a port;
the mechanical equipment attitude model module is used for establishing a mechanical equipment attitude model according to the type of the mechanical equipment;
the rule making module is used for demarcating an electronic fence for a port area based on Beidou positioning and making an abnormal alarm rule of mechanical equipment;
the attitude judgment module is used for judging the real-time attitude of the mechanical equipment according to the Beidou terminal;
and the collision early warning module is used for performing collision early warning on the mechanical equipment according to the attitude model of the mechanical equipment, the positioning information of the mechanical equipment and the real-time attitude of the mechanical equipment.
In some embodiments, the mechanical device positioning module comprises:
the positioning information acquisition submodule is used for acquiring positioning information of the mechanical equipment at a port by using the Beidou terminal;
and the positioning display sub-module is used for sending the positioning information of the mechanical equipment to the monitoring center by the Beidou terminal and realizing the position display of the mechanical equipment on the vector electronic map through position information protocol analysis.
In some embodiments, the rule formulation module comprises:
the electronic fence demarcation submodule is used for demarcating an electronic fence according to the operation range of the port mechanical equipment;
the alarm rule making submodule is used for making an alarm rule of the electronic fence, and comprises an alarm for entering an forbidden entering area, an alarm for working out of a specified range, a mobile overspeed alarm, an abnormal stay alarm and an alarm for working out of a specified time;
and the alarm submodule is used for sending the mechanical equipment information triggering the alarm rule to a monitoring center through wireless communication and giving an alarm.
In some embodiments, the pose discrimination module comprises:
the attitude acquisition submodule is used for acquiring real-time attitude information of the mechanical equipment through the Beidou terminal and transmitting the real-time attitude information to the monitoring center through wireless communication;
and the posture comparison submodule is used for comparing the acquired real-time posture information of the mechanical equipment with the posture model of the mechanical equipment to finish the posture judgment of the mechanical equipment.
In some embodiments, the collision warning module comprises:
the collision part pre-judging submodule is used for pre-judging the situation and the part which are possibly collided according to the real-time posture judging result of the mechanical equipment and the kinematic characteristics among the mechanical equipment;
the position monitoring submodule is used for monitoring the relative position between the mechanical equipment in real time through the Beidou terminal;
and the alarm triggering submodule is used for triggering the anti-collision alarm when the distance between the parts which are possibly collided between the mechanical equipment is less than the preset safety distance.
Those skilled in the art will appreciate that although some embodiments described herein include some features included in other embodiments instead of others, combinations of features of different embodiments are meant to be within the scope of the application and form different embodiments.
Those skilled in the art will appreciate that the description of each embodiment has a respective emphasis, and reference may be made to the related description of other embodiments for those parts of an embodiment that are not described in detail.
Although the embodiments of the present application have been described in conjunction with the accompanying drawings, those skilled in the art will be able to make various modifications and variations without departing from the spirit and scope of the present application, and such modifications and variations are included in the scope of the appended claims, which are intended to be only specific embodiments of the present invention, and the scope of the present invention is not limited thereto, and any equivalent modifications or substitutions may be easily made by those skilled in the art within the technical scope of the present disclosure, and these modifications or substitutions should be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. Big dipper based anti-collision method for large-scale port operation machinery equipment is characterized by comprising the following steps:
s1: based on the Beidou terminal, positioning port mechanical equipment, and displaying a vector electronic map at a port;
s2: establishing a mechanical equipment attitude model according to the type of the mechanical equipment;
s3: based on Beidou positioning, an electronic fence is defined for a port area, and an abnormal alarm rule of mechanical equipment is formulated;
s4: judging the real-time posture of the mechanical equipment according to the Beidou terminal;
s5: and performing anti-collision early warning on the mechanical equipment according to the attitude model of the mechanical equipment, the positioning information of the mechanical equipment and the real-time attitude of the mechanical equipment.
2. The anti-collision method for the big dipper based port working machinery equipment as recited in claim 1, wherein the S1 includes:
s11: acquiring positioning information of the mechanical equipment at a port by using a Beidou terminal;
s12: the Beidou terminal sends the positioning information of the mechanical equipment to the monitoring center, and the position display of the mechanical equipment on the vector electronic map is realized through position information protocol analysis.
3. The anti-collision method for the big dipper based port working machinery equipment as recited in claim 2, wherein the S3 includes:
s31: defining an electronic fence according to the operation range of the port mechanical equipment;
s32: setting an electronic fence alarm rule, wherein the alarm rule comprises an alarm for entering an forbidden entering area, an alarm for working out of a specified range, an alarm for moving overspeed, an alarm for abnormal stay and an alarm for working out of a specified time;
s33: and sending the mechanical equipment information triggering the alarm rule to a monitoring center through wireless communication and giving an alarm.
4. The anti-collision method for the big dipper based port working machinery equipment as recited in claim 3, wherein the S4 includes:
s41: the real-time attitude information of the mechanical equipment is collected through the Beidou terminal and is sent to a monitoring center through wireless communication;
s42: and comparing the collected real-time attitude information of the mechanical equipment with the attitude model of the mechanical equipment to finish the attitude judgment of the mechanical equipment.
5. The anti-collision method for the big dipper based port working machinery equipment as recited in claim 4, wherein the S5 includes:
s51: pre-judging the situation and the part which are possibly collided according to the real-time posture judgment result of the mechanical equipment and the kinematic characteristics among the mechanical equipment;
s52: monitoring the relative position between the mechanical equipment in real time through a Beidou terminal;
s53: and when the distance between the parts where collision possibly occurs between the mechanical equipment is less than the preset safety distance, triggering an anti-collision alarm.
6. Big operation mechanical equipment anticollision system in harbour based on big dipper, its characterized in that includes:
the mechanical equipment positioning module is used for positioning port mechanical equipment based on the Beidou terminal and displaying a vector electronic map at a port;
the mechanical equipment attitude model module is used for establishing a mechanical equipment attitude model according to the type of the mechanical equipment;
the rule making module is used for demarcating an electronic fence for a port area based on Beidou positioning and making an abnormal alarm rule of mechanical equipment;
the attitude judgment module is used for judging the real-time attitude of the mechanical equipment according to the Beidou terminal;
and the collision early warning module is used for performing collision early warning on the mechanical equipment according to the attitude model of the mechanical equipment, the positioning information of the mechanical equipment and the real-time attitude of the mechanical equipment.
7. The Beidou-based anti-collision system for large-scale port operation machinery equipment according to claim 6, wherein the machinery equipment positioning module comprises:
the positioning information acquisition submodule is used for acquiring positioning information of the mechanical equipment at a port by using the Beidou terminal;
and the positioning display sub-module is used for sending the positioning information of the mechanical equipment to the monitoring center by the Beidou terminal and realizing the position display of the mechanical equipment on the vector electronic map through position information protocol analysis.
8. The Beidou-based anti-collision system for large-scale port operation machinery equipment according to claim 7, wherein the rule making module comprises:
the electronic fence demarcation submodule is used for demarcating an electronic fence according to the operation range of the port mechanical equipment;
the alarm rule making submodule is used for making an alarm rule of the electronic fence, and comprises an alarm for entering an forbidden entering area, an alarm for working out of a specified range, a mobile overspeed alarm, an abnormal stay alarm and an alarm for working out of a specified time;
and the alarm submodule is used for sending the mechanical equipment information triggering the alarm rule to a monitoring center through wireless communication and giving an alarm.
9. The Beidou-based anti-collision system for large-scale port operation machinery equipment according to claim 8, wherein the attitude determination module comprises:
the attitude acquisition submodule is used for acquiring real-time attitude information of the mechanical equipment through the Beidou terminal and transmitting the real-time attitude information to the monitoring center through wireless communication;
and the posture comparison submodule is used for comparing the acquired real-time posture information of the mechanical equipment with the posture model of the mechanical equipment to finish the posture judgment of the mechanical equipment.
10. The Beidou-based anti-collision system for large-scale port operation machinery equipment according to claim 9, wherein the collision early warning module comprises:
the collision part pre-judging sub-module is used for pre-judging the situation and the part which are possibly collided according to the real-time posture judging result of the mechanical equipment and the kinematic characteristics among the mechanical equipment;
the position monitoring submodule is used for monitoring the relative position between the mechanical equipment in real time through the Beidou terminal;
and the alarm triggering submodule is used for triggering the anti-collision alarm when the distance between the parts which are possibly collided between the mechanical equipment is less than the preset safety distance.
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Application publication date: 20230303 |