CN116320987B - Air side construction equipment scheduling method based on high-resolution remote sensing, beidou and electronic fence - Google Patents

Air side construction equipment scheduling method based on high-resolution remote sensing, beidou and electronic fence Download PDF

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CN116320987B
CN116320987B CN202310364392.9A CN202310364392A CN116320987B CN 116320987 B CN116320987 B CN 116320987B CN 202310364392 A CN202310364392 A CN 202310364392A CN 116320987 B CN116320987 B CN 116320987B
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point
line
electronic fence
area
transition surface
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CN116320987A (en
Inventor
侯芸
崔玉萍
赵晓峰
谢菁
张蕴灵
童育强
董元帅
胡林
钱振宇
张赛
程向军
张毅
陈功
杨思宇
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China Highway Consulting Singapore Private Ltd
China Highway Engineering Consultants Corp
CHECC Data Co Ltd
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China Highway Consulting Singapore Private Ltd
China Highway Engineering Consultants Corp
CHECC Data Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
    • H04W4/022—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences with dynamic range variability
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16Y—INFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE INTERNET OF THINGS [IoT]
    • G16Y10/00—Economic sectors
    • G16Y10/30—Construction
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16Y—INFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE INTERNET OF THINGS [IoT]
    • G16Y10/00—Economic sectors
    • G16Y10/40—Transportation
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16Y—INFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE INTERNET OF THINGS [IoT]
    • G16Y20/00—Information sensed or collected by the things
    • G16Y20/10—Information sensed or collected by the things relating to the environment, e.g. temperature; relating to location
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16Y—INFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE INTERNET OF THINGS [IoT]
    • G16Y40/00—IoT characterised by the purpose of the information processing
    • G16Y40/10—Detection; Monitoring
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16Y—INFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE INTERNET OF THINGS [IoT]
    • G16Y40/00—IoT characterised by the purpose of the information processing
    • G16Y40/50—Safety; Security of things, users, data or systems
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16Y—INFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE INTERNET OF THINGS [IoT]
    • G16Y40/00—IoT characterised by the purpose of the information processing
    • G16Y40/60—Positioning; Navigation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/90—Services for handling of emergency or hazardous situations, e.g. earthquake and tsunami warning systems [ETWS]

Abstract

The application belongs to the technical field of air side construction data identification, and discloses an air side construction instrument scheduling method based on high-resolution remote sensing, beidou and electronic fence. According to the received normal condition and emergency airspace information, the system background delimits an electronic fence area in the air side construction area; the system background marks the center line point positions of the near runway and the far runway; calculating the normal construction height of the air side construction equipment; calculating the emergency construction height of the air side construction equipment; and superposing the electronic fence area on the high-resolution image base map of the whole airport, and judging whether the air side construction equipment is constructed in a safe activity area and a safe height. Aiming at the construction equipment which does not accord with the operation space, the application can inform an operator to adjust the position and the construction height of the construction equipment in time in a timely alarm mode. In the electronic fence area overlapped with the high-resolution remote sensing images, the visual range of the electronic fence under the actual scene can be assisted by the manager, so that the manager can conveniently make a decision.

Description

Air side construction equipment scheduling method based on high-resolution remote sensing, beidou and electronic fence
Technical Field
The application belongs to the technical field of air side construction data identification, and particularly relates to an air side construction instrument scheduling method based on high-resolution remote sensing, beidou and electronic fence.
Background
In the field of air side construction in the airport extension process, the movable area of construction equipment is strictly limited, and the construction height is strictly required. In the off-plane stage and the non-off-plane stage, the air side construction area has corresponding change; and the construction heights of different places in the empty side construction area can be correspondingly changed. For busy airport time window changes fast, the normal construction of the air side construction area can be guaranteed only by coordinating manpower and material resources, and the time window is missed due to delay time.
Through the above analysis, the problems and defects existing in the prior art are as follows:
(1) The prior art does not utilize Beidou positioning and electronic fence technology based on high-resolution remote sensing base map, provides basis for space safety operation of construction equipment in a space-side limited area and at a height, and ensures low safety efficiency. Meanwhile, the operator is informed of timely adjusting the position and the construction height of the construction equipment aiming at the construction equipment which does not accord with the operation space in a timely alarm mode.
(2) In the prior art, an electronic fence area overlapped with a high-resolution remote sensing image is not utilized, and the working range in an actual scene is displayed and early-warned in a real-time visual manner.
Disclosure of Invention
In order to overcome the problems in the related art, the disclosed embodiment of the application provides a space-side construction equipment scheduling method based on high-resolution remote sensing, beidou and electronic fence, which comprises the following steps: the method comprises the following steps:
according to the received normal condition and emergency airspace information, the system background delimits an electronic fence area in the air side construction area;
marking the center line point positions of the near runway and the far runway by a system background according to the electronic fence area;
under normal conditions, the height limiting area is an inward horizontal transition surface and an inward transition surface, and the normal construction height of the air side construction equipment is calculated;
under an emergency, the height limiting area is a general transition surface, and the emergency construction height of the air side construction equipment is calculated;
and superposing the electronic fence area on the high-resolution image base map of the whole airport, and judging whether the air side construction equipment is constructed in a safe activity area and a safe height.
In one embodiment, the system background defines an electronic fence area in a void side construction area comprising:
(I) In an airport air side area, determining an air side construction instrument movable area according to two conditions of normal and emergency, wherein the air side construction instrument movable area comprises an S1 electronic fence area, an S2 electronic fence area and an S3 electronic fence area;
(II) collecting boundary point position information of a movable area of a construction instrument by using a surveying instrument, wherein the boundary point position information is respectively a point A in a far runway line, a point B in the far runway line, a point C in an inward horizontal transition surface and an inward transition surface turning point line, a point D in an inward horizontal transition surface and an inward transition surface turning point line, a point E in an emergency near runway line, a point F in the emergency near runway line, a point G in a normal condition near running to line and a point H in a normal condition near running to line;
the S1 electronic fence area comprises an area surrounded by a point A in a far runway line, a point B in the far runway line, a point C in an inward horizontal transition surface and an inward transition surface turning point line, a point D in an inward horizontal transition surface and an inward transition surface turning point line, the S2 electronic fence area comprises an area surrounded by a point C in an inward horizontal transition surface and an inward transition surface turning point line, a point D in an inward horizontal transition surface and an inward transition surface turning point line, a point E in an emergency near runway line and a point F in an emergency near runway line, and the S3 electronic fence area comprises an area surrounded by a point E in an emergency near runway line, a point F in an emergency near runway line, a point G in a normal near running line and a point H in a normal near running line;
(IV) generating an electronic fence area in a system background according to mapping information, wherein s123=s1+s2+s3 is an electronic fence area under normal conditions, and s12=s1+s2 is an electronic fence area under emergency conditions;
and (V) switching the S1 electronic fence area, the S2 electronic fence area and the S3 electronic fence area according to the normal situation and the emergency situation.
In one embodiment, the system background marks of the point positions of the center line of the near runway and the center line of the far runway are based on the collected boundary point information of the movable area of the air side construction equipment, and an electronic fence boundary line is generated.
In step 1, generating the electronic fence boundary line includes: and collecting longitudes and latitudes of four points in the S1 electronic fence area, the S2 electronic fence area and the S3 electronic fence area by a system background, calculating the longitudes and latitudes of the empty side construction equipment acquired in real time and the reported longitudes and latitudes of the S1 electronic fence area, the reported S2 electronic fence area and the reported longitudes and latitudes of the S3 electronic fence area, and judging whether the O point of the empty side construction equipment is in the S1 electronic fence area, the reported S2 electronic fence area and the reported S3 electronic fence area.
In one embodiment, the calculation is performed on the longitude and latitude of the air side construction equipment acquired in real time and the longitude and latitude of the reported S1 electronic fence area, whether the O point of the air side construction equipment is in the S1 electronic fence area is judged, and whether the O point of the air side construction equipment is in the S1 electronic fence area is judged by two points of a B point in a far runway line, an inward horizontal transition surface and a C point in an inward transition surface turning point line, wherein the longitude and latitude of the B point in the far runway line are (lon 2, lat 2), the longitude and latitude of the C point in the inward horizontal transition surface and the inward transition surface turning point line are (lon 3, lat 3), and the longitude and latitude of the O point of the air side construction equipment are (lon 0, lat 0), which specifically comprises:
longitude lon0 of C point in the inward horizontal transition surface and inward transition surface turning point line is greater than 0, latitude lat3 of C point in the inward horizontal transition surface and inward transition surface turning point line is greater than 0;
longitude lon0 of the O point of the empty side construction equipment is greater than 0, longitude lon2 of the B point in the far runway line, latitude lat0 of the O point of the empty side construction equipment is greater than 0, and latitude lat2 of the B point in the far runway line is greater than 0;
and (5) judging whether the O point of the air side construction instrument is in the S1 electronic fence area or not when the four conditions are simultaneously met.
In one embodiment, normally, calculating the normal construction height of the air side construction machine includes:
(1) Acquiring s123=s1+s2+s3 as a normal electronic fence area;
(2) The normal near runway line, the emergency near runway line, the turning point line and the far runway line are all parallel to the runway center line; the normal condition near runway line and the emergency runway line are the known distance D1, the emergency near runway line and the turning point line are the known distance D2, and the turning point line and the far runway line are the known distance D3;
(3) Calculating the distance d3 from the O point of the construction equipment to the normal condition near runway line, and judging the area where the construction equipment is located; if the construction height is below H0 in the electronic fence area of the area S1; if the construction height H1 is in the S2 electronic fence area and the S3 electronic fence area, calculating the construction height H1 according to a similar triangle principle;
knowing the longitude and latitude (lon 0, lat 0) of the O point of the construction equipment and the longitude and latitude (lon 7, lat 7) of the G point in the line which are close to each other under normal conditions, the longitude and latitude (lon 8, lat 8) of the H point in the line which are close to each other under normal conditions, obtaining the length of OG, OH and HG, calculating d3 according to the Haen equation, and calculating the d3 equation to be:
wherein OG represents the distance from the O point of the construction equipment to the measurement point G; OH represents the distance from the O point of the construction equipment to the measurement point H; HG represents the distance from the measurement point H to the measurement point G; p represents half of the delta OHG perimeter; d3 denotes a high on Δohg side HG; delta OHG is a triangle formed by a construction instrument O point, a measurement point G and a measurement point H;
(4) Constructing the highest limit of the construction equipment of the empty side electronic fence area according to the deduced positions;
(5) And (3) judging whether the construction equipment meets the operation requirement according to the height sensor arranged at the top end of the construction equipment and the highest limit inferred in the step (4).
In the step (4), under normal conditions, the construction airspace is an inward horizontal transition surface and an area below the inward transition surface; according to the result that the O point of the empty side construction instrument is judged to be in the S1 electronic fence area, the height is H; judging whether the O point of the air side construction instrument is in an S2+ S3 region or not, and according to a similar triangle calculation principle, normally, calculating the height of the S2 electronic fence region, wherein the height calculation model of the S3 electronic fence region is as follows:
wherein D3 represents the distance from the normal condition near runway line to the emergency near runway line, and is a known distance; d2 represents the distance from the emergency near runway line to the inward horizontal transition surface and the turning point line of the inward transition surface, and the distance is known; h represents the height of the normal inward horizontal transition surface, which is a known height; d3 represents the vertical distance from the construction equipment O to the normal condition near runway line; h1 represents the highest construction height of the construction machine at distance d3 in the s2+s3 region.
In one embodiment, in an emergency, calculating the air side construction equipment emergency construction height includes:
(i) Acquiring s12=s1+s2 as an electronic fence area in an emergency;
(ii) Calculating the distance d2 from the longitude and latitude (lon 0, lat 0) of the O point of the air side construction instrument to the near runway line of the emergency, and calculating the construction height h2 according to the principle of a similar triangle; in the emergency, the area below the general transition surface is a construction area;
where OE represents the distance from the point O of the construction equipment to the measurement point E; OF represents the distance from the point O OF the construction equipment to the measurement point F; EF represents the distance from the measuring point E to the measuring point F; p represents half of the Δoef circumference; d2 represents a high on Δoef side EF; delta OEF is a triangle formed by the construction instrument O point, the measurement point E and the measurement point F;
(iii) Constructing the highest limit of the construction equipment of the empty side electronic fence area according to the deduced positions;
(iv) And (3) judging whether the construction equipment meets the operation requirement according to the height sensor arranged at the top end of the air side construction equipment and the ceiling deduced in the step (iii).
In step (iii), the emergency S1, S2 zone height calculation model is:
wherein D1 represents the distance between the far runway line and the turning point line of the northbound horizontal transition surface and the turning point line of the inward transition surface, and is a known distance; d2 represents the distance from the emergency near runway line to the inward horizontal transition surface and the turning point line of the inward transition surface, and the distance is known; h represents the height of the normal inward horizontal transition surface, which is a known height; h2 represents the highest construction height of the construction equipment within the s1+s2 region at the distance of the d2 electronic fence region.
The application further aims to provide a system for controlling the air side construction equipment of the Beidou positioning and electronic fence, which implements the high-resolution remote sensing, beidou and electronic fence-based dispatching method for the air side construction equipment, and comprises the following steps:
the system comprises an electronic fence area demarcation module, a system background demarcation module and a system background demarcation module, wherein the electronic fence area demarcation module is used for demarcating an electronic fence area in an empty side construction area according to received normal condition and emergency airspace information;
the central line point position marking module is used for marking the central line points of the near runway and the central line points of the far runway according to the electronic fence area;
the normal construction height calculation module is used for calculating the normal construction height of the air side construction equipment under the normal condition, wherein the height limiting area is an inward horizontal transition surface;
the emergency construction height calculation module is used for calculating the emergency construction height of the air side construction equipment by taking the height limiting area as a general transition surface in the emergency;
and the safety construction height display module is used for superposing the electronic fence area on the high-resolution image base map of the whole airport and judging whether the air side construction equipment is constructed in the safety activity area and the safety height.
By combining all the technical schemes, the application has the advantages and positive effects that:
according to the application, the Beidou positioning and electronic fence technology based on the high-resolution remote sensing base map is utilized to operate construction equipment in a space with a limited area and a height on the air side, so that the manual operation is reduced, and the safety efficiency is improved. Meanwhile, aiming at the construction equipment which does not accord with the operation space, an operator is informed of timely adjusting the position and the construction height of the construction equipment in a timely alarm mode. In the electronic fence area overlapped with the high-resolution remote sensing images, the visual range of the electronic fence under the actual scene can be assisted by the manager, so that the manager can conveniently make a decision.
As an advantage of the present application, the following aspects are also embodied: the application obviously saves the coordination cost and communication time of airport personnel, improves the construction efficiency, and can be customized according to airport conditions. The economic benefit is obvious. The prior art does not have a method for applying Beidou positioning and electronic fence technology based on high-resolution remote sensing base map to airport air side area construction equipment scheduling, and the application fills the blank of the related technology. Because the airport construction in the prior art is in a high-speed development period, the existing airport construction and the existing airport reconstruction and expansion are performed, and the air side construction is not paid attention when the demand is small. With the increase of the take-off and landing density of the airports, the application solves the problem that the take-off and landing pain points of the airports are often influenced by construction equipment in the process of reconstructing and expanding the airports. Has remarkable ecological benefit, economic benefit and social benefit. The application obtains remarkable comprehensive benefit with lower cost and is a great progress in airport management.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure;
FIG. 1 is a flow chart of a dispatching method of air side construction equipment based on high-resolution remote sensing, beidou and electronic fence, which is provided by the embodiment of the application;
FIG. 2 is a schematic view of an air space-limiting cross section of an apparatus according to an embodiment of the present application;
FIG. 3 is an effect diagram of superimposing an electronic fence area on a high-resolution image base map of an entire airport according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a dispatching method of air side construction equipment based on high-resolution remote sensing, beidou and electronic fence provided by an embodiment of the application;
FIG. 5 is a schematic diagram of an air side construction equipment control system for Beidou positioning and electronic fence provided by an embodiment of the application;
in the figure: 1. an electronic fence area demarcating module; 2. a center line point position marking module; 3. a normal construction height calculation module; 4. an emergency construction height calculation module; 5. and a safety construction height display module.
Detailed Description
In order that the above objects, features and advantages of the application will be readily understood, a more particular description of the application will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. The application may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit or scope of the application, which is therefore not limited to the specific embodiments disclosed below.
Embodiment 1, as shown in fig. 1, the method for dispatching the air side construction equipment based on high-resolution remote sensing, beidou and electronic fence provided by the embodiment of the application comprises the following steps:
s101, defining an electronic fence area in a construction area at the empty side by a system background according to the received normal condition and emergency airspace information; the method specifically comprises the following steps:
(I) In the airport air side area, determining an air side construction equipment movable area according to two conditions of normal and emergency;
it will be appreciated that airport towers typically receive airspace emergency information and react to the emergency. Such as airplane forced landing, balloon in airspace, bird group, etc., which affect the take-off and landing of the airplane. And when the system receives an airport emergency, switching the electronic fence.
Acquiring boundary point position information of an active area of a construction instrument by using a mapping instrument, wherein the boundary point position information is respectively A (lon 1, lat 1) in a far runway line, B (lon 2, lat 2) in the far runway line, C (lon 3, lat 3) in an inward horizontal transition surface turning point line, D (lon 4, lat 4) in an inward horizontal transition surface turning point line, E (lon 5, lat 5) in an emergency near runway line, F (lon 6, lat 6) in the emergency near runway line, G (lon 7, lat 7) in a normal condition near runway line and H (lon 8, lat 8) in a normal condition near runway line;
the S1 electronic fence area is an area surrounded by four points of an A (lon 1, lat 1) point in a far runway line, B (lon 2, lat 2) point in a far runway line, C (lon 3, lat 3) point in an inward horizontal transition surface and an inward transition surface turning point line, D (lon 4, lat 4) point in an inward transition surface turning point line, and S2 electronic fence area is an area surrounded by four points of an E (lon 5, lat 5) point in an urgent near runway line, C (lon 3, lat 3) point in an inward transition surface turning point line, D (lon 4, lat 4) point in an inward horizontal transition surface turning point line, E (lon 5, lat 5) point in an urgent near runway line, F (lon 6, lat 6) point in an urgent near runway line, and S3 electronic fence area is an area surrounded by four points of E (lon 5, lat 5) point in an urgent near runway line, F (lon 6, lat 6) point in an urgent near runway line, and L (lan 7) point in an urgent near runway line, and L (8) point in a normal running line. As shown in the spatial domain height-limiting cross section of the apparatus of fig. 2.
(IV) generating an electronic fence area in a system background according to mapping information, wherein s123=s1+s2+s3 is an electronic fence area under normal conditions, and s12=s1+s2 is an electronic fence area under emergency conditions;
(V) different electronic fence areas can be switched according to different conditions;
s102, marking the center line points of the near runway and the center line points of the far runway by a system background according to the electronic fence area; the method specifically comprises the following steps:
step 1, generating an electronic fence boundary line based on collected construction instrument activity area boundary point location information;
exemplary, a method of generating an electronic fence boundary line includes: the electronic fence is a virtual area, the simpler the area is, the more convenient the calculation is, the smaller area is generally a drawn rectangle, and the airport belongs to the smaller area with small area. The system background collects the longitudes and latitudes of four points of the rectangular area, then calculates the longitudes and latitudes of the construction equipment obtained in real time and the reported longitudes and latitudes of the rectangular area, and various calculation logics exist. A two-point positioning method may be used, taking the S1 electronic fence Area (ABDC) in fig. 2 as an example, to determine whether the point O (lon 0, lat 0) of the air side construction equipment is in the S1 electronic fence area, and the determination may be performed by two points, namely, the point B (lon 2, lat 2) and the point C (lon 3, lat 3). The method comprises the following steps:
lon3-lon0>0，lat3-lat0>0；
lon0-lon2>0，lat0-lat2>0；
and the four conditions are simultaneously met, so that whether the air side construction equipment O is in the area can be judged.
Step 2, marking the center line points of the near runway and the far runway in a system background;
illustratively, the system backstage marks the longitude and latitude collected, the longitude and latitude near the runway is marked as a near runway point, and the point far from the runway parallel line is marked as a far runway point. A so-called line is a virtual connection between two points.
S103, under normal conditions, the height limiting area is an inward horizontal transition surface and an inward transition surface, and the normal construction height of the air side construction equipment is calculated; the method specifically comprises the following steps:
(1) At this time, the electronic fence area is S1+S2+S3;
(2) The normal line near the runway, the emergency line near the runway, the turning point line and the line far the runway are all parallel to the central line of the runway. The distance D1 between the normal course line and the emergency course line is known, the distance D2 between the emergency course line and the turning point line is known, and the distance D3 between the turning point line and the far course line is known.
(3) At the moment, the distance d3 from the O (lon 0, lat 0) point of the construction equipment at the empty side to the normal condition near runway line is calculated, and the area where the construction equipment is located is judged. In the region S1, the construction height is H0 or less. If in the S2 and S3 areas, calculating the construction height H1 according to the similar triangle principle;
by way of example, the length of OG, OH, HG can be known from the longitude and latitude of the O (lon 0, lat 0) point and the G (lon 7, lat 7) point of the air side construction equipment, and the H (lon 8, lat 8) point, and the d3 is calculated according to the halen formula, and the formula d3 is calculated as follows:
wherein OG represents the distance from the O point of the construction equipment to the measurement point G; OH represents the distance from the O point of the construction equipment to the measurement point H; HG represents the distance from the measurement point H to the measurement point G; p represents half of the delta OHG perimeter; d3 denotes a high on Δohg side HG; delta OHG is a triangle formed by a construction instrument O point, a measurement point G and a measurement point H;
illustratively, judging the area where the construction equipment is located according to the method for generating the boundary line of the electronic fence;
(4) Constructing the highest limit of the construction equipment of the empty side electronic fence area according to the deduced positions;
illustratively, the applicable airspace is the inward horizontal transition surface and the area below the inward transition surface in fig. 2 under normal circumstances. Judging that the O point of the air side construction instrument is in the S1 area, wherein the height is H; judging that the O point of the air side construction instrument is in an S2+ S3 region, and according to a similar triangle calculation principle, under the normal condition, the S2, S3 region height calculation model is as follows:
it will be appreciated that the height in the s2+s3 region is normally in the range above d2+d3 and below the inward transition surface. Wherein D3 represents the distance from the normal condition near runway line to the emergency near runway line, and is a known distance; d2 represents the distance from the emergency near runway line to the inward horizontal transition surface and the turning point line of the inward transition surface, and the distance is known; h represents the height of the normal inward horizontal transition surface, which is a known height; d3 represents the vertical distance from the construction equipment O to the normal condition near runway line; h1 represents the highest construction height of the construction machine at distance d3 in the s2+s3 region.
(5) Judging whether the air side construction equipment meets the operation requirement according to the height sensor arranged at the top end of the air side construction equipment and the highest limit inferred in the step (4);
s104, under the emergency situation, the height limiting area is a general transition surface, and the emergency construction height of the air side construction equipment is calculated; the method specifically comprises the following steps:
(i) At this time, the electronic fence area is S1+S2;
(ii) Calculating the distance d2 from the longitude and latitude (lon 0, lat 0) of the O point of the air side construction instrument to the near runway line of the emergency, and calculating the construction height h2 according to the principle of a similar triangle; in the emergency, the area below the general transition surface is a construction area;
where OE represents the distance from the point O of the construction equipment to the measurement point E; OF represents the distance from the point O OF the construction equipment to the measurement point F; EF represents the distance from the measuring point E to the measuring point F; p represents half of the Δoef circumference; d2 represents a high on Δoef side EF; delta OEF is a triangle formed by the construction instrument O point, the measurement point E and the measurement point F;
(iii) The empty side construction equipment of the empty side electronic fence area deduced according to different positions can construct the highest limit;
the area height calculation model of the S1 and the S2 under the emergency condition is as follows:
it will be appreciated that in an emergency situation, the height range in the s1+s2 region is above d1+d2, typically the range below the transition surface; wherein D1 represents the distance between the far runway line and the turning point line of the northbound horizontal transition surface and the turning point line of the inward transition surface, and is a known distance; d2 represents the distance from the emergency near runway line to the inward horizontal transition surface and the turning point line of the inward transition surface, and the distance is known; h represents the height of the normal inward horizontal transition surface, which is a known height; h2 represents the highest construction height of the construction machine within the s1+s2 region at distance d 2.
(iv) Judging whether the air side construction equipment meets the operation requirement according to the height sensor arranged at the top end of the air side construction equipment and the highest limit inferred in the step (iii);
s105, high-resolution remote sensing application and air side construction equipment information feedback. The method specifically comprises the following steps:
(a) In the system, an electronic fence area is overlapped on a high-resolution image base map of the whole airport; the effect diagram is shown in fig. 3.
(b) And (3) calculating and judging whether the air side construction equipment is constructed in a safe activity area and a safe height in the steps S103 or S104 under different conditions.
The method includes the steps of inputting longitude and latitude coordinates of an O point of an air side construction instrument and h0 values monitored by a height sensor arranged at the top end of the construction instrument, which are acquired in real time, into an electronic fence, an S2 and S3 area height calculation model under normal conditions and an S1 and S2 area height calculation model under emergency conditions, and carrying out early warning on the air side construction instrument which is not in a construction area and exceeds a limit height.
Embodiment 2, as shown in fig. 4, the method for dispatching the air side construction equipment based on high-resolution remote sensing, beidou and electronic fence provided by the embodiment of the application comprises the following steps:
receiving an instruction issued by an airport command console in real time;
judging emergency/navigation stopping construction/non-navigation stopping construction according to the received instruction;
and switching the electronic fence, and calculating the activity area and the height range of the construction equipment.
And feeding back the recalculated information of the activity area and the height range of the construction equipment to a control console and an operator of the construction equipment, and timely knowing whether the current construction equipment is in a proper range.
Embodiment 3, as shown in fig. 5, the embodiment of the present application provides a control system for a construction apparatus on the air side of a Beidou positioning and electronic fence, including:
the electronic fence area demarcation module 1 is used for demarcating an electronic fence area in the empty side construction area according to the received normal condition and emergency airspace information;
the central line point position marking module 2 is used for marking the central line points of the near runway and the central line points of the far runway according to the electronic fence area;
the normal construction height calculation module 3 is used for calculating the normal construction height of the air side construction equipment under the normal condition, wherein the height limiting area is an inward horizontal transition surface;
the emergency construction height calculation module 4 is used for calculating the emergency construction height of the air side construction equipment under the emergency condition, wherein the height limiting area is a general transition surface;
and the safety construction height display module 5 is used for superposing the electronic fence area on the high-resolution image base map of the whole airport and judging whether the air side construction equipment is constructed in the safety activity area and the safety height.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
The content of the information interaction and the execution process between the devices/units and the like is based on the same conception as the method embodiment of the present application, and specific functions and technical effects brought by the content can be referred to in the method embodiment section, and will not be described herein.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. For specific working processes of the units and modules in the system, reference may be made to corresponding processes in the foregoing method embodiments.
Based on the technical solutions described in the embodiments of the present application, the following application examples may be further proposed.
According to an embodiment of the present application, there is also provided a computer apparatus including: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, which when executed by the processor performs the steps of any of the various method embodiments described above.
Embodiments of the present application also provide a computer readable storage medium storing a computer program which, when executed by a processor, performs the steps of the respective method embodiments described above.
The embodiment of the application also provides an information data processing terminal, which is used for providing a user input interface to implement the steps in the method embodiments when being implemented on an electronic device, and the information data processing terminal is not limited to a mobile phone, a computer and a switch.
The embodiment of the application also provides a server, which is used for realizing the steps in the method embodiments when being executed on the electronic device and providing a user input interface.
Embodiments of the present application also provide a computer program product which, when run on an electronic device, causes the electronic device to perform the steps of the method embodiments described above.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiments, and may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing device/terminal apparatus, recording medium, computer Memory, read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), electrical carrier signals, telecommunications signals, and software distribution media. Such as a U-disk, removable hard disk, magnetic or optical disk, etc.
While the application has been described with respect to what is presently considered to be the most practical and preferred embodiments, it is to be understood that the application is not limited to the disclosed embodiments, but on the contrary, is intended to cover various modifications, equivalents, and alternatives falling within the spirit and scope of the application.

Claims (10)

1. The empty side construction equipment scheduling method based on high-resolution remote sensing, beidou and electronic fence is characterized by comprising the following steps of:
according to the received normal condition and emergency airspace information, the system background delimits an electronic fence area in the air side construction area;
marking the center line point positions of the near runway and the far runway by a system background according to the electronic fence area;
under normal conditions, the height limiting area is an inward horizontal transition surface and an inward transition surface, and the normal construction height of the air side construction equipment is calculated;
under an emergency, the height limiting area is a general transition surface, and the emergency construction height of the air side construction equipment is calculated;
superposing the electronic fence area on a high-resolution image base map of the whole airport, and judging whether the air side construction equipment is constructed in a safe activity area and a safe height;
the inward horizontal transition surface represents a virtual surface parallel to the surface ABDC having a height H;
the inward transition surface represents an inclined surface extending along the inward horizontal transition surface to a normal condition near the runway line edge near the runway line;
the general transition surface represents a slope extending along an inward horizontal transition surface distal runway edge to an emergency proximal runway line;
the three surfaces of the inward horizontal transition surface, the inward transition surface and the general transition surface are all virtual surfaces, and whether the construction equipment is in a virtual space is determined through coordinate positioning and a height sensor;
wherein, the longitude and latitude of four points that face ABDC encloses S1 electronic fence area include: a point A (lon 1, lat 1) in a far runway line, a point B (lon 2, lat 2) in a far runway line, a point C (lon 3, lat 3) in an inward horizontal transition plane and inward transition plane turning point line, and a point D (lon 4, lat 4) in an inward horizontal transition plane and inward transition plane turning point line.
2. The aerial side construction equipment scheduling method based on high-resolution remote sensing, beidou and electronic fence according to claim 1, wherein the system background demarcating the electronic fence area in the aerial side construction area comprises:
(I) In an airport air side area, determining an air side construction instrument movable area according to two conditions of normal and emergency, wherein the air side construction instrument movable area comprises an S1 electronic fence area, an S2 electronic fence area and an S3 electronic fence area;
(II) collecting boundary point position information of a movable area of a construction instrument by using a surveying instrument, wherein the boundary point position information is respectively a point A in a far runway line, a point B in the far runway line, a point C in an inward horizontal transition surface and an inward transition surface turning point line, a point D in an inward horizontal transition surface and an inward transition surface turning point line, a point E in an emergency near runway line, a point F in the emergency near runway line, a point G in a normal condition near running to line and a point H in a normal condition near running to line;
the S1 electronic fence area comprises an area surrounded by a point A in a far runway line, a point B in the far runway line, a point C in an inward horizontal transition surface and an inward transition surface turning point line, a point D in an inward horizontal transition surface and an inward transition surface turning point line, the S2 electronic fence area comprises an area surrounded by a point C in an inward horizontal transition surface and an inward transition surface turning point line, a point D in an inward horizontal transition surface and an inward transition surface turning point line, a point E in an emergency near runway line and a point F in an emergency near runway line, and the S3 electronic fence area comprises an area surrounded by a point E in an emergency near runway line, a point F in an emergency near runway line, a point G in a normal near running line and a point H in a normal near running line;
(IV) generating an electronic fence area in a system background according to mapping information, wherein s123=s1+s2+s3 is an electronic fence area under normal conditions, and s12=s1+s2 is an electronic fence area under emergency conditions;
and (V) switching the S1 electronic fence area, the S2 electronic fence area and the S3 electronic fence area according to the normal situation and the emergency situation.
3. The aerial side construction equipment scheduling method based on high-resolution remote sensing, beidou and electronic fence according to claim 1, wherein the system background marks of the central line of the near runway and the central line of the far runway are based on collected boundary point information of the movable area of the aerial side construction equipment, and an electronic fence boundary line is generated.
4. The aerial side construction equipment scheduling method based on high-resolution remote sensing, beidou and electronic fence of claim 3, wherein generating electronic fence boundary lines comprises:
the system background acquires longitude and latitude of four points surrounding an S1 electronic fence area, longitude and latitude of four points surrounding an S2 electronic fence area and longitude and latitude of four points surrounding an S3 electronic fence area respectively;
the longitude and latitude of the four points surrounding the S1 electronic fence area comprise: a point A (lon 1, lat 1) in a far runway line, a point B (lon 2, lat 2) in a far runway line, a point C (lon 3, lat 3) in an inward horizontal transition plane and inward transition plane turning point line, and a point D (lon 4, lat 4) in an inward horizontal transition plane and inward transition plane turning point line;
the longitude and latitude of the four points surrounding the S2 electronic fence area comprise: an inward horizontal transition surface and an inward transition surface turn point C (lon 3, lat 3), an inward horizontal transition surface and an inward transition surface turn point D (lon 4, lat 4), an emergency near runway line E (lon 5, lat 5) and an emergency near runway line F (lon 6, lat 6);
the longitude and latitude of the four points surrounding the S3 electronic fence area comprise: e (lon 5, lat 5) point in the emergency near runway line, F (lon 6, lat 6) point in the emergency near runway line, G (lon 7, lat 7) point in the normal near runway line, H (lon 8, lat 8) point in the normal near runway line;
and then calculating the longitude and latitude of the construction equipment on the empty side obtained in real time and the longitude and latitude of the reported S1 electronic fence area, the reported S2 electronic fence area and the reported S3 electronic fence area, and judging whether the O point of the construction equipment on the empty side is in the S1 electronic fence area, the reported S2 electronic fence area and the reported S3 electronic fence area.
5. The dispatching method of the air side construction equipment based on high-resolution remote sensing, beidou and electronic fence according to claim 4 is characterized in that calculation is carried out on the longitude and latitude of the air side construction equipment acquired in real time and the longitude and latitude of a reported S1 electronic fence area, whether an O point of the air side construction equipment is in the S1 electronic fence area is judged, whether the O point of the air side construction equipment is in the S1 electronic fence area is judged through two points of a B point in a far runway line, an inward horizontal transition surface and a C point in an inward transition surface turning point line, the longitude and latitude of the B point in the far runway line are (lon 2, lat 2), the longitude and latitude of the C point in the inward horizontal transition surface and inward transition surface turning point are (lon 3, lat 3), and the longitude and latitude of the O point of the air side construction equipment are (lon 0, lat 0).
6. The aerial side construction equipment scheduling method based on high-resolution remote sensing, beidou and electronic fence of claim 5, wherein judging whether the aerial side construction equipment O point is in the S1 electronic fence area specifically comprises:
longitude lon0 of C point in the inward horizontal transition surface and inward transition surface turning point line is greater than 0, latitude lat3 of C point in the inward horizontal transition surface and inward transition surface turning point line is greater than 0;
longitude lon0 of the O point of the empty side construction equipment is greater than 0, longitude lon2 of the B point in the far runway line, latitude lat0 of the O point of the empty side construction equipment is greater than 0, and latitude lat2 of the B point in the far runway line is greater than 0;
and (5) judging whether the O point of the air side construction instrument is in the S1 electronic fence area or not when the four conditions are simultaneously met.
7. The aerial side construction device scheduling method based on high-resolution remote sensing, beidou and electronic fence according to claim 2, wherein calculating the normal construction height of the aerial side construction device under normal conditions comprises:
(1) Acquiring s123=s1+s2+s3 as a normal electronic fence area;
(2) The normal near runway line, the emergency near runway line, the turning point line and the far runway line are all parallel to the runway center line; the normal condition near runway line and the emergency runway line are the known distance D1, the emergency near runway line and the turning point line are the known distance D2, and the turning point line and the far runway line are the known distance D3;
(3) Calculating the distance d3 from the O point of the construction equipment to the normal condition near runway line, and judging the area where the construction equipment is located; if the construction height is below H0 in the electronic fence area of the area S1; if the construction height H1 is in the S2 electronic fence area and the S3 electronic fence area, calculating the construction height H1 according to a similar triangle principle;
knowing the longitude and latitude (lon 0, lat 0) of the O point of the construction equipment and the longitude and latitude (lon 7, lat 7) of the G point in the line which are close to each other under normal conditions, the longitude and latitude (lon 8, lat 8) of the H point in the line which are close to each other under normal conditions, obtaining the length of OG, OH and HG, calculating d3 according to the Haen equation, and calculating the d3 equation to be:
wherein OG represents the distance from the O point of the construction equipment to the measurement point G; OH represents the distance from the O point of the construction equipment to the measurement point H; HG represents the distance from the measurement point H to the measurement point G; p represents half of the delta OHG perimeter; d3 denotes a high on Δohg side HG; delta OHG is a triangle formed by a construction instrument O point, a measurement point G and a measurement point H;
(4) Constructing the highest limit of the construction equipment of the empty side electronic fence area according to the deduced positions;
(5) And (3) judging whether the construction equipment meets the operation requirement according to the height sensor arranged at the top end of the construction equipment and the highest limit inferred in the step (4).
8. The aerial side construction equipment scheduling method based on high-resolution remote sensing, beidou and electronic fence of claim 7 is characterized in that in the step (4), under normal conditions, a construction airspace is an inward horizontal transition surface and an area below the inward transition surface; according to the result that the O point of the empty side construction instrument is judged to be in the S1 electronic fence area, the height is H; judging whether the O point of the air side construction instrument is in an S2+ S3 region or not, and according to a similar triangle calculation principle, normally, calculating the height of the S2 electronic fence region, wherein the height calculation model of the S3 electronic fence region is as follows:
wherein D3 represents the distance from the normal condition near runway line to the emergency near runway line, and is a known distance; d2 represents the distance from the emergency near runway line to the inward horizontal transition surface and the turning point line of the inward transition surface, and the distance is known; h represents the height of the normal inward horizontal transition surface, which is a known height; d3 represents the vertical distance from the construction equipment O to the normal condition near runway line; h1 represents the highest construction height of the construction machine at distance d3 in the s2+s3 region.
9. The aerial side construction device scheduling method based on high-resolution remote sensing, beidou and electronic fence according to claim 2, wherein calculating the aerial side construction device emergency construction height in the emergency situation comprises:
(i) Acquiring s12=s1+s2 as an electronic fence area in an emergency;
(ii) Calculating the distance d2 from the longitude and latitude (lon 0, lat 0) of the O point of the air side construction instrument to the near runway line of the emergency, and calculating the construction height h2 according to the principle of a similar triangle; in the emergency, the area below the general transition surface is a construction area;
where OE represents the distance from the point O of the construction equipment to the measurement point E; OF represents the distance from the point O OF the construction equipment to the measurement point F; EF represents the distance from the measuring point E to the measuring point F; p represents half of the Δoef circumference; d2 represents a high on Δoef side EF; delta OEF is a triangle formed by the construction instrument O point, the measurement point E and the measurement point F;
(iii) Constructing the highest limit of the construction equipment of the empty side electronic fence area according to the deduced positions;
(iv) And (3) judging whether the construction equipment meets the operation requirement according to the height sensor arranged at the top end of the air side construction equipment and the ceiling deduced in the step (iii).
10. The aerial side construction equipment scheduling method based on high-resolution remote sensing, beidou and electronic fence according to claim 9, wherein in the step (iii), the area height calculation model of the S1 and S2 under the emergency condition is as follows:
wherein D1 represents the distance between the far runway line and the turning point line of the northbound horizontal transition surface and the turning point line of the inward transition surface, and is a known distance; d2 represents the distance from the emergency near runway line to the inward horizontal transition surface and the turning point line of the inward transition surface, and the distance is known; h represents the height of the normal inward horizontal transition surface, which is a known height; h2 represents the highest construction height of the construction equipment within the s1+s2 region at the distance of the d2 electronic fence region.
CN202310364392.9A 2023-04-07 2023-04-07 Air side construction equipment scheduling method based on high-resolution remote sensing, beidou and electronic fence Active CN116320987B (en)

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