CN117455202A - Positioning and scheduling method, system and device for apron equipment - Google Patents
Positioning and scheduling method, system and device for apron equipment Download PDFInfo
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Abstract
The invention belongs to the technical field of airport apron equipment information positioning, and discloses an apron equipment positioning and scheduling method, system and device. The method comprises the following steps: the method comprises the steps of equipment positioning technology fusion, monitoring video positioning, guarantee progress information recording, resource use evaluation, apron equipment movement task generation, equipment scheduling execution and equipment conflict detection, and if the situation that the subsequent guarantee task is in resource shortage or out of range due to unexpected movement of equipment occurs, an alarm is sent out in time and a corresponding adjustment processing scheme is provided once the conflict occurs. According to the invention, accurate positioning and efficient dispatching of the apron equipment are realized by integrating indoor and outdoor positioning technologies and methods for monitoring video positioning and guaranteeing progress information, so that the operation efficiency and safety of the apron are improved.
Description
Technical Field
The invention belongs to the technical field of airport apron equipment information positioning, and particularly relates to an apron equipment positioning and scheduling method, system and device.
Background
Airport apron is used as a parking, take-off and landing and maintenance area of an airplane and carries important aviation operation functions. However, there are still a number of problems in the positioning and scheduling process of the apron equipment at present, such as low scheduling efficiency, frequent collision of the equipment, etc. Therefore, there is a need to propose an innovative method that can combine various positioning technologies and guarantee progress information to improve the efficiency of apron equipment management.
Chinese patent (publication No. CN218886438U, publication No. 2023.04.18) discloses a sensing device for apron equipment and an apron equipment management system. According to a first aspect of the present disclosure, there is provided a sensing device for an apron apparatus, the sensing device being provided on the apron apparatus, the sensing device comprising: a vibration sensing module configured to sense a vibration state of the apron device; a position sensing module configured to sense a position of the apron device; a communication module configured to transmit the vibration state data of the apron device sensed by the vibration sensing module and the position data of the apron device sensed by the position sensing module to a control center for apron device management located outside the sensing device; and a power supply module configured to supply power to the position sensing module, the vibration sensing module, and the communication module. According to a second aspect of the present disclosure, there is provided a tarmac device management system comprising: the sensing device is arranged on the apron equipment; and a control center configured to communicate with the sensing device, wherein the sensing device comprises: a vibration sensing module configured to sense a vibration state of the apron device; a position sensing module configured to sense a position of the apron device; a communication module configured to transmit the vibration state data of the apron device sensed by the vibration sensing module and the position data of the apron device sensed by the position sensing module to the control center; and a power supply module configured to supply power to the position sensing module, the vibration sensing module, and the communication module.
In summary, in the prior art, support is provided for how to implement positioning and simple scheduling of airport apron equipment, but in actual operation, satellite-based GNSS positioning has drift problem and large power consumption in continuous operation, battery power supply cannot meet the requirement of long-time high-frequency ultra-long standby, and bluetooth positioning or WiFi positioning based on ibeacon has unstable accuracy, and cannot be used for detecting the collision risk of an aircraft in airport operation. Currently, the method has the advantages of low-cost high-precision equipment positioning and management, comprehensive task allocation and the like for mass apron facilities, and has low apron operation efficiency and frequent security risks.
Disclosure of Invention
In order to overcome the problems in the related art, the disclosed embodiments of the present invention provide a method, a system and a device for positioning and scheduling an apron device.
The technical scheme is as follows: a positioning and scheduling method for apron equipment comprises the following steps:
s1, fusing equipment positioning technologies: the accurate positioning of the equipment on the apron is realized by integrating GPS/Beidou outdoor positioning, UWB positioning and iBeacon positioning, and the type of the target to be positioned and the basic position information of the target are output;
S2, monitoring video positioning: the method comprises the steps that video processing is carried out in an edge calculation front end by using an existing monitoring camera or a built low-delay camera in an internal working area of a machine position/terminal building, and high-precision high-frequency continuous tracking of the position of equipment in a target range is completed by matching a pre-calibrated position in video and combining an equipment positioning/Bluetooth awakening technology;
s3, guaranteeing progress information recording: recording the data information of the flight tasks, the type of the guarantee tasks, the required guarantee resources and the use time acquired from the flight guarantee service system and guaranteeing personnel; through the association with the equipment positioning information, the comprehensive management of the equipment positions and the guaranteed resource use records in the flight guarantee period and before the flight guarantee is realized;
s4, resource use evaluation and apron equipment movement task generation: automatically generating a guarantee resource according to flight information, a guarantee task plan and surrounding available guarantee resource positions, generating corresponding equipment moving tasks in advance by a flight guarantee service system for equipment with a distance exceeding a set threshold value and potential influence on the guarantee tasks, and reminding equipment facilities to move;
S5, equipment scheduling execution: according to the obtained equipment scheduling scheme and the apron equipment mobile task, the flight guarantee service system sends a task map instruction to the mobile terminal of a guarantee person;
s6, detecting device conflict: continuously detecting the position and the guarantee association state of the apron equipment, and if the situation that the subsequent guarantee task is in shortage or out of range due to the unexpected movement of the apron equipment occurs, timely sending out an alarm by a flight guarantee service system and providing a corresponding adjustment processing scheme.
In step S2, monitoring video positioning includes:
(1) Video content classification and identification, namely, outputting the type of a target to be positioned and basic position information, confirming that the target enters a positioning area, and combining the existing self image and the field monitoring video to apply a target detection algorithm based on deep learning at an edge computing node to acquire the target to be positioned;
(2) Based on monocular video ranging and positioning of target detection, constructing a pixel coordinate system, an image coordinate system, a camera coordinate system and a world coordinate system for camera imaging content, and calibrating camera distortion according to early camera calibration to realize distance measurement and determine corresponding equipment position coordinates;
(3) And tracking the target by adopting an optical flow method, detecting the movement speed of the target, and if the movement speed exceeds a threshold value, re-detecting, ranging and positioning the target.
In step (3), the optical flow method is adopted to track the target, and the detection of the target movement speed comprises the following steps:
(a) Distance measuring targetAnd predicting the initial target movement speed +.>Substituting formula (1) -formula (4) to estimate initial target movement speed +.>The value range is determined according to the characteristics of the target itself, and the initial movement position of the target is obtained>；
(b) The calculated initial movement positionAnd the measured initial speed change value +.>Substituting formula (5) -formula (6) to obtain the first target ranging distance +.>And a first target movement speed->；
(c) Distance measuring first targetAnd a first target movement speed->Substituting formula (7) -formula (11) to calculate the first moving position +.>First speed variation value +.>；
(d) To calculate the first moving positionAnd a first speed variation value->Substituting equation (12) -equation (13) to obtain the final target ranging distance +.>And final target movement speed +.>；
(e) Judging the final target distance measurementAnd target distance measurement +.>Difference of- >Whether or not to meet a threshold valueFinal target movement speed +.>And a first target movement speed->Difference of->Whether or not to meet->If the two are satisfied at the same time, the calculation is ended, otherwise, the final target movement speed is used>And final target ranging distance +.>Instead of the first target movement speed +.>And a first target ranging distance->Repeating steps (c) and (d) until circulation +.>After the times->Distance to target>Difference of->Satisfy->AndAnd->Difference of->Satisfy->At this time->、/>And->Closest to the accuracy of target tracking and positioning, the calculation ends.
In step (a), an initial movement position of the target is obtainedComprising:
constant of the moving position of the object in the positioning areaThe expression is:
；
in the method, in the process of the invention,for moving position constant, +.>For the target acceleration/deceleration>Ideal movement speed without influence of external factors for the target, +.>For the permitted movement rate of the positioning area, +.>The expression of (2) is:
；
in the method, in the process of the invention,for the rate of movement in the target test, +.>The velocity coefficient of the moving track in the moving process of the target;
when the target passes through the electronic fence to a prescribed range ofIs a speed change value of +.>And moving the positionThe method comprises the following steps:
；
；
in the method, in the process of the invention,define a range for the electronic fence in the positioning area >Distance measurement of middle pair target->Matched speed change value,/->For->Deriving the speed change value,/->For the position of the movement of the object in the positioning area, < >>For the initial movement position +.>For moving position constant, +.>Position constant in the prescribed range for the target in the electronic fence,/->A range is defined for locating the area electronic fence.
In step (b), the calculated initial movement positionAnd the measured initial speed change value +.>The substitution formula is:
speed change value constant of target in positioning area：
；
In the method, in the process of the invention,is a speed variation value constant;
when the object isPass through the electronic fence to define a range ofIs moved to the position +.>The method comprises the following steps:
；
in step (c), the first target ranging distanceAnd a first target movement speed->The substitution formula is: speed variation value constant of target in positioning area +.>And a first mobile position constant->：
；
；
In the method, in the process of the invention,is a first mobile position constant;
the expression of (2) is:
；
in the method, in the process of the invention,for the rate of movement in the target test, +.>The velocity coefficient of the moving track in the moving process of the target;
when the target passes through the electronic fence to a prescribed range ofIs a speed change value of +.>And move position->The method comprises the following steps:
；
；
in the method, in the process of the invention, Continuing the position of the object moving in the next node of the previous state for the positioning area;
in step (d), the calculated first movement positionAnd a first speed variation value->The substitution formula is:
speed change value constant of target in positioning area：
；
In the method, in the process of the invention,the expression of (2) is:
。
when the target passes through the electronic fence to a prescribed range ofIs moved to the position +.>The method comprises the following steps:
；
in the method, in the process of the invention,the position of the object moving in the next two nodes of the previous state is continued for the positioning area.
In step S3, implementing comprehensive management of equipment locations and guaranteed resource usage records within a flight guarantee period and before flight guarantee, including: and (3) defining an electronic fence for the airport position according to airport guarantee needs, marking, and comprehensively managing the equipment position and the guarantee resource use records in the flight guarantee period and the period before the flight guarantee based on the association of the marked electronic fence and the equipment positioning information.
Another object of the present invention is to provide a positioning and dispatching system for apron equipment, which is characterized in that the system implements the positioning and dispatching method for apron equipment, and the system comprises:
the cloud computing layer generates an integral operation plan of the airport through comprehensive geographic information and flight information of the airport, provides equipment facility movement description in a corresponding period of flight guarantee according to field feedback, dynamically updates the guarantee progress and is also used for carrying out video analysis on the edge computing layer without response;
The edge computing layer completes indoor and outdoor positioning through the deployment of the monitoring video and the base stations of the various positioning devices, the edge server performs data fusion and processing of the video and the sensor base stations, if the edge server fails or the network is abnormal, the local service center machine room takes over, and after the edge computing device is on line, the edge computing device interacts with the cloud computing layer to complete configuration downloading and version updating;
and the client is used for interacting the user with the cloud computing layer, displaying the operation data and updating the setting.
Further, the cloud computing layer includes:
the cloud service end is used for integrating geographic coordinates, flight information, generating an overall operation plan and providing actual service movement description of equipment and facilities according to flight time and site position information;
the edge calculation layer is used for realizing the positioning of indoor and outdoor equipment by the front end of edge calculation, waking up surrounding fixed base stations by the Bluetooth ibeacon broadcasting of the equipment aiming at the working areas of the machine position and the terminal building, mapping the positions of video pictures after the base stations are positioned, judging the movement and change conditions of the equipment by a video mode, and simultaneously calculating the movement position by combining the rear end;
the edge computing front end performs ring network access by using an optical fiber network, a 3G/4G/5G network, loRa and WiFi network, provides video and industrial protocols according to field environment, supports heterogeneous access, fuses various sensor information and AI technologies to realize scene automation edge computing, and outputs analysis results in real time to realize dynamic processing.
Further, the cloud computing layer and the edge computing layer both comprise rule engines, and frequently-changed business rules are stripped from the program and put into a rule base for unified management and modification;
the rules engine includes: testing and comparing the equipment position movement characteristic data and the equipment position data with service rules loaded in an engine, activating the service rules conforming to the state of the current fact object, triggering corresponding operations, completing the change of certain state information in an information system, and realizing task progress monitoring, abnormal triggering and alarm prompting;
the rule engine completes dynamic upgrading by issuing business constraint rules layer by layer, and completes business scene simulation, field emergency exercise and fault processing of the whole field and time and area.
Another object of the present invention is to provide a positioning and dispatching device for apron equipment, which is characterized in that the device implements the positioning and dispatching method for apron equipment, and the device comprises:
the device positioning technology fusion module is used for realizing accurate positioning of devices on the apron by fusing a plurality of GPS/Beidou outdoor positioning technologies, UWB and iBeacon positioning technologies and outputting the type of a target to be positioned and basic position information of the target;
The monitoring video positioning module is used for performing video processing in the edge calculation front end by utilizing an existing monitoring camera or a built low-delay camera in the working area in the machine position/terminal building, and realizing continuous positioning based on computer vision by matching a pre-calibrated position in a video and combining equipment positioning/Bluetooth awakening so as to finish high-precision high-frequency continuous tracking of the equipment position in a target range;
the guarantee progress information recording module is used for recording the flight tasks, the guarantee task types, the required guarantee resources and the related use time acquired from the flight guarantee service system and the related information of the guarantee personnel; through the association with the equipment positioning information, the comprehensive management of the equipment positions and the guaranteed resource use records in the flight guarantee period and the period before the flight guarantee is realized;
the resource use evaluation and apron equipment movement task generation module is used for automatically generating a guarantee resource according to flight information and a guarantee task plan and the surrounding available guarantee resource positions, generating corresponding equipment movement tasks in advance by a flight guarantee service system for equipment with a distance exceeding a set threshold value and potential influence on the guarantee tasks, and reminding related service departments of carrying out equipment facility movement;
The equipment scheduling execution module is used for sending a task map instruction to the mobile terminal of the related guarantee personnel by the flight guarantee service system according to the obtained equipment scheduling scheme and the apron equipment mobile task;
the equipment conflict detection module is used for continuously detecting the position and the guarantee association state of the apron equipment, and if the situation that the resource is tense or out of range occurs in a subsequent guarantee task due to accidental movement of the apron equipment, the flight guarantee service system timely sends out an alarm and provides a corresponding adjustment processing scheme.
By combining all the technical schemes, the invention has the advantages and positive effects that: the invention provides a method for positioning and dispatching a system of an apron device, and aims to provide a method for positioning and guaranteeing progress information by fusing indoor and outdoor positioning technologies and monitoring videos, so that accurate positioning and efficient dispatching of the apron device are realized, and the operation efficiency and safety of an elevator apron are improved.
The method integrates various positioning technologies, realizes accurate positioning of the apron equipment, and improves the scheduling precision of the equipment; the invention uses the existing monitoring camera of the machine position to carry out video positioning, reduces the power consumption of the GNSS positioning of the equipment, clearly uses the time, and reduces the collision risk of the aircraft; the invention combines the monitoring video positioning and the guarantee progress information to realize the comprehensive management of the equipment position and the guarantee resource use record; the invention automatically generates dependent guarantee resources and inquires the positions of surrounding available resources, and generates the apron equipment moving task in advance to remind related departments of moving equipment facilities; according to the invention, through resource use evaluation and equipment scheduling execution, the operation efficiency is improved and guaranteed; the invention provides real-time monitoring and data storage functions and provides support for analyzing and deciding the operation data of the apron.
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 flowchart of a method for positioning and scheduling apron equipment according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a positioning and dispatching system for apron equipment according to an embodiment of the present invention;
FIG. 3 is a schematic view of a single node sensor and external network access in a site control network in a tarmac device positioning and scheduling system according to an embodiment of the present invention;
in the figure: 1. a cloud computing layer; 2. an edge calculation layer; 3. and a client.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention 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 invention. The invention 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 invention, which is therefore not limited to the specific embodiments disclosed below.
The positioning and scheduling method for the apron equipment provided by the embodiment of the invention realizes accurate positioning and efficient scheduling of the apron equipment by integrating GPS/Beidou outdoor positioning, UWB and iBeacon indoor positioning technologies and monitoring video positioning and guaranteeing progress information, and improves the operation efficiency and safety of the apron.
Embodiment 1 as shown in fig. 1, the method for positioning and scheduling an apron device according to the embodiment of the present invention includes:
s1, fusing equipment positioning technologies: the accurate positioning of the equipment on the apron is realized by integrating GPS/Beidou outdoor positioning, UWB positioning and iBeacon positioning, and the type of the target to be positioned and the basic position information of the target are output;
the satellite-based positioning such as a GPS/Beidou positioning system is matched with wireless positioning technologies such as UWB, iBeacon and the like to realize preliminary object detection. If the satellite cannot be positioned, switching to modes such as iBeacon and the like;
in the positioning process of the device, the satellite positioning system (GNSS) such as a GPS/beidou system is used to detect the number of satellites currently, positioning accuracy, positioning type (floating solution, fixed solution), running speed and other modes, and evaluate the positioning result. After the GNSS positioning is started in a cold mode, about 1-2 minutes are needed to obtain an effective fixed solution, before the fixed solution is obtained, other modes such as beacon or UWB are used for positioning, and after the GNSS system obtains the fixed solution, the position returned by the satellite positioning system is used. For the condition that the moving speed is extremely low (less than 3 km/h) and no RTK positioning assistance exists, the common GNSS can not determine whether the equipment is actually stopped or not, only the position reference can be provided, if the iBeacon or UWB positioning exists, the parking position confirmation is considered, and if other assistance does not exist, the monitoring video positioning is called.
For possessing ground station auxiliary centimeter level high-precision positioning, namely, having RTK auxiliary GNSS can effectively promote outdoor positioning precision and solve the parking judgement problem, but only partial vehicles can install centimeter level RTKs, and not every equipment can bear the cost and the deployment requirement of such positioning.
S2, monitoring video positioning: the method comprises the steps that video processing is carried out in an edge calculation front end by using an existing monitoring camera or a built low-delay camera in an internal working area of a machine position/terminal building, and high-precision high-frequency continuous tracking of the position of equipment in a target range is completed by matching a pre-calibrated position in video and combining an equipment positioning/Bluetooth awakening technology;
through multi-angle monitoring video location, reduce the power consumption that equipment GNSS continuously high frequency location brought, reduce aircraft collision risk. For a common video shielding area or an area which cannot be shot, according to the value of equipment and whether the equipment moves to supplement a corresponding Bluetooth base station or UWB base station, realizing fixed-point blind supplement;
by means of the existing monitoring cameras of the machine position, monitoring videos are acquired in a service system, continuous tracking of equipment facilities at key positions is achieved through the aid of edge computing capability and the low-delay cameras matched with key positions, the equipment facilities are classified and marked through image processing and computer vision technologies, the general positions obtained through previous positioning are combined, the general positions are matched with video classification and marking, and high-precision tracking of equipment position change on a machine apron is achieved.
According to the invention, through monitoring video positioning, power consumption caused by continuous high-frequency positioning of the GNSS of the equipment is reduced, and by combining with monitoring video calibration data, high-precision continuous positioning of the apron, particularly the airplane, indoor equipment, particularly equipment near a luggage system is realized, and the collision risk of the aircraft is reduced.
The monitoring video positioning needs to input multi-angle images of the devices in the early device access stage for video classification and identification, and each device needs to independently input own images. Video positioning may also be used indoors, independent of GNSS positioning data.
For example, the monitoring video positioning needs to perform three steps:
(1) The video content classification and identification (Video Classification) confirms that the target enters a positioning area through the type of the target to be positioned and the related basic position information output in the step S1, and applies a target detection algorithm based on deep learning at an edge computing node (or after failure by a central node) by combining the existing self image and the field monitoring video to find a specific target to be positioned;
(2) Based on monocular video ranging and positioning of target detection, constructing a pixel coordinate system, an image coordinate system, a camera coordinate system and a world coordinate system for camera imaging content, calibrating camera distortion (radial distortion and tangential distortion) according to early camera calibration, realizing distance measurement and determining corresponding equipment position coordinates;
(3) And (3) tracking the target by adopting an optical flow method, detecting the movement speed of the target, and if the movement speed exceeds a threshold value, re-detecting, ranging and positioning the target, thereby ensuring that the small change cannot cause jitter.
Illustratively, in step (3), tracking the target by optical flow method, and detecting the target movement speed includes:
(a) Distance measuring targetAnd predicting the initial target movement speed +.>Substituting formula (1) -formula [ ]4) Estimating the initial target movement speed +.>The value range is determined according to the characteristics of the target itself, and the initial movement position of the target is obtained>；
(b) The calculated initial movement positionAnd the measured initial speed change value +.>Substituting formula (5) -formula (6) to obtain the first target ranging distance +.>And a first target movement speed->；
(c) Distance measuring first targetAnd a first target movement speed->Substituting formula (7) -formula (11) to calculate the first moving position +.>First speed variation value +.>；
(d) To calculate the first moving positionAnd a first speed variation value->Substituting equation (12) -equation (13) to obtain the final target ranging distance +.>And final target movement speed +.>；
(e) Judging the final target distance measurement And target distance measurement +.>Difference of->Whether or not to meet a threshold valueFinal target movement speed +.>And a first target movement speed->Difference of->Whether or not to meet->If the two are satisfied at the same time, the calculation is ended, otherwise, the final target movement speed is used>And final target ranging distance +.>Instead of the first target movement speed +.>And a first target ranging distance->Repeating steps (c) and (d) until circulation +.>After the times->Distance to target>Difference of->Satisfy->AndAnd->Difference of->Satisfy->At this time->、/>And->Closest to the accuracy of target tracking and positioning, the calculation ends.
In step (a), an initial movement position of the target is obtainedComprising:
constant of the moving position of the object in the positioning areaThe expression is:
；
in the method, in the process of the invention,for moving position constant, +.>For the target acceleration/deceleration>Ideal movement speed without influence of external factors for the target, +.>For the permitted movement rate of the positioning area, +.>The expression of (2) is:
；
in the method, in the process of the invention,for the rate of movement in the target test, +.>The velocity coefficient of the moving track in the moving process of the target;
when the target passes through the electronic fence to a prescribed range ofIs a speed change value of +.>And moving the position The method comprises the following steps:
；
；
in the method, in the process of the invention,define a range for the electronic fence in the positioning area>Distance measurement of middle pair target->Matched speed change value,/->For->Deriving the speed change value,/->For the position of the movement of the object in the positioning area, < >>For the initial movement position +.>For moving position constant, +.>Position constant in the prescribed range for the target in the electronic fence,/->A range is defined for locating the area electronic fence.
In step (b), the calculated initial movement positionAnd the measured initial speed change value +.>The substitution formula is:
speed change value constant of target in positioning area：
；
In the method, in the process of the invention,is a speed variation value constant;
when the target passes through the electronic fence to a prescribed range ofIs moved to the position +.>The method comprises the following steps:
。
in step (c), the first target ranging distanceAnd a first target movement speed->The substitution formula is: speed variation value constant of target in positioning area +.>And a first mobile position constant->：
；
；
In the method, in the process of the invention,is a first mobile position constant;
the expression of (2) is:
；
in the method, in the process of the invention,for the rate of movement in the target test, +.>The velocity coefficient of the moving track in the moving process of the target;
when the target passes through the electronic fence to a prescribed range ofIs a speed change value of +. >And move position->The method comprises the following steps:
；/>
；
in the method, in the process of the invention,continuing the position of the object moving in the next node of the previous state for the positioning area;
in step (d), the calculated first movement positionAnd a first speed variation value->The substitution formula is:
speed change value constant of target in positioning area：
；
In the method, in the process of the invention,the expression of (2) is:
。
when the target passes through the electronic fence to a prescribed range ofIs moved to the position +.>The method comprises the following steps:
；
in the method, in the process of the invention,the position of the object moving in the next two nodes of the previous state is continued for the positioning area.
S3, guaranteeing progress information recording: recording the data information of the flight tasks, the type of the guarantee tasks, the required guarantee resources and the use time acquired from the flight guarantee service system and guaranteeing personnel; through the association with the equipment positioning information, the comprehensive management of the equipment positions and the guaranteed resource use records in the flight guarantee period and before the flight guarantee is realized;
illustratively, the airport location is defined as an electronic fence, i.e., each airport location, a key security location (scene route intersection, arrival of remote station passengers, baggage sorting and extraction gateway, terminal building gateway, maintenance area, station, hangar, garage, parking area, and apron facilities such as lights, navigation, communication, energy, and auxiliary facilities) is marked according to airport security requirements in the early stage.
In another example, if the ferry is recorded, the flight guarantee service system arranges the ferry vehicle of the related flight in advance, if the vehicle enters the electronic fence of the designated machine position, the passenger lift vehicle is considered to be in place, if the passenger lift vehicle exits the electronic fence of the designated area, the passenger lift vehicle is considered to start to execute the transportation task, if the passenger lift vehicle arrives at the remote machine position arrival port of the terminal building, the completion of the guarantee task is considered to execute other tasks, and if the passenger lift vehicle parks to the maintenance area, the garage or the related parking lot, the driver is considered to complete the task and enter the rest stage.
S4, resource use evaluation and apron equipment movement task generation: automatically generating a guarantee resource according to flight information, a guarantee task plan and surrounding available guarantee resource positions, generating corresponding equipment moving tasks in advance by a flight guarantee service system for equipment with a distance exceeding a set threshold value and potential influence on the guarantee tasks, and reminding equipment facilities to move;
for example, the baggage and goods in the belly cargo warehouse of the airliner are transported by using bulk trucks or containers, the baggage system in the terminal building is sorted and the goods in the freight area are needed to use nearby bulk trucks and containers, and the quantity of the arriving and departing goods and the quantity of the baggage are not equal, so that the bulk trucks and the containers near each finger corridor of the terminal building and the freight area are not uniform, and the related empty trucks and container transportation plans are arranged in advance according to the allocation information of the related flights and the baggage transportation condition of the passengers, so that the problem of temporary shunting caused by no available flight guarantee is avoided.
S5, equipment scheduling execution: according to the obtained equipment scheduling scheme and the apron equipment mobile task, the flight guarantee service system sends a task map instruction to the mobile terminal of a guarantee person;
s6, detecting device conflict: continuously detecting the position and the guarantee association state of the apron equipment, and if the situation that the resource is tense or out of range occurs in the subsequent guarantee task due to the unexpected movement of the apron equipment, timely sending out an alarm by a flight guarantee service system and providing a corresponding adjustment processing scheme;
for example, airport security is commonly completed by a plurality of units, terminal building facilities are shared by the units, and if an east-to-air baggage car is used by mountain security, and the subsequent mountain available baggage car is insufficient, a resource shortage warning is prompted.
According to the embodiment, aiming at ten thousands of different types of equipment and facilities on the apron, the invention can realize low-cost effective positioning and meet the high-precision positioning requirement in the machine position.
The technical scheme of the invention solves the requirement of device position supervision in the operation of the apron device by the machine, avoids the technical problems that the satellite-based system positioning drift, the traditional wheel speed and inertial navigation are not applicable to low-cost facilities, and the indoor and outdoor mobile devices are positioned by long-term battery power supply;
The technical scheme of the invention solves the problem that low-cost facilities cannot be reliably and accurately positioned, and improves the overall reliability of the system through a two-layer loose coupling structure.
In embodiment 2, as shown in fig. 2, the tarmac device positioning and scheduling system provided by the embodiment of the invention is a two-layer architecture formed by a cloud computing layer 1 and an edge computing layer 2 and is matched with a client 3 to perform the positioning and scheduling of the tarmac device;
the cloud computing layer 1 generates an integral operation plan through airport comprehensive geographic information (AMDB) and flight information (AODB), provides equipment facility movement description in corresponding periods of flight guarantee according to field feedback, dynamically updates relevant guarantee progress profiles, and performs video analysis supplement on the condition that the edge computing layer 2 does not respond if necessary;
the edge computing layer 2 completes indoor and outdoor positioning through the deployment of the monitoring video and the base stations of various positioning devices, the edge server performs data fusion and processing of the video and the sensor base stations, if the edge server fails or the network is abnormal, the local service center machine room takes over, and after the edge computing device is on line, the edge computing device interacts with the cloud computing layer to complete configuration downloading and version updating;
and the client 3 is used for interacting with the cloud computing layer 1 by a user, displaying the operation data and updating the settings.
In an embodiment of the present invention, the cloud computing layer further includes: the cloud service end synthesizes the geographic coordinates, flight information and generates an overall operation plan, and provides actual service movement description of equipment facilities according to the flight time and the site location information;
in the embodiment of the invention, the edge calculation layer 2 can realize the positioning of indoor and outdoor equipment by the front end of edge calculation, and aims at the scene that key positions such as machine positions, station building working areas and the like need continuous high-precision stable positioning, surrounding fixed base stations are awakened through equipment Bluetooth ibeacon broadcasting, video picture position mapping is carried out after the positioning of the base stations, the movement and change conditions of the equipment are judged in a video mode, the front end deployment is simplified, and meanwhile, the position movement is calculated through the back end statistics and combined with the service, so that the ensured efficiency and management level are improved.
The edge computing front end can realize ring network access by using a traditional optical fiber network, can also provide video and industrial protocols according to field environments by using an operator 3G/4G/5G network, a LoRa network and a WiFi network, supports heterogeneous access, fuses various sensor information and AI technologies to realize scene automation edge computing, and outputs analysis results in real time to realize dynamic processing, so that service continuity is realized;
Optionally, the edge computing front end is further used for performing timing positioning and returning outdoors by means of GNSS/indoors and performing video integration according to iBeacon broadcasting perceived by the bluetooth base station, and combines the existing network monitoring video and pre-peripheral positioning, so that video tracking positioning of the front end device is realized, and the edge computing front end can be simultaneously connected into a plurality of peripheral monitoring devices, so that positioning failure caused by video shielding is avoided.
In the embodiment of the present invention, the cloud computing layer 1 and the edge computing layer 2 each include a rule engine: and stripping the frequently-changed business rules from the program, and putting the frequently-changed business rules into a rule base for unified management and modification.
The rules engine includes: the related position movement characteristic data (such as acceleration movement, stop, turning around, vibration and slow movement) and specific position data (such as specific positions of a parking place, a machine position, a parking waiting position, a radar sensitive position and the like) are tested and compared with business rules loaded in an engine, which business rules accord with the state of the current fact object are activated, corresponding operations are triggered, the change of certain state information in an information system is completed, and information such as task progress monitoring, abnormal triggering, alarm prompt and the like is realized.
The rule engine completes dynamic upgrading by issuing business constraint rules layer by layer, so that business scene simulation, field emergency exercise and fault processing in a whole field and a specific time and a specific area are realized.
Embodiment 3 the present invention provides a positioning and scheduling device for apron equipment, comprising:
the device positioning technology fusion module is used for realizing accurate positioning of devices on the apron by fusing a plurality of GPS/Beidou outdoor positioning technologies, UWB and iBeacon positioning technologies and outputting the type of a target to be positioned and basic position information of the target;
the monitoring video positioning module is used for performing video processing in the edge calculation front end by utilizing an existing monitoring camera or a built low-delay camera in the working area in the machine position/terminal building, and realizing continuous positioning based on computer vision by matching a pre-calibrated position in a video and combining equipment positioning/Bluetooth awakening so as to finish high-precision high-frequency continuous tracking of the equipment position in a target range;
the guarantee progress information recording module is used for recording the flight tasks, the guarantee task types, the required guarantee resources and the related use time acquired from the flight guarantee service system and the related information of the guarantee personnel; through the association with the equipment positioning information, the comprehensive management of the equipment positions and the guaranteed resource use records in the flight guarantee period and the period before the flight guarantee is realized;
The resource use evaluation and apron equipment movement task generation module is used for automatically generating a guarantee resource according to flight information and a guarantee task plan and the surrounding available guarantee resource positions, generating corresponding equipment movement tasks in advance by a flight guarantee service system for equipment with a distance exceeding a set threshold value and potential influence on the guarantee tasks, and reminding related service departments of carrying out equipment facility movement;
the equipment scheduling execution module is used for sending a task map instruction to the mobile terminal of the related guarantee personnel by the flight guarantee service system according to the obtained equipment scheduling scheme and the apron equipment mobile task;
the equipment conflict detection module is used for continuously detecting the position and the guarantee association state of the apron equipment, and if the situation that the resource is tense or out of range occurs in a subsequent guarantee task due to accidental movement of the apron equipment, the flight guarantee service system timely sends out an alarm and provides a corresponding adjustment processing scheme.
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 invention, 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 invention. For specific working processes of the units and modules in the system, reference may be made to corresponding processes in the foregoing method embodiments.
According to an embodiment of the present application, the present invention also provides 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.
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 implements 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, where the computer program, when executed by a processor, 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.
In order to further prove the positive effects of the above embodiments, the present invention performs the following experiments based on the above technical scheme: in certain two airports, each possesses 11000 luggage bulk cargo trucks, through the system positioning and business auxiliary processing, the daily use of the luggage bulk cargo trucks is effectively supported, specific maintenance tasks can be arranged for the failed vehicles, the searching and the maintenance are convenient, the guarantee delay caused by the shortage of the bulk cargo trucks is reduced by 70% each year, the sharing and leasing modes of the luggage bulk cargo trucks are expanded, the equipment maintenance and purchasing planning are optimized, and the operation effect is improved.
While the invention 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 invention 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 invention.
Claims (10)
1. A method for positioning and scheduling apron equipment, which is characterized by comprising the following steps:
s1, fusing equipment positioning technologies: the accurate positioning of the equipment on the apron is realized by integrating GPS/Beidou outdoor positioning, UWB positioning and iBeacon positioning, and the type of the target to be positioned and the basic position information of the target are output;
S2, monitoring video positioning: the method comprises the steps that video processing is carried out in an edge calculation front end by using an existing monitoring camera or a built low-delay camera in an internal working area of a machine position/terminal building, and high-precision high-frequency continuous tracking of the position of equipment in a target range is completed by matching a pre-calibrated position in video and combining an equipment positioning/Bluetooth awakening technology;
s3, guaranteeing progress information recording: recording the data information of the flight tasks, the type of the guarantee tasks, the required guarantee resources and the use time acquired from the flight guarantee service system and guaranteeing personnel; through the association with the equipment positioning information, the comprehensive management of the equipment positions and the guaranteed resource use records in the flight guarantee period and before the flight guarantee is realized;
s4, resource use evaluation and apron equipment movement task generation: automatically generating a guarantee resource according to flight information, a guarantee task plan and surrounding available guarantee resource positions, generating corresponding equipment moving tasks in advance by a flight guarantee service system for equipment with a distance exceeding a set threshold value and potential influence on the guarantee tasks, and reminding equipment facilities to move;
S5, equipment scheduling execution: according to the obtained equipment scheduling scheme and the apron equipment mobile task, the flight guarantee service system sends a task map instruction to the mobile terminal of a guarantee person;
s6, detecting device conflict: continuously detecting the position and the guarantee association state of the apron equipment, and if the situation that the subsequent guarantee task is in shortage or out of range due to the unexpected movement of the apron equipment occurs, timely sending out an alarm by a flight guarantee service system and providing a corresponding adjustment processing scheme.
2. The tarmac device locating and scheduling method according to claim 1, characterized in that in step S2, monitoring the video locating comprises:
(1) Video content classification and identification, namely, outputting the type of a target to be positioned and basic position information, confirming that the target enters a positioning area, and combining the existing self image and the field monitoring video to apply a target detection algorithm based on deep learning at an edge computing node to acquire the target to be positioned;
(2) Based on monocular video ranging and positioning of target detection, constructing a pixel coordinate system, an image coordinate system, a camera coordinate system and a world coordinate system for camera imaging content, and calibrating camera distortion according to early camera calibration to realize distance measurement and determine corresponding equipment position coordinates;
(3) And tracking the target by adopting an optical flow method, detecting the movement speed of the target, and if the movement speed exceeds a threshold value, re-detecting, ranging and positioning the target.
3. The tarmac device locating and scheduling method of claim 2, wherein in step (3), tracking the target by using an optical flow method, and detecting the target movement speed comprises:
(a) Distance measuring targetAnd predicting the initial target movement speed +.>Substituting formula (1) -formula (4) to estimate initial target movement speed +.>The value range is determined according to the characteristics of the target itself, and the initial movement position of the target is obtained>；
(b) The calculated initial movement positionAnd the measured initial speed change value +.>Substituting formula (5) -formula (6) to obtain the first target ranging distance +.>And a first target movement speed->；
(c) Distance measuring first targetAnd a first target movement speed->Substituting formula (7) -formula (11) to calculate the first moving position +.>First speed variation value +.>；
(d) To calculate the first moving positionAnd a first speed variation value->Substituting equation (12) -equation (13) to obtain the final target ranging distance +.>And final target movement speed +. >；
(e) Judging the final target distance measurementAnd target distance measurement +.>Difference of->Whether or not to meet a threshold valueFinal target movement speed +.>And a first target movement speed->Difference of->Whether or not to meet->If the two are satisfied at the same time, the calculation is ended, otherwise, the final target movement speed is used>And final target ranging distance +.>Instead of the first target movement speed +.>And a first target ranging distance->Repeating steps (c) and (d) until circulation +.>After the times->Distance to target>Difference of->Satisfy->AndAnd->Difference of->Satisfy->At this time->、/>And->Closest to the accuracy of target tracking and positioning, the calculation ends.
4. A method of tarmac equipment positioning and scheduling according to claim 3, characterized in that in step (a) the initial movement position of the target is obtainedComprising:
constant of the moving position of the object in the positioning areaThe expression is:
；
in the method, in the process of the invention,for moving position constant, +.>For the target acceleration/deceleration>Ideal movement speed without influence of external factors for the target, +.>For the permitted movement rate of the positioning area, +.>The expression of (2) is:
；
in the method, in the process of the invention,for the rate of movement in the target test, +.>The velocity coefficient of the moving track in the moving process of the target;
When the target passes through the electronic fence to a prescribed range ofIs a speed change value of +.>And move position->The method comprises the following steps:
；
；
in the method, in the process of the invention,define a range for the electronic fence in the positioning area>Distance measurement of middle pair target->The value of the speed change that is matched,for->Deriving the speed change value,/->For the position of the movement of the object in the positioning area, < >>For the initial movement position +.>For moving position constant, +.>Position constant in the prescribed range for the target in the electronic fence,/->A range is defined for locating the area electronic fence.
5. The tarmac device positioning and dispatching method of claim 4, wherein in step (b), the calculated initial movement position is usedAnd the measured initial speed change value +.>The substitution formula is:
speed change value constant of target in positioning area：
；
In the method, in the process of the invention,is a speed variation value constant;
when the target passes through the electronic fence to a prescribed range ofIs moved to the position +.>The method comprises the following steps:
；
in step (c), the first target ranging distanceAnd a first target movement speed->The substitution formula is: speed variation value constant of target in positioning area +.>And a first mobile position constant->：
；
；
In the method, in the process of the invention,is a first mobile position constant;
The expression of (2) is:
；
in the method, in the process of the invention,for the rate of movement in the target test, +.>The velocity coefficient of the moving track in the moving process of the target;
when the target passes through the electronic fence to a prescribed range ofIs a speed change value of +.>And move position->The method comprises the following steps:
；
；
in the method, in the process of the invention,continuing the position of the object moving in the next node of the previous state for the positioning area;
in step (d), the calculated first movement positionAnd a first speed variation value->The substitution formula is:
speed change value constant of target in positioning area：
；
In the method, in the process of the invention,the expression of (2) is:
；
when the target passes through the electronic fence to a prescribed range ofIs moved to the position +.>The method comprises the following steps:
；
in the method, in the process of the invention,the position of the object moving in the next two nodes of the previous state is continued for the positioning area.
6. The tarmac equipment positioning and scheduling method according to claim 1, wherein in step S3, comprehensive management of equipment positions and guaranteed resource usage records in a flight guarantee period and before flight guarantee is implemented, including: and (3) defining an electronic fence for the airport position according to airport guarantee needs, marking, and comprehensively managing the equipment position and the guarantee resource use records in the flight guarantee period and the period before the flight guarantee based on the association of the marked electronic fence and the equipment positioning information.
7. A tarmac device positioning and scheduling system implementing the tarmac device positioning and scheduling method of any one of claims 1-6, the system comprising:
the cloud computing layer (1) generates an integral operation plan of the airport through comprehensive geographic information and flight information of the airport, provides equipment facility movement description in a corresponding period of flight guarantee according to field feedback, dynamically updates the guarantee progress, and is also used for carrying out video analysis on the edge computing layer (2) under no response;
the edge computing layer (2) completes indoor and outdoor positioning through the deployment of the monitoring video and the base stations of various positioning devices, the edge server performs data fusion and processing of the video and the sensor base stations, if the edge server fails or the network is abnormal, the local service center machine room takes over, and after the edge computing device is online, the edge computing device interacts with the cloud computing layer to complete configuration downloading and version updating;
and the client (3) is used for interacting with the cloud computing layer (1) by a user, displaying operation data and updating settings.
8. The tarmac device positioning and scheduling system of claim 7, wherein the cloud computing layer (1) comprises:
The cloud service end is used for integrating geographic coordinates, flight information, generating an overall operation plan and providing actual service movement description of equipment and facilities according to flight time and site position information;
the edge computing layer (2) is used for realizing the positioning of indoor and outdoor equipment by the front end of edge computing, waking up surrounding fixed base stations through the Bluetooth ibeacon broadcast of the equipment aiming at the working areas of the machine position and the terminal building, mapping the positions of video pictures after the positioning of the base stations, judging the movement and change conditions of the equipment in a video mode, and simultaneously carrying out statistic calculation on the movement positions by combining the rear end;
the edge computing front end performs ring network access by using an optical fiber network, a 3G/4G/5G network, loRa and WiFi network, provides video and industrial protocols according to field environment, supports heterogeneous access, fuses various sensor information and AI technologies to realize scene automation edge computing, and outputs analysis results in real time to realize dynamic processing.
9. The tarmac device positioning and scheduling system according to claim 7, wherein the cloud computing layer (1) and the edge computing layer (2) each comprise a rule engine, and the frequently-changed business rules are stripped from the program and put into a rule base for unified management and modification;
The rules engine includes: testing and comparing the equipment position movement characteristic data and the equipment position data with service rules loaded in an engine, activating the service rules conforming to the state of the current fact object, triggering corresponding operations, completing the change of certain state information in an information system, and realizing task progress monitoring, abnormal triggering and alarm prompting;
the rule engine completes dynamic upgrading by issuing business constraint rules layer by layer, and completes business scene simulation, field emergency exercise and fault processing of the whole field and time and area.
10. An apron device positioning and dispatching apparatus, characterized in that the apparatus implements the apron device positioning and dispatching method of any one of claims 1-6, the apparatus comprising:
the device positioning technology fusion module is used for realizing accurate positioning of devices on the apron by fusing a plurality of GPS/Beidou outdoor positioning technologies, UWB and iBeacon positioning technologies and outputting the type of a target to be positioned and basic position information of the target;
the monitoring video positioning module is used for performing video processing in the edge calculation front end by utilizing an existing monitoring camera or a built low-delay camera in the working area in the machine position/terminal building, and realizing continuous positioning based on computer vision by matching a pre-calibrated position in a video and combining equipment positioning/Bluetooth awakening so as to finish high-precision high-frequency continuous tracking of the equipment position in a target range;
The guarantee progress information recording module is used for recording the flight tasks, the guarantee task types, the required guarantee resources and the related use time acquired from the flight guarantee service system and the related information of the guarantee personnel; through the association with the equipment positioning information, the comprehensive management of the equipment positions and the guaranteed resource use records in the flight guarantee period and the period before the flight guarantee is realized;
the resource use evaluation and apron equipment movement task generation module is used for automatically generating a guarantee resource according to flight information and a guarantee task plan and the surrounding available guarantee resource positions, generating corresponding equipment movement tasks in advance by a flight guarantee service system for equipment with a distance exceeding a set threshold value and potential influence on the guarantee tasks, and reminding related service departments of carrying out equipment facility movement;
the equipment scheduling execution module is used for sending a task map instruction to the mobile terminal of the related guarantee personnel by the flight guarantee service system according to the obtained equipment scheduling scheme and the apron equipment mobile task;
the equipment conflict detection module is used for continuously detecting the position and the guarantee association state of the apron equipment, and if the situation that the resource is tense or out of range occurs in a subsequent guarantee task due to accidental movement of the apron equipment, the flight guarantee service system timely sends out an alarm and provides a corresponding adjustment processing scheme.
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