Disclosure of Invention
Aiming at the problems existing in the prior art, the invention provides a port vehicle anti-collision system and a port vehicle anti-collision method.
In a first aspect, the present invention provides a harbor vehicle collision avoidance system comprising:
The system comprises a first UWB base station arranged on each port vehicle, a plurality of second UWB base stations arranged at fixed positions of the ports, UWB labels positioned on personnel of each port, analysis control equipment, ground alarm equipment and vehicle-mounted alarm equipment;
the UWB tag is used for periodically sending UWB signals to the surrounding;
the first UWB base station is used for receiving UWB signals sent by the UWB tags and determining first positioning information of the UWB tags according to the received UWB signals;
the plurality of second UWB base stations are used for receiving UWB signals sent by the UWB tags and determining second positioning information of the UWB tags according to the received UWB signals;
the analysis control device is used for acquiring the first positioning information and the second positioning information, determining spatial relative position information between each UWB tag and each first UWB base station according to the first positioning information, determining absolute position information of each UWB tag in a port range according to the second positioning information, and controlling the ground warning device and the vehicle-mounted warning device to perform corresponding warning operation according to the determined spatial relative position information and the determined absolute position information.
Optionally, the controlling the ground alarm device and the vehicle-mounted alarm device to perform corresponding alarm operations according to the determined spatial relative position information and the determined absolute position information includes:
if the target UWB tag is determined to be positioned in the range of the set dangerous area corresponding to the target first UWB base station, controlling one or more ground alarm devices closest to the target UWB tag and vehicle-mounted alarm devices on a vehicle where the target first UWB base station is positioned to issue an alarm.
Optionally, the controlling the ground alarm device and the vehicle-mounted alarm device to perform corresponding alarm operations according to the determined spatial relative position information and the determined absolute position information includes:
if the UWB tag is determined to be located in the dead angle area of the personnel and vehicles, controlling ground alarm equipment deployed in the dead angle area of the personnel and vehicles to issue an alarm.
Optionally, the controlling the ground alarm device and the vehicle-mounted alarm device to perform corresponding alarm operations according to the determined spatial relative position information and the determined absolute position information includes:
if the UWB tag is determined to be located in the accident-prone area, controlling ground alarm equipment deployed in the accident-prone area to issue an alarm.
Optionally, the analysis control apparatus is further configured to:
and analyzing the historical accident occurrence places and the personnel tracks of the ports, determining the accident-prone areas and updating the accident-prone areas regularly.
In a second aspect, the present invention also provides an anti-collision method for a port vehicle, applied to an analysis control device in an anti-collision system for a port vehicle, the system further including a first UWB base station provided on each port vehicle, a plurality of second UWB base stations provided at fixed positions in the port, UWB tags provided on each port person, ground alert devices, and vehicle alert devices, the UWB tags being configured to periodically transmit UWB signals to the surroundings, the first UWB base stations being configured to receive UWB signals transmitted by each UWB tag and determine first positioning information of each UWB tag according to the received UWB signals, the plurality of second UWB base stations being configured to receive UWB signals transmitted by each UWB tag and determine second positioning information of each UWB tag according to the received UWB signals, the method comprising:
acquiring the first positioning information and the second positioning information;
determining spatial relative position information between each UWB tag and each first UWB base station according to the first positioning information, and determining absolute position information of each UWB tag in a port range according to the second positioning information;
And controlling the ground alarm equipment and the vehicle-mounted alarm equipment to carry out corresponding alarm operation according to the determined space relative position information and the absolute position information.
Optionally, the controlling the ground alarm device and the vehicle-mounted alarm device to perform corresponding alarm operations according to the determined spatial relative position information and the determined absolute position information includes:
if the target UWB tag is determined to be positioned in the range of the set dangerous area corresponding to the target first UWB base station, controlling one or more ground alarm devices closest to the target UWB tag and vehicle-mounted alarm devices on a vehicle where the target first UWB base station is positioned to issue an alarm.
Optionally, the controlling the ground alarm device and the vehicle-mounted alarm device to perform corresponding alarm operations according to the determined spatial relative position information and the determined absolute position information includes:
if the UWB tag is determined to be located in the dead angle area of the personnel and vehicles, controlling ground alarm equipment deployed in the dead angle area of the personnel and vehicles to issue an alarm.
Optionally, the controlling the ground alarm device and the vehicle-mounted alarm device to perform corresponding alarm operations according to the determined spatial relative position information and the determined absolute position information includes:
If the UWB tag is determined to be located in the accident-prone area, controlling ground alarm equipment deployed in the accident-prone area to issue an alarm.
Optionally, the method further comprises:
and analyzing the historical accident occurrence places and the personnel tracks of the ports, determining the accident-prone areas and updating the accident-prone areas regularly.
In a third aspect, the present invention also provides an anti-collision device for a port vehicle, applied to an analysis control apparatus in an anti-collision system for a port vehicle, the system further including a first UWB base station provided on each port vehicle, a plurality of second UWB base stations provided at fixed positions in the port, UWB tags provided on each port person, a ground alert apparatus, and a vehicle-mounted alert apparatus, the UWB tags being configured to periodically transmit UWB signals to the surroundings, the first UWB base stations being configured to receive UWB signals transmitted by each UWB tag and determine first positioning information of each UWB tag according to the received UWB signals, the plurality of second UWB base stations being configured to receive UWB signals transmitted by each UWB tag and determine second positioning information of each UWB tag according to the received UWB signals, the device comprising:
the acquisition module is used for acquiring the first positioning information and the second positioning information;
The position calculation module is used for determining space relative position information between each UWB tag and each first UWB base station according to the first positioning information and determining absolute position information of each UWB tag in a port range according to the second positioning information;
and the alarm module is used for controlling the ground alarm equipment and the vehicle-mounted alarm equipment to carry out corresponding alarm operation according to the determined space relative position information and the absolute position information.
In a fourth aspect, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the harbor vehicle collision prevention method according to the second aspect as described above when executing the program.
In a fifth aspect, the present invention also provides a non-transitory computer readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, implements the port vehicle anti-collision method according to the second aspect as described above.
In a sixth aspect, the present invention also provides a computer program product comprising a computer program which when executed by a processor implements a method of port vehicle collision avoidance as described in any of the above.
According to the port vehicle anti-collision system and method provided by the invention, based on the UWB positioning technology, the first UWB base station is installed on each port vehicle, the UWB tag is installed on each port personnel, the second UWB base station is arranged at a plurality of fixed positions of the port, the space relative position information between each UWB tag and the first UWB base station and the absolute position information of each UWB tag in the port range are determined in real time, and the ground alarm device and the vehicle-mounted alarm device are controlled in time to carry out corresponding alarm operation according to the determined space relative position information and absolute position information, so that the intelligent and automatic anti-collision management of the port vehicles is realized, and the occurrence of vehicle personnel collision accidents can be effectively reduced.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Fig. 1 is a schematic structural diagram of a harbor vehicle anti-collision system according to the present invention, as shown in fig. 1, the system includes:
a first UWB base station 100 provided on each of the port vehicles, a plurality of second UWB base stations 110 provided at fixed locations of the ports, UWB tags 120 provided on each of the port personnel, an analysis control device 130, a ground warning device 140, and a vehicle-mounted warning device 150;
UWB tag 120 is configured to periodically transmit UWB signals to the surroundings;
the first UWB base station 100 is configured to receive UWB signals sent by the UWB tags 120, and determine first positioning information of the UWB tags 120 according to the received UWB signals;
the plurality of second UWB base stations 110 are configured to receive UWB signals transmitted by the UWB tags 120 and determine second positioning information of the UWB tags 120 according to the received UWB signals;
the analysis control device 130 is configured to obtain the first positioning information and the second positioning information, determine spatial relative position information between each UWB tag 120 and each first UWB base station 100 according to the first positioning information, determine absolute position information of each UWB tag 120 within a port range according to the second positioning information, and control the ground alert device 140 and the vehicle alert device 150 to perform corresponding alert operations according to the determined spatial relative position information and the determined absolute position information.
Specifically, the first UWB base station 100, the second UWB base station 110, the UWB tag 120, the ground alert device 140, and the vehicle alert device 150 in fig. 1 may all be plural, and fig. 1 is only a schematic diagram and does not represent the actual number.
The port vehicle may be a heavy-duty loading locomotive or other large vehicle at the port, etc. Port personnel refer to personnel who are active in the port area, including staff or visitors, etc.
In the embodiment of the invention, in order to realize the anti-collision intelligent and automatic management of port vehicles, effectively reduce the occurrence of collision accidents of vehicle personnel, based on Ultra Wide Band (UWB) positioning technology, a first UWB base station 100 is installed on each port vehicle, UWB tags 120 are installed on each port personnel, and a plurality of fixed positions of ports are provided with second UWB base stations 110, and the space relative position information between each UWB tag 120 and the first UWB base station 100 and the absolute position information of each UWB tag 120 in the port range are determined in real time through the UWB positioning technology.
The first UWB base station 100 may be mounted on top of a vehicle or other location that facilitates detection of UWB signals. The first UWB base station 100 may determine first positioning information of the UWB tag 120 by receiving the UWB signal transmitted by the UWB tag 120, that is, information available for positioning of the UWB tag 120, such as a time difference, an arrival angle, etc., measured by the first UWB base station 100, so as to subsequently determine spatial relative position information between the UWB tag 120 and the first UWB base station 100.
The second UWB base station 110 may be disposed at a plurality of fixed locations in the port, and the specific location is not limited herein, and may be, for example, a boundary and a center region within the range of the port region, or other locations that facilitate detection of UWB signals. The second UWB base station 110 may determine second positioning information of the UWB tag 120 by receiving the UWB signal transmitted by the UWB tag 120, that is, information available for positioning of the UWB tag 120, such as a time difference, an arrival angle, etc., measured by the second UWB base station 110, so that absolute position information of each UWB tag 120 in a port range is determined by multi-base station positioning.
The UWB tag 120 may be mounted on a tablet or other device suitable for personnel to carry, such as by mounting the UWB tag 120 on a tablet, all personnel entering the port carry a tablet for vehicle personnel collision avoidance. The UWB triggers the positioning process by periodically transmitting UWB signals, and the period of transmitting UWB signals is not limited herein, and an existing transmission method may be adopted.
The analysis control device 130 receives the positioning information sent by each first UWB base station 100 and each second UWB base station 110 in a wireless manner, and at the same time, the analysis control device 130 may control the ground alert device 140 and the vehicle alert device 150, the analysis control device 130 receives the first positioning information and the second positioning information in real time, determines the spatial relative position information between each UWB tag 120 and each first UWB base station 100, and the absolute position information of each UWB tag 120 in the port range according to the positioning information, and by analyzing the determined spatial relative position information and absolute position information, the analysis control device 130 may control the ground alert device 140 and the vehicle alert device 150 in time to perform a corresponding alert operation in case of determining that an alert is required.
The above-mentioned spatial relative position information between the UWB tag 120 and the first UWB base station 100 includes information such as a distance, an azimuth, etc. between the UWB tag 120 and the first UWB base station 100, so that the analysis control apparatus 130 can determine whether a person enters a dangerous area around the vehicle based on the spatial relative position information.
The absolute position information of the UWB tag 120 in the port range may be position coordinate information of the UWB tag 120 in a plane or a three-dimensional view in the port range. For example, the position of each second UWB base station 110 may be marked on a plane or a three-dimensional map within the port, and then the absolute position information of the UWB tag 120 within the port may be determined after calculating the relative position between the UWB tag 120 and the second UWB base station 110 based on the second positioning information transmitted by the second UWB base station 110.
Alternatively, the floor alert device 140 may include a floor warning light, buzzer, or other alert device deployed on the floor.
Alternatively, the in-vehicle alert device 150 may include an audible alert device provided on the vehicle or other device that may be used for alert alerting.
Alternatively, controlling the ground alert device 140 and the vehicle alert device 150 to perform the alert operation accordingly according to the determined spatial relative position information and absolute position information may include:
If it is determined that the target UWB tag 120 is located within the set dangerous area range corresponding to the target first UWB base station 100, one or more ground alert devices 140 closest to the target UWB tag 120 and an in-vehicle alert device 150 on the vehicle in which the target first UWB base station 100 is located are controlled to issue an alert.
Specifically, a three-dimensional area (for example, a cuboid area) with a certain distance from the front, back, left, right, upper and lower sides of the first UWB base station 100 may be set as a dangerous area range in advance according to the installation position of the first UWB base station 100 and the size of the vehicle, and if the spatial relative position between a certain UWB tag 120 and a certain first UWB base station 100 falls within the dangerous area range, the analysis control device 130 may control one or more ground alarm devices 140 closest to the UWB tag 120 and the vehicle alarm device 150 on the vehicle where the first UWB base station 100 is located to issue an alarm to remind ground personnel and a vehicle driver to avoid.
Alternatively, controlling the ground alert device 140 and the vehicle alert device 150 to perform the alert operation accordingly according to the determined spatial relative position information and absolute position information may include:
If it is determined that the UWB tag 120 is located in the dead space area of the personnel vehicle, the ground warning device 140 disposed in the dead space area of the personnel vehicle is controlled to issue a warning.
Specifically, the position coordinates of the dead-angle area of the personnel and the vehicle, which can be understood as an area where the personnel and the vehicle are likely to generate a visual dead zone, such as a corner, an area with more obstacles, and the like, may be marked in advance on a plane or a three-dimensional map in the port range.
When the UWB tag 120 is found to be located in a dead angle area of the person and the vehicle according to the positioning result of the UWB tag 120, the analysis control apparatus 130 may control the ground warning apparatus 140 disposed in the dead angle area of the person and the vehicle to issue a warning to remind the person on the ground and the nearby vehicle to avoid.
For example, ground warning lamps and buzzers can be deployed at dead corners of personnel and vehicles to accept push warning and timely issue warning, and a cooperative ground warning system is established to realize cooperative avoidance of the personnel and vehicles.
Alternatively, controlling the ground alert device 140 and the vehicle alert device 150 to perform the alert operation accordingly according to the determined spatial relative position information and absolute position information may include:
if it is determined that the UWB tag 120 is located in the accident-prone region, the ground alert device 140 deployed in the accident-prone region is controlled to issue an alert.
Specifically, the location coordinates of the accident-prone area may be marked on a plane or a three-dimensional map within the port area in advance, and the accident-prone area may be understood as an area with a large number of historic accidents, for example, an area with a number of historic accidents larger than a certain threshold may be set as an accident-prone area.
Optionally, the analysis control device 130 is further configured to: and analyzing the historical accident occurrence places and personnel tracks of the ports, determining accident-prone areas and updating the accident-prone areas regularly.
Specifically, the analysis control apparatus 130 may analyze the port historical accident occurrence location and the personnel trajectory according to the historical big data to determine the accident-prone area and update it periodically.
When the UWB tag 120 is found to be located in the marked accident-prone region according to the positioning result of the UWB tag 120, the analysis control apparatus 130 may control the ground alert apparatus 140 disposed in the accident-prone region to issue an alert to alert ground personnel and nearby vehicles to avoid.
Optionally, the analysis control device 130 may also avoid the dead angle area of the personnel and the accident-prone area preferentially when performing the route planning of the vehicle, so as to further reduce the probability of accident occurrence.
Optionally, the analysis control device 130 may further set an electronic fence on the gantry crane, and when a person enters the area of the gantry crane, an alarm reminding of the ground and the vehicle may be performed. For example, the electronic fence area of the gantry crane can be marked on a plane or a three-dimensional diagram in the port range, and when the UWB tag 120 is found to be located in the electronic fence area of the gantry crane according to the positioning result of the UWB tag 120, the analysis control device 130 can control the ground warning device 140 deployed in the area to issue a warning so as to remind ground personnel and nearby vehicles to avoid.
The port vehicle anti-collision system provided by the invention is based on the UWB positioning technology, a first UWB base station is arranged on each port vehicle, UWB labels are arranged on each port personnel, a plurality of fixed positions of the port are provided with a second UWB base station, the space relative position information between each UWB label and the first UWB base station and the absolute position information of each UWB label in the port range are determined in real time, and the ground alarm device and the vehicle-mounted alarm device are controlled in time to carry out corresponding alarm operation according to the determined space relative position information and absolute position information, so that the intelligent and automatic anti-collision management of the port vehicles is realized, and the occurrence of collision accidents of the vehicle personnel can be effectively reduced.
Fig. 2 is a schematic flow chart of a port vehicle anti-collision method provided by the invention, the method is applied to analysis control equipment in a port vehicle anti-collision system, the port vehicle anti-collision system further comprises a first UWB base station arranged on each port vehicle, a plurality of second UWB base stations arranged at fixed positions of the port, UWB tags positioned on each port personnel, ground alert equipment and vehicle alert equipment, the UWB tags are used for periodically sending UWB signals to the surroundings, the first UWB base station is used for receiving UWB signals sent by each UWB tag, and determining first positioning information of each UWB tag according to the received UWB signals, the plurality of second UWB base stations are used for receiving UWB signals sent by each UWB tag, and determining second positioning information of each UWB tag according to the received UWB signals, as shown in fig. 2, the method comprises the following steps:
step 200, acquiring first positioning information and second positioning information.
Step 201, determining spatial relative position information between each UWB tag and each first UWB base station according to the first positioning information, and determining absolute position information of each UWB tag in a port range according to the second positioning information.
And 202, controlling the ground alarm equipment and the vehicle-mounted alarm equipment to carry out corresponding alarm operation according to the determined space relative position information and absolute position information.
In particular, the port vehicle may be a heavy-duty loading locomotive or other large vehicle of the port, or the like. Port personnel refer to personnel who are active in the port area, including staff or visitors, etc.
In the embodiment of the invention, in order to realize the anti-collision intelligent and automatic management of the port vehicles and effectively reduce the occurrence of collision accidents of vehicle personnel, based on the UWB positioning technology, a first UWB base station is installed on each port vehicle, UWB labels are installed on each port personnel, and a plurality of fixed positions of the port are provided with a second UWB base station, and the space relative position information between each UWB label and the first UWB base station and the absolute position information of each UWB label in the port range are determined in real time through the UWB positioning technology.
The first UWB base station may be mounted on top of the vehicle or other location that facilitates detection of UWB signals. The first UWB base station may determine first positioning information of the UWB tag by receiving a UWB signal transmitted by the UWB tag, where the first positioning information is information available for positioning the UWB tag measured by the first UWB base station, such as a time difference, an arrival angle, and so on, so as to determine spatial relative position information between the UWB tag and the first UWB base station.
The second UWB base station may be located at a plurality of fixed locations in the port, and the specific location is not limited herein, and may be, for example, a boundary or a center region within the range of the port region, or other locations that facilitate detection of UWB signals. The second UWB base station may determine second positioning information of the UWB tag by receiving UWB signals transmitted by the UWB tag, that is, information available for positioning of the UWB tag measured by the second UWB base station, such as a time difference, an arrival angle, etc., so that absolute position information of each UWB tag in a port range is determined by multi-base station positioning.
The UWB tag may be mounted on a work board or other device suitable for personnel to carry, for example, the UWB tag may be mounted on a work board, and personnel entering the port all carry a work board for vehicle personnel collision avoidance management. The UWB triggers the positioning process by periodically transmitting UWB signals, and the period of transmitting UWB signals is not limited herein, and an existing transmission method may be adopted.
The analysis control device receives the positioning information sent by each first UWB base station and each second UWB base station in a wireless mode, meanwhile, the analysis control device can control the ground alarm device and the vehicle-mounted alarm device, the analysis control device receives the first positioning information and the second positioning information in real time, determines the space relative position information between each UWB label and each first UWB base station respectively according to the positioning information, and the absolute position information of each UWB label in a port range, and can timely control the ground alarm device and the vehicle-mounted alarm device to carry out corresponding alarm operation under the condition that the alarm is required.
The spatial relative position information between the UWB tag and the first UWB base station comprises information such as distance, azimuth and the like between the UWB tag and the first UWB base station, so that the analysis control equipment can determine whether a person enters a dangerous area range around the vehicle according to the spatial relative position information.
The absolute position information of the UWB tag in the port range may be position coordinate information of the UWB tag in a plane or a three-dimensional view in the port range. For example, the positions of the second UWB base stations may be marked on a plane or a three-dimensional map within the port range in advance, and then the absolute position information of the UWB tag within the port range may be determined after the relative position between the UWB tag and the second UWB base station is calculated based on the second positioning information transmitted by the second UWB base station.
Alternatively, the floor alert device may include a floor warning light, buzzer, or other alert device deployed on the floor.
Alternatively, the vehicle-mounted alert device may include an audible alert device provided on the vehicle or other device that may be used for alert reminding.
Optionally, controlling the ground alarm device and the vehicle alarm device to perform corresponding alarm operations according to the determined spatial relative position information and the absolute position information may include:
If the target UWB tag is determined to be located in the range of the set dangerous area corresponding to the target first UWB base station, controlling one or more ground warning devices closest to the target UWB tag and vehicle-mounted warning devices on a vehicle where the target first UWB base station is located to issue warning.
Specifically, a three-dimensional area (such as a cuboid area) with a certain distance from the front, back, left, right, up and down of the first UWB base station can be set as a dangerous area range in advance according to the installation position of the first UWB base station and the size of the vehicle, if the spatial relative position between a certain UWB tag and a certain first UWB base station falls within the dangerous area range, the analysis control device can control one or more ground alarm devices closest to the UWB tag and vehicle-mounted alarm devices on the vehicle where the first UWB base station is located to issue an alarm to remind ground personnel and vehicle drivers of avoiding.
Optionally, controlling the ground alarm device and the vehicle alarm device to perform corresponding alarm operations according to the determined spatial relative position information and the absolute position information may include:
if the UWB tag is determined to be located in the dead angle area of the personnel and the vehicle, controlling ground alarm equipment deployed in the dead angle area of the personnel and the vehicle to issue an alarm.
Specifically, the position coordinates of the dead-angle area of the personnel and the vehicle, which can be understood as an area where the personnel and the vehicle are likely to generate a visual dead zone, such as a corner, an area with more obstacles, and the like, may be marked in advance on a plane or a three-dimensional map in the port range.
When the UWB tag is found to be located in the dead angle area of the personnel and the vehicle according to the locating result of the UWB tag, the analysis control device can control the ground warning device deployed in the dead angle area of the personnel and the vehicle to issue warning so as to remind the personnel on the ground and the vehicles nearby to avoid.
For example, ground warning lamps and buzzers can be deployed at dead corners of personnel and vehicles to accept push warning and timely issue warning, and a cooperative ground warning system is established to realize cooperative avoidance of the personnel and vehicles.
Optionally, controlling the ground alarm device and the vehicle alarm device to perform corresponding alarm operations according to the determined spatial relative position information and the absolute position information may include:
if the UWB tag is determined to be located in the accident-prone area, controlling ground alarm equipment deployed in the accident-prone area to issue an alarm.
Specifically, the location coordinates of the accident-prone area may be marked on a plane or a three-dimensional map within the port area in advance, and the accident-prone area may be understood as an area with a large number of historic accidents, for example, an area with a number of historic accidents larger than a certain threshold may be set as an accident-prone area.
Optionally, the method further comprises: and analyzing the historical accident occurrence places and personnel tracks of the ports, determining accident-prone areas and updating the accident-prone areas regularly.
Specifically, the analysis control apparatus may analyze the historical accident occurrence location and the personnel trajectory of the port based on the historical big data to determine the accident-prone area and update it periodically.
When the UWB tag is found to be located in the marked accident multiple area according to the locating result of the UWB tag, the analysis control device can control the ground alarm device deployed in the accident multiple area to issue an alarm so as to remind ground personnel and nearby vehicles to avoid.
Optionally, the analysis control device may also avoid the dead angle area of the personnel and the accident area preferentially when the route planning of the vehicle is performed, so as to further reduce the probability of accident occurrence.
Optionally, the analysis control device can also set an electronic fence on the gantry crane, and when personnel enter the area of the gantry crane, the alarm reminding of the ground and the vehicle can be carried out. For example, the electronic fence area of the gantry crane can be marked on a plane or a three-dimensional diagram in the port range, and when the UWB label is found to be positioned in the electronic fence area of the gantry crane according to the positioning result of the UWB label, the analysis control equipment can control the ground alarm equipment deployed in the area to issue an alarm so as to remind ground personnel and nearby vehicles to avoid.
The port vehicle anti-collision method provided by the invention is based on the UWB positioning technology, a first UWB base station is arranged on each port vehicle, UWB labels are arranged on each port personnel, a plurality of fixed positions of the port are provided with a second UWB base station, the space relative position information between each UWB label and the first UWB base station and the absolute position information of each UWB label in the port range are determined in real time, and the ground alarm device and the vehicle-mounted alarm device are controlled in time to carry out corresponding alarm operation according to the determined space relative position information and absolute position information, so that the intelligent and automatic anti-collision management of the port vehicles is realized, and the occurrence of collision accidents of the vehicle personnel can be effectively reduced.
The port vehicle anti-collision device provided by the invention is described below, and the port vehicle anti-collision device described below and the port vehicle anti-collision method described above can be referred to correspondingly.
Fig. 3 is a schematic structural diagram of a port vehicle anti-collision device provided by the present invention, where the device is applied to an analysis control device in a port vehicle anti-collision system, and the port vehicle anti-collision system further includes a first UWB base station disposed on each port vehicle, a plurality of second UWB base stations disposed at fixed positions of the port, UWB tags located on each port person, a ground alert device, and a vehicle alert device, where the UWB tags are configured to periodically transmit UWB signals to the surroundings, the first UWB base station is configured to receive UWB signals transmitted by each UWB tag, determine first positioning information of each UWB tag according to the received UWB signals, and the plurality of second UWB base stations are configured to receive UWB signals transmitted by each UWB tag, and determine second positioning information of each UWB tag according to the received UWB signals, as shown in fig. 3, where the device includes:
An acquisition module 300, configured to acquire first positioning information and second positioning information;
the position calculating module 310 is configured to determine spatial relative position information between each UWB tag and each first UWB base station according to the first positioning information, and determine absolute position information of each UWB tag in a port range according to the second positioning information;
and the alarm module 320 is used for controlling the ground alarm device and the vehicle-mounted alarm device to perform corresponding alarm operations according to the determined spatial relative position information and absolute position information.
Optionally, according to the determined spatial relative position information and absolute position information, controlling the ground alarm device and the vehicle-mounted alarm device to perform corresponding alarm operations, including:
if the target UWB tag is determined to be located in the range of the set dangerous area corresponding to the target first UWB base station, controlling one or more ground warning devices closest to the target UWB tag and vehicle-mounted warning devices on a vehicle where the target first UWB base station is located to issue warning.
Optionally, according to the determined spatial relative position information and absolute position information, controlling the ground alarm device and the vehicle-mounted alarm device to perform corresponding alarm operations, including:
if the UWB tag is determined to be located in the dead angle area of the personnel and the vehicle, controlling ground alarm equipment deployed in the dead angle area of the personnel and the vehicle to issue an alarm.
Optionally, according to the determined spatial relative position information and absolute position information, controlling the ground alarm device and the vehicle-mounted alarm device to perform corresponding alarm operations, including:
if the UWB tag is determined to be located in the accident-prone area, controlling ground alarm equipment deployed in the accident-prone area to issue an alarm.
Optionally, the apparatus further comprises:
and the big data analysis module is used for analyzing historical accident occurrence places and personnel tracks of ports, determining accident-prone areas and updating the accident-prone areas regularly.
It should be noted that, the device provided by the present invention can implement all the method steps implemented by the method embodiment and achieve the same technical effects, and the parts and beneficial effects that are the same as those of the method embodiment in the present embodiment are not described in detail herein.
Fig. 4 is a schematic structural diagram of an electronic device according to the present invention, as shown in fig. 4, the electronic device may include: processor 410, communication interface (Communications Interface) 420, memory 430 and communication bus 440, wherein processor 410, communication interface 420 and memory 430 communicate with each other via communication bus 440. Processor 410 may invoke logic instructions in memory 430 to perform any of the port vehicle collision avoidance methods provided in the various embodiments described above.
Further, the logic instructions in the memory 430 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
It should be noted that, the electronic device provided by the present invention can implement all the method steps implemented by the method embodiments and achieve the same technical effects, and the details and beneficial effects of the same parts and advantages as those of the method embodiments in the present embodiment are not described in detail.
In another aspect, the present invention also provides a computer program product, where the computer program product includes a computer program, where the computer program can be stored on a non-transitory computer readable storage medium, where the computer program when executed by a processor can perform any of the port vehicle anti-collision methods provided in the foregoing embodiments.
It should be noted that, the computer program product provided by the present invention can implement all the method steps implemented by the method embodiments and achieve the same technical effects, and the details of the same parts and the advantages as those of the method embodiments in the present embodiment are not described herein.
In yet another aspect, the present invention further provides a non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor is implemented to perform any of the harbor vehicle collision avoidance methods provided in the above embodiments.
It should be noted that, the non-transitory computer readable storage medium provided by the present invention can implement all the method steps implemented by the method embodiments and achieve the same technical effects, and detailed descriptions of the same parts and beneficial effects as those of the method embodiments in this embodiment are omitted.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.