Spatial collision avoidance system for large port equipment based on artificial intelligence technology

Abstract

The present invention discloses a spatial collision avoidance system for large-scale port equipment based on artificial intelligence technology, and specifically relates to the field of artificial intelligence technology. By communicating and connecting with a "central control PLC" and a "stand-alone PLC" in the system, Beidou positioning data is obtained. Based on the obtained Beidou positioning data, the motion state data of a stacker and a reclaimer in a three-dimensional space is calculated, and the calculated motion state data is input into a three-dimensional digital twin module, and processed in the three-dimensional digital twin module to obtain the posture information of the stacker and the reclaimer in the three-dimensional space, and a collision judgment logic program is designed to judge whether there is a collision risk. Communication is performed between the three-dimensional digital twin module and the collision warning module. When communication between the stacker, the reclaimer and the PLC is interrupted, the offline detection process is immediately started, and an electronic fence is automatically delineated according to the posture data of the stacker and the reclaimer in the three-dimensional space at the moment of communication interruption.

Description

Technical Field

[0001] The present invention relates to the field of artificial intelligence technology, and more specifically, to a space collision avoidance system for large port equipment based on artificial intelligence technology. Background Art

[0002] With the booming global trade, ports, as important hubs for logistics and transportation, are facing increasing workloads and operational complexity. However, at the same time, the frequent operation of large equipment such as cranes and forklifts in ports also poses severe safety challenges. Collisions between workers and equipment may cause serious injuries and equipment damage, which not only affects production efficiency, but may also lead to economic losses and legal liabilities.

[0003] In this context, the development of a spatial collision avoidance system for large port equipment based on artificial intelligence technology has become an important measure to ensure workplace safety. Through sensors installed on large equipment, key information such as the position, speed and direction of the equipment is sensed in real time, and the data is transmitted to the central control system for processing and analysis. According to real-time environmental changes and the degree of collision risk, the movement path and speed of the equipment are automatically adjusted to minimize the risk of collision and ensure the safety of workers and equipment. Summary of the invention

[0004] In order to overcome the above-mentioned defects of the prior art, an embodiment of the present invention provides a spatial collision avoidance system for large port equipment based on artificial intelligence technology to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a spatial collision avoidance system for large-scale port equipment based on artificial intelligence technology, comprising a data acquisition module, a three-dimensional digital twin module, a collision warning module, and a communication monitoring module;

[0006] Data acquisition module: It communicates with the "central control PLC" and "stand-alone PLC" in the system to obtain Beidou positioning data. Based on the obtained Beidou positioning data, it calculates the motion state data of the stacker and reclaimer in three-dimensional space, and inputs the calculated motion state data into the three-dimensional digital twin module;

[0007] 3D digital twin module: Process the motion state data input into the 3D digital twin module, obtain the posture information of the stacker and reclaimer in 3D space, and display the posture of the stacker and reclaimer in space through a 3D model;

[0008] Collision warning module: Install cameras on the arms of the stacker and reclaimer to monitor the working area under the arms. Based on PLC technology, design a collision judgment logic program to determine whether there is a collision risk;

[0009] Communication monitoring module: Communicates between the 3D digital twin module and the collision warning module. When the communication between the stacker, reclaimer and PLC is interrupted, the offline detection process is immediately started. The electronic fence is automatically drawn based on the posture data of the stacker and reclaimer in the 3D space at the moment of communication interruption.

[0010] In a preferred embodiment, the data acquisition module obtains Beidou positioning data by communicating with the "central control PLC" and "stand-alone PLC" in the system, calculates the motion state data of the stacker and the reclaimer in three-dimensional space based on the acquired Beidou positioning data, and inputs the calculated motion state data into the three-dimensional digital twin module. The specific steps are as follows:

[0011] Step A1, data collection: by communicating with the "central control PLC" and "stand-alone PLC" in the system, real-time collection of the motion state data of the stacker and reclaimer, including acceleration and angular velocity data, further includes the following steps:

[0012] Step A101, acceleration data collection: measuring the acceleration of the equipment on three axes (x, y, z), respectively expressed as a x 、a y 、a z , the specific calculation formula is as follows:

[0013]

[0014] Among them, a m represents the acceleration of motion, a bx 、a by 、a bz is the reading at rest, corresponding to the acceleration due to gravity;

[0015] Step A102, angular velocity data collection: measuring the angular velocity of the equipment on three axes, respectively expressed as ω x ,ω y ,ω z , the angular displacement of the equipment on each axis is obtained by integrating the angular velocity. The specific calculation formula is as follows:

[0016] θ=∫ωdt

[0017] Where θ is the angular displacement, ω is the angular velocity, and dt is the time interval;

[0018] Step A2, data transmission: Establish a communication connection, connect the anti-collision PLC, 3D anti-collision digital platform, and AI visual algorithm server in the same wired network through a network cable switch, encapsulate the collected raw data into data packets and send them to the 3D digital twin module to ensure the security and reliability of data transmission.

[0019] In a preferred embodiment, the three-dimensional digital twin module processes the motion state data input into the three-dimensional digital twin module, obtains the posture information of the stacker and the reclaimer in the three-dimensional space, and displays the posture of the stacker and the reclaimer in the space through the three-dimensional model. The specific steps are as follows:

[0020] Step B1, attitude calculation: Perform attitude calculation based on the motion state data to determine the attitude of the stacker and reclaimer in three-dimensional space, including position, direction, and angle information. Use the attitude calculation algorithm to calculate the equipment attitude, and express the equipment attitude in the form of quaternion as q. Integrate the provided angular velocity data to obtain:

[0021]

[0022] Among them, q k represents the posture at time k, Δq k represents the attitude change within the time interval dt, and the symbol Represents quaternion multiplication;

[0023] Step B2: Use computer graphics technology to establish three-dimensional models of the stacker and reclaimer in the three-dimensional graphics library, and apply the updated posture information to the three-dimensional models of the stacker and reclaimer. The postures of the stacker and reclaimer in space are displayed through the three-dimensional models to help operators understand the status of the equipment more intuitively.

[0024] In a preferred embodiment, the collision warning module installs cameras on the arms of the stacker and the reclaimer to monitor the working area below the arms. Based on PLC technology, a collision judgment logic program is designed to judge whether there is a collision risk. The specific steps are as follows:

[0025] Step C1, cameras are installed on both sides of the boom roots of the stacker and the reclaimer. The cameras are used to monitor the working area below the boom, including the bucket wheel machine and the workers. The images obtained by the cameras are analyzed and processed in real time using image processing technology to detect whether there are vehicles and workers in the working area.

[0026] Step C2, designing a collision judgment logic program: setting a safety distance threshold, the setting of the safety threshold needs to be confirmed with the staff in the anti-collision PLC and the three-dimensional anti-collision digital platform, based on PLC technology, designing a collision judgment logic program to determine whether there is a collision risk, and when the collision warning program is triggered, adjusting the movement trajectory and speed of the equipment to minimize the collision risk;

[0027] Among them, the material pile collision detection and the collision detection between bucket wheel machines are carried out based on the logic of the anti-collision PLC and the three-dimensional anti-collision digital platform. The material pile collision detection is to perform real-time calculation of the anti-collision between the bucket wheel machine and the material pile according to the real-time position and dynamics of the bucket wheel machine and the three-dimensional data of the material pile to judge the collision risk;

[0028] Collision detection between bucket wheel machines performs real-time collision prevention calculations between bucket wheel machines based on their real-time positions and dynamics to determine collision risks;

[0029] When the collision warning program is triggered, the movement trajectory and speed of the equipment are adjusted to minimize the risk of collision. The specific steps include: according to the results of the collision warning program, a sound alarm is issued to remind the operator of the risk of collision, and the movement speed of the stacker and the reclaimer is reduced, and the movement trajectory of the equipment is adjusted to avoid obstacles and ensure safe passage through the working area. If the risk of collision cannot be eliminated, the movement of the equipment is stopped immediately to prevent a collision incident.

[0030] In a preferred embodiment, the communication monitoring module communicates between the three-dimensional digital twin module and the collision warning module. When the communication between the stacker, the reclaimer and the central control PLC is interrupted, the offline detection process is immediately started. According to the posture data of the stacker and the reclaimer in the three-dimensional space at the moment of communication interruption, the electronic fence is automatically drawn to avoid collisions between other normally operating stackers and reclaimers. The specific steps are as follows:

[0031] Step D1, detecting communication interruption: a heartbeat packet communication mechanism is established between the stacker, the reclaimer and the central control PLC. Each device periodically sends a heartbeat packet to other devices to confirm its online status. When a device does not receive a heartbeat packet from other devices within a predetermined time, it is determined that the communication is interrupted. When a communication interruption occurs, the offline detection process is immediately triggered;

[0032] Step D2, start the offline detection process: when communication interruption occurs, start the offline detection process, immediately send a notification to the collision warning module to trigger the collision warning mechanism, and send an alarm to other stackers and reclaimers in operation to inform them that communication interruption has occurred, avoid approaching and colliding with them, and record the posture data of the stackers and reclaimers in three-dimensional space at the moment of communication interruption, including position, speed, and acceleration information;

[0033] Step D3, automatically draw an electronic fence: Based on the posture data recorded at the moment of communication interruption, the communication monitoring module calculates the expected movement trajectory of the stacker and reclaimer, and draws an electronic fence around them, waiting for communication to be restored. When communication is restored, the system will resume normal operation while monitoring the communication status to ensure stability.

[0034] The beneficial effects of the present invention are as follows: by communicating and connecting with the "central control PLC" and "stand-alone PLC" in the system, Beidou positioning data is obtained, and based on the obtained Beidou positioning data, the motion state data of the stacker and the reclaimer in the three-dimensional space is calculated, and the calculated motion state data is input into the three-dimensional digital twin module, and processed in the three-dimensional digital twin module to obtain the posture information of the stacker and the reclaimer in the three-dimensional space, and a collision judgment logic program is designed to judge whether there is a collision risk, and communication is performed between the three-dimensional digital twin module and the collision warning module. When the communication between the stacker, the reclaimer and the PLC is interrupted, the offline detection process is immediately started, and the electronic fence is automatically delineated according to the posture data of the stacker and the reclaimer in the three-dimensional space at the moment of communication interruption. By giving an advance warning before the collision is about to occur, accidents are avoided, the safety of the operation is improved, the stable operation of the system is ensured, the operation interruption caused by communication interruption is reduced, and the operation efficiency is further improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 is a system flow chart of the present invention;

[0036] Figure 2 It is a flow chart of the pile collision detection of the present invention;

[0037] Figure 3 It is a flow chart of collision detection between bucket wheels of the present invention;

[0038] Figure 4 This is a flow chart of the offline detection of the present invention. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0040] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, "plurality" means two or more, unless otherwise clearly and specifically defined.

[0041] In the description of the present application, the term "for example" is used to mean "used as an example, illustration or description". Any embodiment described as "for example" in the present application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is given to enable any technician in the field to implement and use the present invention. In the following description, details are listed for the purpose of explanation. It should be understood that a person of ordinary skill in the art can recognize that the present invention can be implemented without using these specific details. In other examples, well-known structures and processes will not be elaborated in detail to avoid unnecessary details to obscure the description of the present invention. Therefore, the present invention is not intended to be limited to the embodiments shown, but is consistent with the widest scope consistent with the principles and features disclosed in the present application.

[0042] Example 1

[0043] This embodiment provides Figure 1 The large-scale port equipment space collision avoidance system based on artificial intelligence technology is shown, which specifically includes a data acquisition module, a three-dimensional digital twin module, a collision warning module, and a communication monitoring module;

[0044] Data acquisition module: It communicates with the "central control PLC" and "stand-alone PLC" in the system to obtain Beidou positioning data. Based on the obtained Beidou positioning data, it calculates the motion state data of the stacker and reclaimer in three-dimensional space, and inputs the calculated motion state data into the three-dimensional digital twin module;

[0045] 3D digital twin module: Process the motion state data input into the 3D digital twin module, obtain the posture information of the stacker and reclaimer in 3D space, and display the posture of the stacker and reclaimer in space through a 3D model;

[0046] Collision warning module: Install cameras on the arms of the stacker and reclaimer to monitor the working area under the arms. Based on PLC technology, design a collision judgment logic program to determine whether there is a collision risk;

[0047] Communication monitoring module: Communicates between the 3D digital twin module and the collision warning module. When the communication between the stacker, reclaimer and PLC is interrupted, the offline detection process is immediately started. The electronic fence is automatically drawn based on the posture data of the stacker and reclaimer in the 3D space at the moment of communication interruption.

[0048] In this embodiment, what needs to be explained specifically is the data acquisition module. The data acquisition module obtains Beidou positioning data by communicating with the "central control PLC" and "stand-alone PLC" in the system. Based on the obtained Beidou positioning data, the motion state data of the stacker and the reclaimer in the three-dimensional space is calculated, and the calculated motion state data is input into the three-dimensional digital twin module. The specific steps are as follows:

[0049] Step A1, data collection: by communicating with the "central control PLC" and "stand-alone PLC" in the system, real-time collection of the motion state data of the stacker and reclaimer, including acceleration and angular velocity data, further includes the following steps:

[0050] Step A101, acceleration data collection: measuring the acceleration of the equipment on three axes (x, y, z), respectively expressed as a x 、a y 、a z , the specific calculation formula is as follows:

[0051]

[0052] Among them, a m represents the acceleration of motion, a bx 、a by 、a bz is the reading at rest, corresponding to the acceleration due to gravity;

[0053] Step A102, angular velocity data collection: measuring the angular velocity of the equipment on three axes, respectively expressed as ω x ,ω y ,ω z , the angular displacement of the equipment on each axis is obtained by integrating the angular velocity. The specific calculation formula is as follows:

[0054] θ=∫ωdt

[0055] Where θ is the angular displacement, ω is the angular velocity, and dt is the time interval;

[0056] Step A2, data transmission: Establish a communication connection, connect the anti-collision PLC, 3D anti-collision digital platform, and AI visual algorithm server in the same wired network through a network cable switch, encapsulate the collected raw data into data packets and send them to the 3D digital twin module to ensure the security and reliability of data transmission.

[0057] In this embodiment, it is specifically necessary to explain the three-dimensional digital twin module. The three-dimensional digital twin module processes the motion state data input into the three-dimensional digital twin module, obtains the posture information of the stacker and the reclaimer in the three-dimensional space, and displays the posture of the stacker and the reclaimer in the space through the three-dimensional model. The specific steps are as follows:

[0058] Step B1, attitude calculation: Perform attitude calculation based on sensor data to determine the attitude of the stacker and reclaimer in three-dimensional space, including position, direction, and angle information. Use the attitude calculation algorithm to calculate the equipment attitude, and express the equipment attitude in quaternion form as q. Integrate the provided angular velocity data to obtain:

[0059]

[0060] Among them, q k represents the posture at time k, Δq k represents the attitude change within the time interval dt, and the symbol Represents quaternion multiplication;

[0061] Step B2: Use computer graphics technology to establish three-dimensional models of the stacker and reclaimer in the three-dimensional graphics library, and apply the updated posture information to the three-dimensional models of the stacker and reclaimer. The postures of the stacker and reclaimer in space are displayed through the three-dimensional models to help operators understand the status of the equipment more intuitively.

[0062] In this embodiment, the collision warning module specifically needs to be explained. The collision warning module installs cameras on the arms of the stacker and the reclaimer to monitor the working area under the arms. Based on the PLC technology, a collision judgment logic program is designed to judge whether there is a collision risk. The specific steps are as follows:

[0063] Step C1, cameras are installed on both sides of the boom roots of the stacker and the reclaimer. The cameras are used to monitor the working area below the boom, including the bucket wheel machine and the workers. The images obtained by the cameras are analyzed and processed in real time using image processing technology to detect whether there are vehicles and workers in the working area.

[0064] Step C2, designing a collision judgment logic program: setting a safety distance threshold, the setting of the safety threshold needs to be confirmed with the staff in the anti-collision PLC and the three-dimensional anti-collision digital platform, based on PLC technology, designing a collision judgment logic program to determine whether there is a collision risk, and when the collision warning program is triggered, adjusting the movement trajectory and speed of the equipment to minimize the collision risk;

[0065] Among them, the pile collision detection and the collision detection between bucket wheel machines are carried out based on the logic of the anti-collision PLC and the three-dimensional anti-collision digital platform. The pile collision detection is to perform real-time calculation of the anti-collision between the bucket wheel machine and the pile according to the real-time position and dynamics of the bucket wheel machine and the three-dimensional data of the pile to judge the collision risk, such as Figure 2 As shown;

[0066] Collision detection between bucket wheel machines is based on the real-time position and dynamics of the bucket wheel machines to perform real-time collision prevention calculations between bucket wheel machines and determine the collision risk, such as Figure 3 As shown;

[0067] When the collision warning program is triggered, the movement trajectory and speed of the equipment are adjusted to minimize the risk of collision. The specific steps include: according to the results of the collision warning program, a sound alarm is issued to remind the operator of the risk of collision, and the movement speed of the stacker and the reclaimer is reduced, and the movement trajectory of the equipment is adjusted to avoid obstacles and ensure safe passage through the working area. If the risk of collision cannot be eliminated, the movement of the equipment is stopped immediately to prevent a collision incident.

[0068] In this embodiment, it is specifically necessary to explain the communication monitoring module, which communicates between the three-dimensional digital twin module and the collision warning module. When the communication between the stacker, the reclaimer and the central control PLC is interrupted, the offline detection process is immediately started, and the electronic fence is automatically drawn according to the posture data of the stacker and the reclaimer in the three-dimensional space at the moment of communication interruption to avoid collisions between other stackers and reclaimers in normal operation. The specific steps are as follows:

[0069] Step D1, detecting communication interruption: a heartbeat packet communication mechanism is established between the stacker, the reclaimer and the central control PLC. Each device periodically sends a heartbeat packet to other devices to confirm its online status. When a device does not receive a heartbeat packet from other devices within a predetermined time, it is determined that the communication is interrupted. When a communication interruption occurs, the offline detection process is immediately triggered;

[0070] Step D2, start the offline detection process: Figure 4 As shown, when communication interruption occurs, the offline detection process is started, and a notification is immediately sent to the collision warning module to trigger the collision warning mechanism, and an alarm is sent to other stackers and reclaimers in operation to inform them that communication interruption has occurred, so as to avoid approaching and colliding with them. At the moment of communication interruption, the posture data of the stacker and reclaimer in three-dimensional space are recorded, including position, speed, and acceleration information;

[0071] Step D3, automatically draw an electronic fence: Based on the posture data recorded at the moment of communication interruption, the communication monitoring module calculates the expected movement trajectory of the stacker and reclaimer, and draws an electronic fence around them, waiting for communication to be restored. When communication is restored, the system will resume normal operation while monitoring the communication status to ensure stability.

[0072] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and for parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0073] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0074] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0075] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0076] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1A step that specifies a function in one or more boxes.

[0077] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0078] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. Based on artificial intelligence technology, the space collision avoidance system for large port equipment is characterized by: It includes data acquisition module, 3D digital twin module, collision warning module, and communication monitoring module; Data acquisition module: It communicates with the "central control PLC" and "stand-alone PLC" in the system to obtain Beidou positioning data. Based on the acquired Beidou positioning data, it calculates the motion state data of the stacker and reclaimer in three-dimensional space, and inputs the calculated motion state data into the three-dimensional digital twin module; 3D digital twin module: Process the motion state data input into the 3D digital twin module, obtain the posture information of the stacker and reclaimer in 3D space, and display the posture of the stacker and reclaimer in space through a 3D model; The three-dimensional digital twin module processes the motion state data input into the three-dimensional digital twin module, obtains the posture information of the stacker and the reclaimer in the three-dimensional space, and displays the posture of the stacker and the reclaimer in the space through the three-dimensional model. The specific steps are as follows: Step B1, attitude calculation: Perform attitude calculation based on the motion state data to determine the attitude of the stacker and reclaimer in three-dimensional space, including position, direction, and angle information. Use the attitude calculation algorithm to calculate the equipment attitude, and express the equipment attitude in the form of quaternion as q. Integrate the provided angular velocity data to obtain: ; in, represents the posture at time k, Indicates the time interval Changes in posture, symbols Represents quaternion multiplication; Step B2: using computer graphics technology, establishing three-dimensional models of the stacker and the reclaimer in the three-dimensional graphics library, and applying the updated posture information to the three-dimensional model, so as to display the postures of the stacker and the reclaimer in space through the three-dimensional model; Collision warning module: Install cameras on the arms of the stacker and reclaimer to monitor the working area under the arms. Based on PLC technology, design a collision judgment logic program to determine whether there is a collision risk; Communication monitoring module: Communicates between the 3D digital twin module and the collision warning module. When the communication between the stacker, reclaimer and PLC is interrupted, the offline detection process is immediately started. The electronic fence is automatically drawn based on the posture data of the stacker and reclaimer in the 3D space at the moment of communication interruption. The communication monitoring module communicates between the three-dimensional digital twin module and the collision warning module. When the communication between the stacker, the reclaimer and the central control PLC is interrupted, the offline detection process is immediately started. According to the posture data of the stacker and the reclaimer in the three-dimensional space at the time of communication interruption, the electronic fence is automatically delineated. The specific steps are as follows: Step D1, detecting communication interruption: a heartbeat packet communication mechanism is established between the stacker, the reclaimer and the central control PLC. Each device periodically sends a heartbeat packet to other devices to confirm its online status. When a device does not receive a heartbeat packet from other devices within a predetermined time, it is determined that the communication is interrupted. When a communication interruption occurs, the offline detection process is immediately triggered; Step D2, start the offline detection process: When communication interruption occurs, start the offline detection process, immediately send a notification to the collision warning module to trigger the collision warning mechanism, and send an alarm to other stackers and reclaimers in operation to inform them that communication interruption has occurred. At the moment of communication interruption, the posture data of the stacker and reclaimer in three-dimensional space are recorded.

2. According to the artificial intelligence technology-based large-scale port equipment space collision avoidance system according to claim 1, it is characterized by: The data acquisition module obtains Beidou positioning data by communicating with the "central control PLC" and "stand-alone PLC" in the system. Based on the obtained Beidou positioning data, the motion state data of the stacker and the reclaimer in three-dimensional space is calculated, and the calculated motion state data is input into the three-dimensional digital twin module. The specific steps are as follows: Step A1, data collection: by communicating with the "central control PLC" and "stand-alone PLC" in the system, the motion state data of the stacker and reclaimer are collected in real time, including acceleration and angular velocity data; Step A2, data transmission: Establish a communication connection through a network cable switch, encapsulate the collected raw data into a data packet and send it to the three-dimensional digital twin module.

3. The space collision avoidance system for large port equipment based on artificial intelligence technology according to claim 2 is characterized by: In the data collection of step A1, the motion state data of the stacker and the reclaimer are collected in real time, including acceleration and angular velocity data, and further include the following steps: Step A101, acceleration data acquisition: measuring equipment on three axes The acceleration on , , , the specific calculation formula is as follows: ; in, represents the motion acceleration, , , is the accelerometer reading at rest, corresponding to the acceleration due to gravity; Step A102, angular velocity data collection: measuring the angular velocity of the equipment on three axes, respectively expressed as , , , the angular displacement of the equipment on each axis is obtained by integrating the angular velocity. The specific calculation formula is as follows: ; in, is the angular displacement, is the angular velocity, is the time interval.

4. According to claim 1, the space collision avoidance system for large port equipment based on artificial intelligence technology is characterized by: The collision warning module installs cameras on the arms of the stacker and reclaimer to monitor the working area under the arms. Based on PLC technology, a collision judgment logic program is designed to judge whether there is a collision risk. The specific steps are as follows: Step C1, using image processing technology to perform real-time analysis and processing on the images acquired by the camera to detect whether there are vehicles and workers in the work area; Step C2, design collision judgment logic program: set the safety distance threshold, design collision judgment logic program based on PLC technology, judge whether there is a collision risk, and when the collision warning program is triggered, adjust the movement trajectory and speed of the equipment to reduce the collision risk.

5. According to claim 1, the space collision avoidance system for large port equipment based on artificial intelligence technology is characterized by: The automatic demarcation of the electronic fence specifically includes the following steps: based on the posture data recorded at the time of communication interruption, the communication monitoring module calculates the expected movement trajectory of the stacker and the reclaimer, and demarcates the electronic fence around them, waiting for communication to be restored.

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