Safety early warning method and device, storage medium and computer program product

Abstract

The invention discloses a safety early warning method and device, a storage medium and a computer program product, and relates to the field of fan control, the safety early warning method comprises the steps that position description information of a target object is acquired according to a UWB positioning system in a target acquisition period, and the position description information comprises static position information and dynamic track information; a motion mode matched with the target object is determined according to the position description information, and the motion mode is used for indicating the motion law of the target object in the target collection period; predicting a reference motion track of the target object in the target prediction period according to the motion mode; and sending early warning information to the target object according to the early warning level of the current early warning area under the condition that the position relationship between the reference movement track and the current early warning area meets a target condition. By adopting the technical scheme, the problems of low personnel safety early warning efficiency, inaccuracy and relatively high cost in a hydropower station scene are solved.

Description

Technical Field

[0001] The present application relates to the field of wind turbine control, and more specifically, to a safety warning method and device, a storage medium, and a computer program product. Background Art

[0002] The construction areas of hydropower stations in my country are mainly concentrated in high-altitude and cold regions, where the climate and environment are severe, the infrastructure is weak, geological disasters occur frequently, and there are many dangerous sections of roads, which poses a great challenge to construction safety. During the construction process, if personnel and vehicles enter the dangerous areas, it is easy to cause greater safety risks.

[0003] Although a large number of hydropower stations have been planned and constructed in my country, the construction areas are mainly concentrated in areas with large terrain differences and frequent natural disasters, such as on the fences and under the cliffs. The safety control of construction personnel and vehicles still has a lot to be improved, mainly in the following aspects:

[0004] (1) The intelligence level of human and vehicle trajectory monitoring is not high: there is no mature and simple method that can automatically identify the trajectory of people and vehicles.

[0005] (2) The general location monitoring system is expensive: In outdoor construction areas, positioning technology based on Beidou or other satellites relies on satellite communications, and the cost of purchasing satellite services is high. Especially for large-scale hydropower construction areas with a large number of personnel and vehicles, the cost of applying such satellite positioning services is even higher, which will greatly increase the cost of project construction.

[0006] (3) The current location safety monitoring system can only detect existing behaviors of mistakenly entering dangerous areas, but cannot predict them in advance, which increases the safety risks of people and vehicles.

[0007] In view of the problems of low efficiency, inaccuracy and high cost of personnel safety warning in hydropower station scenarios in related technologies, no effective solution has been proposed so far.

[0008] Therefore, it is necessary to improve the related technology to overcome the above-mentioned defects in the related technology. Summary of the invention

[0009] The embodiments of the present application provide a safety warning method and device, a storage medium and a computer program product to at least solve the problems in the related art that personnel safety warnings in hydropower station scenarios are low in efficiency, inaccurate and costly.

[0010] According to one aspect of an embodiment of the present application, a security warning method is provided, including: obtaining position description information of a target object according to a UWB positioning system within a target acquisition period, wherein the position description information includes static position information and dynamic trajectory information; determining a motion pattern matching the target object according to the position description information, wherein the motion pattern is used to indicate the motion pattern of the target object within the target acquisition period; predicting a reference motion trajectory of the target object within a target prediction period according to the motion pattern, wherein the target prediction period is a period of time after the target acquisition period; and sending warning information to the target object according to the warning level of the current warning area when the positional relationship between the reference motion trajectory and the current warning area meets the target condition.

[0011] In an exemplary embodiment, location description information of a target object is obtained according to a UWB positioning system during a target acquisition cycle, including: deploying at least one reference node in each of a plurality of monitoring and early warning areas, and setting a UWB tag for the target object, wherein the UWB tag is used to send a measurement signal to the reference node; determining a positioning distance between the UWB tag and each reference node in the target monitoring and early warning area according to an arrival time of the measurement signal from the UWB tag to each reference node; constructing a location coordinate matching the target object according to at least one positioning distance; and determining location description information matching the target object according to a plurality of location coordinates constructed for the target object during the target acquisition cycle.

[0012] In an exemplary embodiment, after determining the location description information matching the target object based on multiple location coordinates constructed for the target object within the target acquisition period, it includes: when the location description information matching the target object is static location information, the UWB tag matching the target object sends a measurement signal to a reference node after a first time interval; when the location description information matching the target object is dynamic trajectory information, determining the motion law of the target object based on the dynamic trajectory information, wherein the motion laws include: linear, periodic and irregular.

[0013] In an exemplary embodiment, determining a motion pattern that matches a target object based on location description information also includes: determining movement information that matches the target object based on the location description information, wherein the movement information includes movement speed, movement direction, and movement intention; determining a speed state, a steering state, and an interaction state indicated by the motion pattern that matches the target object based on the movement information that matches the target object.

[0014] In an exemplary embodiment, after determining the motion law of the target object according to the dynamic trajectory information, it includes: determining a reference motion trajectory according to the motion law of the target object; determining a positional relationship between the reference motion trajectory and a current warning area, wherein the positional relationship includes a close relationship and a distant relationship; determining that the target condition is met when the positional relationship is a close relationship, and performing a warning operation on the target object.

[0015] In an exemplary embodiment, a reference motion trajectory is determined according to the motion law of a target object, including: when the motion law of the target object is determined to be a linear type according to dynamic trajectory information matching the target object, the reference motion trajectory is determined to be an extension of a real driving trajectory line, wherein the real driving trajectory line is determined according to multiple position coordinates matching the target object within a target acquisition period; when the motion law of the target object is determined to be a periodic type according to the dynamic trajectory information matching the target object, the reference motion trajectory is determined to be an extension of the periodic law of the real driving trajectory line; when the motion law of the target object is determined to be irregular according to the dynamic trajectory information matching the target object, the reference motion trajectory is determined according to historical movement information, wherein the historical movement information is used to indicate the weight of the target object traveling with different motion laws at historical moments.

[0016] In an exemplary embodiment, before obtaining the location description information of the target object according to the UWB positioning system during the target acquisition cycle, it includes: dividing each early warning monitoring warning area into different warning levels; configuring a warning operation with a priority level one for the early warning monitoring warning area of ​​the forbidden level; configuring a warning operation with a priority level two for the early warning monitoring warning area of ​​the medium risk level; and configuring a warning operation with a priority level three for the early warning monitoring warning area of ​​the safety level.

[0017] According to another aspect of an embodiment of the present application, a safety warning device is also provided, including: an acquisition unit, which acquires position description information of the target object according to the UWB positioning system within a target acquisition period, wherein the position description information includes static position information and dynamic trajectory information; a determination unit, which determines a motion pattern matching the target object according to the position description information, wherein the motion pattern is used to indicate the motion law of the target object within the target acquisition period; a prediction unit, which predicts a reference motion trajectory of the target object within a target prediction period according to the motion pattern, wherein the target prediction period is a period of time after the target acquisition period; and a warning unit, which sends warning information to the target object according to the warning level of the current warning area when the positional relationship between the reference motion trajectory and the current warning area meets the target condition.

[0018] According to another aspect of the embodiments of the present application, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the above-mentioned security warning method when running.

[0019] According to another aspect of an embodiment of the present application, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the security warning method through the computer program.

[0020] According to another aspect of the embodiments of the present application, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps of the method described in each embodiment of the present application are implemented.

[0021] Through this application, the position description information of the target object can be first obtained according to the UWB positioning system within the target acquisition cycle, wherein the position description information includes static position information and dynamic trajectory information; further, the motion mode matching the target object can be determined according to the position description information, wherein the motion mode is used to indicate the motion law of the target object within the target acquisition cycle; then, the reference motion trajectory of the target object within the target prediction cycle can be predicted according to the motion mode, wherein the target prediction cycle is a period of time after the target acquisition cycle; when the position relationship between the reference motion trajectory and the current warning area meets the target condition, the warning information is sent to the target object according to the warning level of the current warning area. This solves the problem of low efficiency, inaccuracy and high cost of personnel safety warning in the hydropower station scene. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0023] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0024] Figure 1 It is a hardware structure block diagram of a computer terminal of a security early warning method according to an embodiment of the present application;

[0025] Figure 2 is a flow chart of a safety warning method according to an embodiment of the present application;

[0026] Figure 3is a schematic diagram of another safety warning method according to an embodiment of the present application;

[0027] Figure 4 is a schematic diagram of another safety warning method according to an embodiment of the present application;

[0028] Figure 5 is a schematic diagram of another safety warning method according to an embodiment of the present application;

[0029] Figure 6 is a schematic diagram of another safety warning method according to an embodiment of the present application;

[0030] Figure 7 It is a structural block diagram of a safety warning device according to an embodiment of the present application. DETAILED DESCRIPTION

[0031] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings 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 ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0032] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0033] The method embodiments provided in the embodiments of the present application can be executed in a computer terminal or a similar computing device. Taking running on a computer terminal as an example, Figure 1 1 is a hardware structure block diagram of a computer terminal of a security warning method according to an embodiment of the present application. Figure 1 As shown, the computer terminal may include one or more ( Figure 1Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor (Central Processing Unit, MCU) or a programmable logic device (Field Programmable Gate Array, FPGA)) and a memory 104 for storing data, wherein the above-mentioned computer terminal may also include a transmission device 106 and an input and output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the above-mentioned computer terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown.

[0034] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the security warning method in the embodiment of the present application. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, to implement the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories may be connected to the computer terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0035] A wireless network provided by a communication provider of a computer terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (Radio Frequency, referred to as RF) module, which is used to communicate with the Internet wirelessly.

[0036] In this embodiment, a safety warning method is provided. Figure 2 is a flow chart of a security warning method according to an embodiment of the present application. Figure 2 As shown, the process includes the following steps:

[0037] S202, obtaining location description information of the target object according to the UWB positioning system within the target acquisition period, wherein the location description information includes static location information and dynamic trajectory information;

[0038] S204, determining a motion pattern matching the target object according to the position description information, wherein the motion pattern is used to indicate a motion pattern of the target object within a target acquisition period;

[0039] S206, predicting a reference motion trajectory of the target object within a target prediction period according to the motion pattern, wherein the target prediction period is a period of time after the target acquisition period;

[0040] S208: When the positional relationship between the reference motion trajectory and the current warning area meets the target condition, send warning information to the target object according to the warning level of the current warning area.

[0041] Optionally, in the above step S202, the location description information of the target object is obtained according to the UWB positioning system within the target acquisition period, wherein the location description information includes static location information and dynamic trajectory information.

[0042] As an optional implementation, the target acquisition period can be a static or dynamically variable time period according to different requirements in different periods; the UWB positioning system is specifically a method of accurately positioning personnel by measuring the flight time (ToF) of radio signals. Specifically, the TDoA principle is adopted to measure the time difference of the radio signal propagation between the positioning tag and two different positioning modules, and the distance difference between the positioning tag and multiple groups of positioning modules is obtained, thereby determining the two-dimensional coordinate position of the positioning tag.

[0043] The above-mentioned static position information can be, but is not limited to, foreground and background segmentation by using the CodeBook method, and the longitude and latitude coordinate information, altitude information, relative position information, etc. of the target object are extracted from the original image to describe the position data information of the target object at a specific moment;

[0044] The above-mentioned dynamic trajectory information can be, but is not limited to, obtained by expanding the two-dimensional trajectory into three-dimensional space, adding the time dimension, and obtaining the three-dimensional trajectory coordinates (x, y, t) of the target object, and then analyzing the dynamic trajectory information of the target object. The above-mentioned dynamic trajectory information includes but is not limited to speed, acceleration, and direction lights, which can be used to describe the position sequence of the target object changing over time, and no specific restrictions are made here.

[0045] It should be noted that it can also be determined that the static position information indicates that the target object is in a stationary state, and the dynamic trajectory information indicates that the target object is in a moving state.

[0046] In step S204, a motion pattern matching the target object is determined according to the position description information, wherein the motion pattern is used to indicate the motion pattern of the target object within the target acquisition period.

[0047] Optionally, the above-mentioned motion pattern may specifically be a type of moving trajectory of the target object, such as a linear type, a periodic type, an irregular type, etc., which is only an example.

[0048] In an optional implementation, for example, the location description information of the target object within a period of time is obtained, the location data is fitted using a linear regression method, and it is checked whether the data points are roughly distributed on a straight line. The slope of the fitting line is further analyzed. The stability of the slope can reflect the linear characteristics of the trajectory, or the fitting residual is checked. A smaller residual indicates that the data point is closer to the straight line.

[0049] In another optional implementation, it is possible to determine whether the location description information follows any model or trend in the mathematical model based on multiple mathematical models, or to use complexity indicators such as entropy to quantify the randomness and unpredictability of the trajectory, thereby determining the movement pattern of the target object.

[0050] In the above step S206, the reference motion trajectory of the target object within the target prediction period is predicted according to the motion pattern, wherein the target prediction period is a period of time after the target acquisition period.

[0051] Optionally, the target object can be predicted to continue to move according to the movement law of the target object determined in the previous step within a certain period of time in the future, and then the predicted reference movement trajectory can be obtained. This is only an example.

[0052] In the above step S208, when the positional relationship between the reference motion trajectory and the current warning area meets the target condition, warning information is sent to the target object according to the warning level of the current warning area.

[0053] It should be noted that, for example, if the target object is a vehicle, and the vehicle remains stationary at all times in history (such as one day), and the area where the vehicle is located is a safe area, it can be determined that there is no need to perform a warning operation on the vehicle. If the target object is a pedestrian, and the pedestrian has moved along a route trajectory close to the restricted area within 1 hour in history, it is predicted that the pedestrian may enter the restricted area, and a warning message is sent to relevant managers and pedestrians in advance to remind them that the pedestrian is about to enter a dangerous area. No specific restrictions are made here.

[0054] Through the above steps, the position description information of the target object can be first obtained according to the UWB positioning system within the target acquisition period, wherein the position description information includes static position information and dynamic trajectory information; further, the motion mode matching the target object is determined according to the position description information, wherein the motion mode is used to indicate the motion law of the target object within the target acquisition period; then, the reference motion trajectory of the target object within the target prediction period is predicted according to the motion mode, wherein the target prediction period is a period of time after the target acquisition period; when the position relationship between the reference motion trajectory and the current warning area meets the target condition, the warning information is sent to the target object according to the warning level of the current warning area. Thus, the problem of low efficiency, inaccuracy and high cost of personnel safety warning in the hydropower station scene is solved.

[0055] In an optional implementation, obtaining location description information of the target object according to the UWB positioning system during the target acquisition period includes:

[0056] S1, deploying at least one reference node in each of the multiple monitoring and early warning areas, and setting a UWB tag for the target object, wherein the UWB tag is used to send a measurement signal to the reference node;

[0057] S2, determining the positioning distance between the UWB tag and each reference node in the target monitoring and early warning area according to the arrival time of the measurement signal from the UWB tag to each reference node;

[0058] S3, constructing a location coordinate matching the target object according to at least one positioning distance;

[0059] S4, determining location description information matching the target object according to a plurality of location coordinates constructed for the target object during the target acquisition cycle.

[0060] In the above processes S1-S4, at least one reference node is deployed in each of the multiple monitoring and early warning areas, and a UWB tag is set for the target object, wherein the UWB tag is used to send a measurement signal to the reference node; the positioning distance between the UWB tag and each reference node in the target monitoring and early warning area is determined according to the arrival time of the measurement signal from the UWB tag to each reference node; the position coordinates matching the target object are constructed according to at least one positioning distance; and the position description information matching the target object is determined according to the multiple position coordinates constructed for the target object during the target acquisition period.

[0061] The above process is described below in a specific implementation manner:

[0062] First, reference node setting: deploy three or more reference nodes (base stations) in the positioning area, and the coordinates of these nodes are known. These nodes are marked as A, B, and C, and the corresponding coordinates are (xa, ya), (xb, yb), and (xc, yc).

[0063] Then measure the distance: The person or device to be located is equipped with a UWB tag, which sends a UWB signal to the surrounding reference nodes. Each reference node measures the time it takes for the signal to arrive and records the time data. Calculate the distance: Using the principle of Time of Flight (ToF), the distance between the UWB tag and each reference node is calculated by measuring the time it takes for the signal to be transmitted from the UWB tag to be received by each reference node. Let the distances from the UWB tag to the reference nodes A, B, and C be da, db, and dc, respectively.

[0064] Further equations are established: With each reference node as the center and the measured distance as the radius, three circles are drawn on a two-dimensional plane. The intersection of these three circles is the precise location of the UWB tag. Mathematically, the coordinates (x, y) of the UWB tag can be determined by solving the following set of equations:

[0065] (x-xa)^2+(y-ya)^2=da^2;

[0066] (x-xb)^2+(y-yb)^2=db^2;

[0067] (x-xc)^2+(y-yc)^2=dc^2;

[0068] Therefore, by solving the above equations, the coordinates (x, y) of the UWB tag, that is, the specific location of the person or device in the area, can be obtained.

[0069] It should be noted that in order to ensure the normal operation of TDOA technology, all modules involved in positioning calculations need to maintain the same reference clock. Clock synchronization technology is divided into wired synchronization and wireless synchronization. Wired synchronization achieves synchronization by connecting the positioning module through cables, while wireless synchronization achieves synchronization through radio signals. The principle of wireless clock synchronization is to elect a master node in a positioning area. The master node is responsible for periodically sending UWB wireless messages carrying clock synchronization information. The slave node receives the clock synchronization message from the master node and records the clock difference between the slave node and the master node based on the information in the clock synchronization message. When the positioning broadcast message of the tag is received later, the slave node performs clock compensation processing based on the previously recorded clock difference when timestamping the tag message.

[0070] Through the above implementation method, the UWB technology is effectively utilized for its low cost and high waterproof and explosion-proof properties. The monitoring is stable and a single construction can be applied to the entire hydropower project construction cycle of up to several years, effectively reducing the overall cost. In addition, the device is simple, and the facility only requires a conventional outdoor UWB positioning system and image transmission data, which is convenient, simple and easy to install.

[0071] In an optional implementation, after determining the location description information matching the target object according to the multiple location coordinates constructed for the target object during the target acquisition period, the method includes:

[0072] S1, when the location description information matched with the target object is static location information, the UWB tag matched with the target object sends a measurement signal to the reference node after a first time interval;

[0073] S2, when the location description information matched with the target object is dynamic trajectory information, determining the motion law of the target object according to the dynamic trajectory information, wherein the motion law includes: linear, periodic and irregular.

[0074] In the above step S1, when the location description information matched with the target object is static location information, the UWB tag matched with the target object sends a measurement signal to the reference node after a first time interval.

[0075] As an optional implementation, if the location description information of the target object collected within a collection period indicates that the target object is stationary, wireless signals are continuously sent to detect whether the target object is moving.

[0076] In the above step S2, when the location description information matched with the target object is dynamic trajectory information, the motion law of the target object is determined according to the dynamic trajectory information, wherein the motion law includes: linear, periodic and irregular.

[0077] As an optional implementation, if the position description information collected within a period of time is dynamic trajectory information of regular or irregular changes in speed, acceleration and position coordinates, the movement pattern of the target object is determined according to the dynamic trajectory information.

[0078] Specifically, the method for determining the law of motion is as follows:

[0079] If the motion trajectory is close to a straight line and the left and right deviation angles do not exceed 15° during the motion, the motion pattern is determined to be linear;

[0080] If the motion is estimated to be close to periodicity, the up and down, left and right deviation distances and angles of each periodic motion trajectory are close, and the left and right deviation distances and angles do not differ by more than 20% each time, the motion pattern is determined to be periodic;

[0081] If it does not meet the above two operating characteristics, that is, it does not meet the periodic and linear motion trajectories, then the motion law is determined to be irregular.

[0082] Through the above-mentioned implementation methods recorded in this application, the movement law of the target object is determined according to the dynamic trajectory information, and the trajectory prediction algorithm is used to automatically determine whether there is a possibility of entering a dangerous area, thereby improving the accuracy of the prediction results of the target object's movement trajectory, thereby improving the accuracy and efficiency of safety warnings.

[0083] In an optional implementation, determining a motion mode matching the target object according to the position description information further includes:

[0084] S1, determining movement information matching the target object according to the location description information, wherein the movement information includes movement speed, movement direction and movement intention;

[0085] S2, determining a speed state, a steering state, and an interaction state indicated by a motion pattern matching the target object according to movement information matching the target object.

[0086] In the above steps S1-S2, the movement information matching the target object is determined according to the location description information, wherein the movement information includes the movement speed, the movement direction and the movement intention; the speed state, the steering state and the interaction state indicated by the motion mode matching the target object are determined according to the movement information matching the target object.

[0087] The above-mentioned movement intention is the interaction behavior between the target object and other road objects, which can be used to predict the movement behavior that can be generated.

[0088] As an optional implementation, if the moving speed in the target object's movement information is determined to be 30m / s, the acceleration is 0, the moving direction is straight along the current driving route according to the location description information, and the movement intention is that the target object checked the operation status of a certain equipment and found that the operation was abnormal, it is inferred that the target object needs to check and repair the equipment. According to the above movement information, the speed state matching the motion mode is determined to be a uniform speed of 30m / s, the turning state is no turning, straight going, and the interaction state is approaching the area where the equipment is located. This is just an example.

[0089] It should be noted that the speed state, steering state and interaction state that match the motion mode can also be regular. For example, within the target acquisition cycle, it is detected that the speed of the target object increases by 1m / s every 10s, or turns around and drives backward 2m every 1min, and stops every 3s. Based on the above states, a more specific speed, direction and interaction behavior prediction can be made for a certain trajectory of the subsequent target object, thereby achieving a more accurate prediction of the target object's behavior and improving the accuracy of safety warnings.

[0090] In an optional implementation, after determining the motion law of the target object according to the dynamic trajectory information, the method includes:

[0091] S1, determining the reference motion trajectory according to the motion law of the target object;

[0092] S2, determining the positional relationship between the reference motion trajectory and the current warning area, wherein the positional relationship includes a close relationship and a far relationship;

[0093] S3, determining that the target condition is met when the position relationship is a close relationship, and performing a warning operation on the target object.

[0094] In the above steps S1-S3, a reference motion trajectory is determined according to the motion law of the target object; a positional relationship between the reference motion trajectory and the current warning area is determined, wherein the positional relationship includes a close relationship and a distant relationship; and when the positional relationship is a close relationship, it is determined that the target condition is met, and a warning operation is performed on the target object;

[0095] The above process is described below in a specific implementation manner:

[0096] In the case of linear motion, if the vehicle is in a safe zone, continuous monitoring is performed, the position trajectory is refreshed every 5 seconds, and the average speed of the previous minute is extracted as the real-time speed v. If the vehicle is in a risky zone, an extension line of the motion trajectory is drawn. If the vehicle is about to enter a restricted zone, and the entry time t = L / t is less than 1 minute (for vehicles) or 30 seconds (for people), a reminder is issued to the vehicle (person) until the vehicle adjusts its direction away from the restricted zone. If the vehicle is in a restricted zone, an expulsion alarm is issued in a timely manner and reported to the platform.

[0097] In the case of periodic motion, if the vehicle is in a safe zone, continuous monitoring is performed, the position trajectory is refreshed every 5 seconds, and the average speed of the previous minute is extracted as the real-time speed v. If the vehicle is in a risky zone, the periodic motion trajectory is virtually extended. If the extended virtual motion trajectory intersects with the restricted zone, and the predicted entry time t = L / t is less than 1 minute (for vehicles) or 30 seconds (for people), a prompt is issued to the vehicle (person) until the vehicle (person) adjusts its direction away from the restricted zone. If the vehicle is in a restricted zone, an expulsion alarm is issued in a timely manner and reported to the platform.

[0098] In the case of periodic motion, if it is in a safe area, it will be continuously monitored, and the position trajectory will be refreshed every 5 seconds, and the average speed of the previous minute will be extracted as the real-time speed v. If it is in a risky area, the UWB data information will be continuously refreshed to a minimum of 1 second. If the motion trajectory shows that it is constantly approaching the restricted area within 30 seconds, and the estimated entry time t=L / t is less than 1 minute (for vehicles) or 30 seconds (for people), a prompt will be issued to the vehicle (person) until it adjusts its direction away from the restricted area. If it is in a restricted area, an expulsion alarm will be issued in time and reported to the platform.

[0099] It should be noted that in this embodiment, the driving path needs to be predicted based on the existing driving trajectory information. It can be but not limited to identifying the vehicle's intentions, such as changing lanes, turning, etc., and using a dual LSTM network for long-term trajectory prediction. No specific restrictions are made here.

[0100] For example, if the historical movement trajectory determined based on the historical movement data is close to a straight line or arc, a curve equation corresponding to the movement trajectory can be constructed, and then the movement trajectory of the target object within a period of time can be predicted based on the curve equation. If the historical movement trajectory determined based on the historical movement data has a periodic change pattern, the historical movement trajectory can be synchronously and regularly extended according to the pattern to obtain a predicted driving trajectory.

[0101] Through the above implementation of the present application, a reference motion trajectory is determined according to the motion law of the target object; the positional relationship between the reference motion trajectory and the current warning area is determined, wherein the positional relationship includes a close relationship and a far relationship; and when the positional relationship is a close relationship, it is determined that the target condition is met, and a warning operation is performed on the target object. This improves the accuracy and efficiency of safety warnings.

[0102] In an optional implementation, determining a reference motion trajectory according to a motion law of the target object includes:

[0103] S1, when it is determined that the motion law of the target object is a linear type according to the dynamic trajectory information matched with the target object, determine the reference motion trajectory as an extension of the real driving trajectory line, wherein the real driving trajectory line is determined according to multiple position coordinates matched with the target object within the target acquisition period;

[0104] S2, when it is determined that the motion law of the target object is periodic according to the dynamic trajectory information matched with the target object, determining the reference motion trajectory as the periodic law extension line of the real driving trajectory line;

[0105] S3, when it is determined that the motion law of the target object is irregular according to the dynamic trajectory information matching the target object, a reference motion trajectory is determined according to the historical movement information, wherein the historical movement information is used to indicate the weight of the target object traveling with different motion laws at historical moments.

[0106] As an optional implementation, in step S1, when it is determined that the motion law of the target object is a straight line according to the dynamic trajectory information matched with the target object, the reference motion trajectory is determined as an extension line of the real driving trajectory line, wherein the real driving trajectory line is determined according to a plurality of position coordinates matched with the target object within the target acquisition period;

[0107] Alternatively, if the historical movement trajectory approaches a straight line, the linear relationship can be described by a linear equation y=mx+b, and then the values ​​of m and b can be calculated from the historical data using statistical methods such as the least squares method. If the historical movement trajectory approaches an arc, the circle equation (xh)^2+(yk)^2=r^2 can be used, where (h, k) is the center of the circle and r is the radius, and then the center and radius can be calculated from the historical data using a fitting method.

[0108] For straight-line trajectories, linear regression models can be used, and for curved trajectories, nonlinear regression models can be used. These models will learn the pattern of trajectories based on historical data and be able to predict future trajectories.

[0109] As an optional implementation, in step S2, when the motion law of the target object is determined to be periodic according to the dynamic trajectory information matched with the target object, the reference motion trajectory is determined to be the periodic regular extension line of the real driving trajectory line;

[0110] Optionally, periodic statistics and frequency analysis are performed on the data to determine the periodic pattern of the trajectory, and then the periodic model is trained using historical data. According to the trained periodic model, the historical movement trajectory is synchronously extended. The model will predict the movement trajectory of the target object in the future based on the identified periodic law.

[0111] As an optional implementation, in step S3, when it is determined that the motion law of the target object is irregular according to the dynamic trajectory information matched with the target object, a reference motion trajectory is determined according to the historical movement information, wherein the historical movement information is used to indicate the weight of the target object traveling with different motion laws at the historical moment;

[0112] Optionally, if the target object in the historical time travels in a straight line within 0-5s, travels in an arc trajectory within 5-15s, and travels periodically within 15-30s, the weight of the moving route can be determined according to the driving time of the target object according to different movement types. For example, the longest weight of periodic driving time is 0.5, the weight of arc movement is 0.3, and the weight of straight line movement is 0.2. It is predicted that in the next 10s, the target object will first travel periodically for 5s, then change to arc movement for 3s, and finally travel in a straight line for 2s. This is only an example. The actual movement method can change the combination order, and no specific limitation is made here.

[0113] In an optional implementation, before obtaining the location description information of the target object according to the UWB positioning system within the target acquisition period, the method includes:

[0114] S1, divide each early warning monitoring and early warning area into different early warning levels;

[0115] S2, configure a warning operation with a priority level of one for the warning monitoring and warning area of ​​the prohibited level;

[0116] S3, configure the warning operation with priority level 2 for the warning monitoring and warning area of ​​medium risk level;

[0117] S4, configure the warning operation with priority level three for the warning monitoring and warning area of ​​the security level.

[0118] In the above steps S1-S4, different warning levels are divided for each early warning monitoring area; a warning operation with a priority level of one is configured for the early warning monitoring area of ​​the forbidden level; a warning operation with a priority level of two is configured for the early warning monitoring area of ​​the medium risk level; and a warning operation with a priority level of three is configured for the early warning monitoring area of ​​the safety level.

[0119] Optionally, the prohibited area may be the water area and revetment area within the fence area, the medium-risk area may be the area where the electrical equipment is located, and the safe area may be the area 300m upstream and downstream of the hydropower station dam;

[0120] The first-level warning operation can be a broadcast plus alarm reminder, the second-level warning operation can be a text message reminder, and the third-level warning operation can be a mini-program pop-up prompt. There is no specific restriction here.

[0121] Obviously, the embodiments described above are only some embodiments of the present application, not all embodiments. In order to better understand the above security warning method, the above process is described below in conjunction with the embodiments, but it is not intended to limit the technical solutions of the embodiments of the present application, specifically:

[0122] The present application is described below in a specific implementation manner:

[0123] S1, trajectory data reading: the movement trajectory of the people and vehicles involved in the previous period is read, generally reading the movement trajectory of the most recent continuous journey or within 15 minutes. This part can be read through the electronic map module data of the construction vehicle management platform.

[0124] As an optional implementation method, the construction area of ​​a large hydropower station is first divided into three safety levels: safe area, risk area and restricted area. There is no obvious risk of safety accidents in the safe area, which mainly includes flat, wide, well-equipped, well-managed construction sites and personnel dormitories, and factory office buildings without running equipment. The risk area is an area where there are certain safety risks, and the safety risks can be controlled through correct operation, mainly including: factory buildings with equipment, areas that require operations such as climbing to the edge; restricted area: areas where the safety risks in the construction area are relatively high and all personnel are prohibited from entering, including areas with unstable slopes, falling rocks, etc. The UWB system is used to read the movement trajectories of all people and vehicles in the construction site for a period of time. Generally, the movement trajectories of the most recent continuous journey or within 15 minutes are read. The data can be read through the electronic map module data of the construction vehicle management platform.

[0125] The specific implementation method is as follows:

[0126] First, the UWB positioning system reads the position of the monitored personnel and vehicles in the monitoring and early warning area. In the safe area, it is generally refreshed every 10 seconds, that is, the position of the personnel at t0, t1...tn is recorded. When the person is in the pre-designated safe area, the UWB positioning system maintains a refresh frequency of 10 seconds and continuously records the position of the personnel and vehicles.

[0127] Furthermore, when personnel and vehicles enter the risk area to carry out construction work, the UWB positioning system is changed to refresh every 2 seconds, recording the location of each person and automatically generating a trajectory.

[0128] S2, trajectory data analysis: through intelligent algorithms, according to the trajectory data, the movement trajectory within this period of time is divided into Figure 3 The linear, periodic and irregular types shown in .

[0129] Specifically, the method for judging the linear motion type is: the motion trajectory is close to a straight line, and the left and right deviation angles during the motion process do not exceed 15°; the method for judging the periodic motion type is: the motion estimation is close to periodicity, the up and down, left and right deviation distances and angles of the motion trajectory of each cycle are close, and the left and right deviation distances and angles do not differ by more than 20% each time; the method for judging the irregular motion type is: it does not meet the above two operating characteristics, and does not meet the periodic and linear motion trajectories.

[0130] S3, through the classified motion trajectory type and motion speed, predicts whether the person or vehicle will enter the dangerous control area within a certain period of time in the future.

[0131] Specifically, by dividing the motion trajectory type and motion speed, it is predicted whether the person or vehicle will enter the dangerous control area within a certain period of time in the future.

[0132] According to the analysis, Figure 4 There is no possibility of entering the dangerous area under the movement trajectory. Figure 5 There is a possibility of entering a dangerous area under the movement trajectory of , which is only an example.

[0133] The following describes the process of predicting the safety status according to different types of movement:

[0134] In the case of linear motion, if the vehicle is in a safe zone, the system continuously monitors the location and updates the location track every 5 seconds, extracting the average speed of the previous minute as the real-time speed v. If the vehicle is in a risky zone, the system extends the motion track. If the vehicle is about to enter a restricted zone, and the entry time t=L / t is less than 1 minute (for vehicles) or 30 seconds (for people), the system will issue a reminder to the vehicle (person) until the vehicle adjusts its direction away from the restricted zone. If the vehicle is in a restricted zone, the system will issue a warning to drive away the vehicle (person) in a timely manner and report to the platform.

[0135] In the case of periodic motion, if the vehicle is in a safe zone, the system continuously monitors the location and updates the position trajectory every 5 seconds, extracting the average speed of the previous minute as the real-time speed v. If the vehicle is in a risky zone, the system virtually extends the periodic motion trajectory. If the extended virtual motion trajectory intersects the restricted zone, and the predicted entry time t=L / t is less than 1 minute (for vehicles) or 30 seconds (for people), the system will issue a prompt to the vehicle (person) until the vehicle adjusts its direction away from the restricted zone. If the vehicle is in a restricted zone, the system will promptly issue an expulsion alarm and report to the platform.

[0136] In the case of periodic motion, if the vehicle is in a safe zone, the location trajectory is continuously monitored and refreshed every 5 seconds, and the average speed of the previous minute is extracted as the real-time speed v. If the vehicle is in a risky zone, the UWB data information is continuously refreshed to a minimum of 1 second. If the motion trajectory shows that the vehicle is approaching the restricted zone within 30 seconds, and the estimated entry time t = L / t is less than 1 minute (for vehicles) or 30 seconds (for people), a reminder is issued to the vehicle (person) until the vehicle adjusts its direction away from the restricted zone. If the vehicle is in a restricted zone, an expulsion alarm is issued in a timely manner and reported to the platform.

[0137] S4, for vehicles that may enter the dangerous area within 5 minutes of calculation time, an intrusion alarm is sent to the UWB tag on the vehicle, and a location alarm is sent to the driver's mobile user app based on the driver information read by the construction management platform.

[0138] Specifically, for people or vehicles that may enter the dangerous area within a period of time, the system will use the electronic map of the construction area to calculate the time of entry into the dangerous area within 1 minute (vehicle) or 30 seconds (person), and send an intrusion alarm to the uwb tag on the vehicle, and send a corresponding alarm to the driver's mobile user APP based on the driver information read by the construction management platform.

[0139] The technical roadmap of the above steps S1-S4 is as follows Figure 6 As shown, the movement data of personnel and vehicles are read and the movement trajectories of personnel and vehicles are analyzed to obtain the movement rules and movement speed, and then the future movement trends are backwashed. If the analysis shows that the vehicle will enter the dangerous area, an alarm is issued. If the analysis shows that the vehicle will not enter the dangerous area, monitoring will continue.

[0140] Through the safety warning method proposed in the above embodiment, the movement trajectory of the target object is predicted and analyzed to determine whether there is a risk of entering a dangerous area, and safety warning information is issued, thereby improving the accuracy and efficiency of the warning.

[0141] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods of each embodiment of the present application.

[0142] In the present embodiment, a safety warning device is also provided, which is used to implement the above-mentioned embodiments and preferred embodiments, and the descriptions thereof will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware of a predetermined function. Although the equipment described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and contemplated.

[0143] Figure 7 : is a structural block diagram of a safety warning device according to an embodiment of the present application, the device comprising:

[0144] An acquisition unit 72 acquires location description information of a target object according to a UWB positioning system within a target acquisition period, wherein the location description information includes static location information and dynamic trajectory information;

[0145] A determination unit 74 determines a motion pattern matching the target object according to the position description information, wherein the motion pattern is used to indicate a motion pattern of the target object within a target acquisition period;

[0146] A prediction unit 76 predicts a reference motion trajectory of the target object within a target prediction period according to the motion pattern, wherein the target prediction period is a period of time after the target acquisition period;

[0147] The warning unit 78 sends warning information to the target object according to the warning level of the current warning area when the position relationship between the reference motion trajectory and the current warning area meets the target condition.

[0148] Through the above device, the position description information of the target object can be first obtained according to the UWB positioning system within the target acquisition period, wherein the position description information includes static position information and dynamic trajectory information; further, the motion mode matching the target object can be determined according to the position description information, wherein the motion mode is used to indicate the motion law of the target object within the target acquisition period; then, the reference motion trajectory of the target object within the target prediction period is predicted according to the motion mode, wherein the target prediction period is a period of time after the target acquisition period; when the position relationship between the reference motion trajectory and the current warning area meets the target condition, the warning information is sent to the target object according to the warning level of the current warning area. Thus, the problem of low efficiency, inaccuracy and high cost of personnel safety warning in the hydropower station scene is solved.

[0149] In an exemplary embodiment, the acquisition unit 72 is also used to deploy at least one reference node in each of the multiple monitoring and early warning areas, and set a UWB tag for the target object, wherein the UWB tag is used to send a measurement signal to the reference node; determine the positioning distance between the UWB tag and each reference node in the target monitoring and early warning area according to the arrival time of the measurement signal from the UWB tag to each reference node; construct a position coordinate matching the target object according to at least one positioning distance; and determine the position description information matching the target object according to the multiple position coordinates constructed for the target object during the target acquisition cycle.

[0150] In an exemplary embodiment, the above-mentioned determination unit 74 is also used to, when the location description information matching the target object is static location information, cause the UWB tag matching the target object to send a measurement signal to the reference node after a first time interval; and when the location description information matching the target object is dynamic trajectory information, determine the motion law of the target object according to the dynamic trajectory information, wherein the motion laws include: linear, periodic and irregular.

[0151] In an exemplary embodiment, the above-mentioned determination unit 74 is also used to determine a motion mode that matches the target object based on the location description information, and also includes: determining movement information that matches the target object based on the location description information, wherein the movement information includes movement speed, movement direction and movement intention; determining the speed state, steering state and interaction state indicated by the motion mode that matches the target object based on the movement information that matches the target object.

[0152] In an exemplary embodiment, the prediction unit 76 is also used to determine the motion law of the target object based on the dynamic trajectory information, including: determining a reference motion trajectory based on the motion law of the target object; determining a positional relationship between the reference motion trajectory and the current warning area, wherein the positional relationship includes a close relationship and a distant relationship; determining that the target condition is met when the positional relationship is a close relationship, and performing a warning operation on the target object.

[0153] In an exemplary embodiment, the above-mentioned determination unit 74 is also used to determine a reference motion trajectory according to the motion law of the target object, including: when the motion law of the target object is determined to be a linear type according to the dynamic trajectory information matching the target object, the reference motion trajectory is determined to be an extension of the real driving trajectory line, wherein the real driving trajectory line is determined according to multiple position coordinates matching the target object within the target acquisition period; when the motion law of the target object is determined to be a periodic type according to the dynamic trajectory information matching the target object, the reference motion trajectory is determined to be a periodic regular extension of the real driving trajectory line; when the motion law of the target object is determined to be irregular according to the dynamic trajectory information matching the target object, the reference motion trajectory is determined according to the historical movement information, wherein the historical movement information is used to indicate the weight of the target object traveling with different motion laws at historical moments.

[0154] In an exemplary embodiment, the acquisition unit 72 is also used to, before acquiring the location description information of the target object according to the UWB positioning system within the target acquisition cycle, include: dividing each early warning monitoring and warning area into different warning levels; configuring a warning operation with a priority level one for the early warning monitoring and warning area of ​​the forbidden level; configuring a warning operation with a priority level two for the early warning monitoring and warning area of ​​the medium risk level; and configuring a warning operation with a priority level three for the early warning monitoring and warning area of ​​the safety level.

[0155] An embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to execute the steps of any of the above method embodiments when running.

[0156] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0157] S1, obtaining location description information of the target object according to the UWB positioning system within the target acquisition period, wherein the location description information includes static location information and dynamic trajectory information;

[0158] S2, determining a motion pattern matching the target object according to the position description information, wherein the motion pattern is used to indicate the motion pattern of the target object within the target acquisition period;

[0159] S3, predicting a reference motion trajectory of the target object within a target prediction period according to the motion pattern, wherein the target prediction period is a period of time after the target acquisition period;

[0160] S4, when the positional relationship between the reference motion trajectory and the current warning area meets the target condition, sending warning information to the target object according to the warning level of the current warning area.

[0161] In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to, various media that can store computer programs, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0162] For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary implementation modes, and this embodiment will not be described in detail herein.

[0163] An embodiment of the present application further provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0164] Optionally, in this embodiment, the processor may be configured to perform the following steps through a computer program:

[0165] S1, obtaining location description information of the target object according to the UWB positioning system within the target acquisition period, wherein the location description information includes static location information and dynamic trajectory information;

[0166] S2, determining a motion pattern matching the target object according to the position description information, wherein the motion pattern is used to indicate the motion pattern of the target object within the target acquisition period;

[0167] S3, predicting a reference motion trajectory of the target object within a target prediction period according to the motion pattern, wherein the target prediction period is a period of time after the target acquisition period;

[0168] S4, when the positional relationship between the reference motion trajectory and the current warning area meets the target condition, sending warning information to the target object according to the warning level of the current warning area.

[0169] In an exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0170] An embodiment of the present application further provides a computer program product, comprising a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program product, and when the computer program is executed by a processor, the steps of the method described in each embodiment of the present application are implemented.

[0171] Optionally, in this embodiment, the above computer program may be configured to implement the following steps when executed by a processor:

[0172] S1, obtaining location description information of the target object according to the UWB positioning system within the target acquisition period, wherein the location description information includes static location information and dynamic trajectory information;

[0173] S2, determining a motion pattern matching the target object according to the position description information, wherein the motion pattern is used to indicate the motion pattern of the target object within the target acquisition period;

[0174] S3, predicting a reference motion trajectory of the target object within a target prediction period according to the motion pattern, wherein the target prediction period is a period of time after the target acquisition period;

[0175] S4, when the positional relationship between the reference motion trajectory and the current warning area meets the target condition, sending warning information to the target object according to the warning level of the current warning area.

[0176] For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary implementation modes, and this embodiment will not be described in detail herein.

[0177] Obviously, those skilled in the art should understand that the above modules or steps of the present application can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order from that herein, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present application is not limited to any specific combination of hardware and software.

[0178] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A safety early warning method, characterized in that: include: Acquire location description information of the target object according to the UWB positioning system during the target acquisition period, wherein the location description information includes static location information and dynamic trajectory information; Determine a motion pattern matching the target object according to the position description information, wherein the motion pattern is used to indicate a motion pattern of the target object within the target acquisition period; Predicting a reference motion trajectory of the target object within a target prediction period according to the motion pattern, wherein the target prediction period is a period of time after the target acquisition period; In the case where the positional relationship between the reference motion trajectory and the current warning area meets the target condition, warning information is sent to the target object according to the warning level of the current warning area.

2. The method according to claim 1, characterized in that The step of obtaining the location description information of the target object according to the UWB positioning system during the target acquisition period includes: Deploy at least one reference node in each of the plurality of monitoring and early warning areas, and set a UWB tag for the target object, wherein the UWB tag is used to send a measurement signal to the reference node; Determine the positioning distance between the UWB tag and each of the reference nodes in the target monitoring and early warning area according to the arrival time of the measurement signal from the UWB tag to each of the reference nodes; Constructing a position coordinate matching the target object according to at least one of the positioning distances; The location description information matching the target object is determined according to the multiple location coordinates constructed for the target object during the target acquisition cycle.

3. The method according to claim 2, characterized in that After determining the location description information matching the target object according to the multiple location coordinates constructed for the target object within the target acquisition period, the method includes: In a case where the location description information matched with the target object is the static location information, the UWB tag matched with the target object sends the measurement signal to the reference node after a first time interval; In the case that the position description information matched with the target object is the dynamic trajectory information, the motion law of the target object is determined according to the dynamic trajectory information, wherein the motion law includes: linear, periodic and irregular.

4. The method according to claim 2, characterized in that: The step of determining the motion mode matching the target object according to the position description information further includes: Determining movement information matching the target object according to the location description information, wherein the movement information includes movement speed, movement direction and movement intention; The speed state, the steering state, and the interaction state indicated by the motion pattern matching the target object are determined according to the movement information matching the target object.

5. The method according to claim 3, characterized in that: After determining the motion law of the target object according to the dynamic trajectory information, the method includes: Determining the reference motion trajectory according to the motion law of the target object; Determine the positional relationship between the reference motion trajectory and the current warning area, wherein the positional relationship includes a close relationship and a distant relationship; In the case where the position relationship is the proximity relationship, it is determined that the target condition is met, and a warning operation is performed on the target object.

6. The method according to claim 5, characterized in that The determining the reference motion trajectory according to the motion law of the target object includes: In the case where the motion law of the target object is determined to be the linear type according to the dynamic trajectory information matched with the target object, the reference motion trajectory is determined to be an extension of a real driving trajectory line, wherein the real driving trajectory line is determined according to a plurality of position coordinates matched with the target object within the target acquisition period; In the case where it is determined that the motion law of the target object is the periodic type according to the dynamic trajectory information matched with the target object, determining the reference motion trajectory as a periodic regular extension line of the real driving trajectory line; When it is determined that the motion law of the target object is the irregular type according to the dynamic trajectory information matching the target object, the reference motion trajectory is determined according to historical movement information, wherein the historical movement information is used to indicate the weight of the target object traveling with different motion laws at historical moments.

7. The method according to claim 1, characterized in that Before obtaining the location description information of the target object according to the UWB positioning system within the target acquisition period, the method includes: Different warning levels are assigned to each early warning monitoring and warning area; Configure a warning operation with a priority level of one for the warning monitoring and warning area of ​​the prohibited level; Configure the warning operation with a priority level of level 2 for the warning monitoring and warning area of ​​the medium risk level; The warning operation with the priority level three is configured for the warning monitoring and warning area of ​​the security level.

8. A safety warning device, characterized in that: include: An acquisition unit, which acquires location description information of a target object according to a UWB positioning system within a target acquisition period, wherein the location description information includes static location information and dynamic trajectory information; a determining unit, which determines a motion pattern matching the target object according to the position description information, wherein the motion pattern is used to indicate a motion pattern of the target object within the target acquisition period; A prediction unit, which predicts a reference motion trajectory of the target object within a target prediction period according to the motion pattern, wherein the target prediction period is a period of time after the target acquisition period; The warning unit sends warning information to the target object according to the warning level of the current warning area when the position relationship between the reference motion trajectory and the current warning area meets the target condition.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein the program executes the method according to any one of claims 1 to 7 when executed.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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