Visual operation method and system for commercial vehicle storage yard

Abstract

The invention discloses a visual operation method and system for a commercial vehicle storage yard, and relates to the technical field of inventory stocktaking, and the method comprises the steps: 1, preparing a positioning foundation: dividing a plurality of UWB base stations into a plurality of groups, and enabling the same group to comprise four UWB base stations; establishing data connection between the background and the UWB base station; step 2, positioning: when any vehicle enters a storage yard, putting the UWB tag card into the vehicle and binding a vehicle frame number; the background obtains the real-time position of the vehicle through a positioning system of the vehicle, and analyzes and determines a matched UWB base station group according to the real-time position after parking; the background obtains communication data generated when the UWB base station group communicates with the UWB tag cards on the vehicle, and analyzes and calculates the positions of the UWB tag cards based on the communication data of the four UWB base stations in the same group; and the background identifies the UWB tag card of which the position is calculated, searches a historical record to determine a bound frame number, and generates vehicle positioning data. The method and the device have the effect of improving the convenience and the accuracy of commodity vehicle checking at a wharf.

Description

Technical Field

[0001] The present application relates to the field of inventory technology, and in particular to a visual operation method and system for a commodity vehicle yard. Background Art

[0002] In recent years, my country's commercial vehicle ro-ro business has grown rapidly, and water transportation is the first choice for transporting large quantities of commercial vehicles. As an important hub for automobile logistics, commercial vehicle ro-ro terminals face complex challenges such as vehicle scheduling, safety management, and resource optimization. How to obtain vehicle locations and on-site operation progress in real time has become a pain point and difficulty for ro-ro terminals.

[0003] At present, many commercial vehicle roll-on / roll-off terminals still rely on manual inventory to obtain the location of vehicles. The process is briefly described as follows: after the driver parks the vehicle in the yard, he notifies the tally staff to go to the yard to take inventory of the storage location; the tally staff uses a handheld device to read the vehicle's frame number, then enters the vehicle's location into the handheld device and transmits it back to the operating system.

[0004] The shortcomings of the above inventory are: the workload of on-site operators is relatively large, the operation site in harsh environments (such as heavy rain, heavy snow, etc.) may not have good recording conditions, and the data may be recorded with human errors;

[0005] Moreover, there may be many tally personnel working together in a yard, and there may be a situation where vehicles that have been counted are counted again by other tally personnel, and the inventory operation is repeated. Therefore, the present application proposes a new technical solution. Summary of the invention

[0006] In order to improve the convenience and accuracy of the inventory of commercial vehicles at the terminal, the present application provides a visual operation method and system for a commercial vehicle yard.

[0007] In the first aspect, the present application provides a visual operation method for a commodity vehicle yard, which adopts the following technical solution:

[0008] A visual operation method for a commodity vehicle yard, comprising:

[0009] Step 1: Prepare the positioning basis, which includes:

[0010] A plurality of UWB base stations are arranged in the storage yard, and the plurality of UWB base stations are divided into a plurality of groups, and each group includes four UWB base stations;

[0011] Establish a background for positioning signal analysis and processing, and establish a data connection between the background and the UWB base station;

[0012] Step 2: Positioning, which includes:

[0013] When any vehicle enters the yard, the UWB tag card is placed in the vehicle and bound to the vehicle frame number;

[0014] The background obtains the real-time location of the vehicle through the vehicle's own positioning system, and determines the matching UWB base station group based on the real-time location analysis after parking;

[0015] The background obtains the communication data generated by the UWB base station group communicating with the UWB tag card on the vehicle, and calculates the position of the UWB tag card based on the communication data analysis of the same group of four UWB base stations;

[0016] The background identifies the UWB tag card with calculated location, searches the historical records to determine the frame number bound to it, and generates vehicle positioning data;

[0017] Step three: Positioning visualization, which includes: the background generates a matching vehicle model in the pre-established yard model after any vehicle enters the yard, and updates the real-time position of the vehicle model in the yard model according to the corresponding vehicle positioning data.

[0018] Optionally, the analyzing and calculating the position of the UWB tag based on the communication data of the same group of four UWB base stations includes:

[0019] Define a group of four UWB base stations with identification codes A1, A2, A3 and A4, and obtain the positions of the four UWB base stations as (x1, y1, z1), (x2, y2, z2), (x3, y3, z3), (x4, y4, z4);

[0020] Define the position of the UWB tag as (x, y, z);

[0021] Get the distances from four UWB base stations to the UWB tag, recorded as d1, d2, d3, and d4 respectively;

[0022] Establish formula 2:

[0023]

[0024] Optionally, step three, positioning visualization, also includes: counting the number of parked vehicles in any yard in the background, and coloring the areas corresponding to each yard in the yard model with different colors according to the ratio K of the number of parked vehicles to the pre-recorded standard capacity.

[0025] Optionally, step three, positioning visualization, also includes: the background obtains the type and location of each yard, classifies them, and assigns identification code one to the yards of the same type, and assigns identification code two to each yard in the same type.

[0026] Optionally, the step 1, preparing a positioning basis, includes:

[0027] Install the UWB base station on the mobile unit and establish a data connection between the mobile unit and the backend;

[0028] Bind the UWB base station and the corresponding mobile unit in the background.

[0029] Optionally, the background configuration is:

[0030] If the ratio K meets the preset full-load condition, the mobile unit is ordered to move to another empty storage yard that lacks a UWB base station;

[0031] The location of the UWB base station is updated according to the movement result, and the corresponding yard is updated.

[0032] Optionally, the step of causing the mobile unit to move to another empty storage yard lacking a UWB base station comprises:

[0033] The current position is defined as L1, and the target position is defined as L2; ​​among them, the preset position of the base station of the yard that is closest to the fully loaded yard and lacks a UWB base station is defined as L2;

[0034] Analyze the L1-L2 path based on the preset path planning logic and generate a planned path;

[0035] Control the mobile unit according to the planned path.

[0036] In the second aspect, the present application provides a visual operation system for a commodity vehicle yard, which adopts the following technical solution:

[0037] A visual operation system for a commodity vehicle yard includes a UWB base station, a UWB tag card and a background. The UWB base stations are multiple and a group of four are used to match each yard. The UWB tag card is used to be placed in the vehicle to be counted and bound to the frame number. The background data is connected to the UWB base station and is configured as follows:

[0038] The real-time location of the vehicle is obtained through the vehicle's built-in positioning system, and the matching UWB base station group is determined based on the real-time location analysis after parking;

[0039] Acquire the communication data generated by the UWB base station group communicating with the UWB tag card on the vehicle, and calculate the position of the UWB tag card based on the communication data analysis of the same group of four UWB base stations;

[0040] Identify the UWB tag card with calculated location, search the historical records to determine the frame number bound to it, and generate vehicle positioning data;

[0041] After any vehicle enters the storage yard, a matching vehicle model is generated in the pre-established storage yard model, and the real-time position of the vehicle model in the storage yard model is updated according to the corresponding vehicle positioning data.

[0042] To summarize, the present application includes the following beneficial technical effects: the present application first uses the vehicle-mounted positioning system to locate the approximate position of the vehicle, determines its matching UWB base station group, and then analyzes and calculates the position of the vehicle through UWB positioning technology, so the positioning is relatively accurate; after accurately locating the position of the vehicle, the vehicle position is intuitively displayed through a three-dimensional model simulation demonstration, making the yard operation visual; and based on the data obtained, the staff can directly export the data required for the roll-on / roll-off terminal inventory, thereby improving the convenience and accuracy of the terminal's inventory of commercial vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is a schematic diagram of the application architecture;

[0044] Figure 2 It is a schematic diagram of the visualization effect of this application. DETAILED DESCRIPTION

[0045] The following is combined with Figure 1-2 This application is described in further detail.

[0046] The embodiment of the present application discloses a visual operation method for a commodity vehicle yard.

[0047] Reference Figure 1 , the visualization operation methods of the commodity vehicle yard include:

[0048] Step 1: Prepare the positioning basis;

[0049] Step 2: Positioning; and

[0050] Step 3: Positioning visualization.

[0051] This method combines Beidou + UWB positioning + BIM modeling technology to realize the visualization operation of the commercial vehicle yard. The specific application scenario is: when operating commercial vehicles in the port, Beidou + UWB positioning is used to accurately grasp the vehicle's operation trajectory and storage location information, and BIM is used to visualize the yard usage and vehicle loading and unloading conditions, thereby improving the convenience and accuracy of the terminal's inventory of commercial vehicles. It can achieve full tracking and rapid positioning of commercial vehicles, meet customers' refined and personalized service needs for each vehicle, and improve the efficiency of commercial vehicle operations at the port site.

[0052] Regarding step one, specifically:

[0053] A plurality of UWB base stations are arranged in the storage yard, and the plurality of UWB base stations are divided into a plurality of groups, and each group includes four UWB base stations;

[0054] A background for positioning signal analysis and processing is established, and a data connection between the background and the UWB base station is established.

[0055] It can be understood that the above-mentioned yard refers to: the vehicle parking area of ​​the port. The yard is extremely large, so it is divided into small yards inside; UWB refers to ultra-wideband wireless carrier communication technology, which is an existing technology and will not be described in detail; each small yard is matched with a group of four UWB base stations when parking. For the convenience of description, the UWB base station is referred to as the base station below; it is assumed that the small yard is rectangular when viewed from above, and the four base stations are set at the four corners.

[0056] The background includes several computers, which are set up in locations such as the terminal office building. The base stations are connected through switches, routers and computers for data exchange. Dispatchers can remotely understand the situation of the yard through the background.

[0057] Regarding step 2, specifically:

[0058] 1) When any vehicle enters the yard, put the UWB tag card into the vehicle and bind the vehicle frame number.

[0059] That is, when a vehicle enters the port, the tally clerk puts the UWB tag card into the vehicle and uses the work terminal (handheld device, mobile phone) to bind the vehicle frame number and the UWB tag card with the help of the corresponding UWB system software.

[0060] 2) The background obtains the real-time location of the vehicle through the vehicle's own positioning system, and determines the matching UWB base station group based on the real-time location analysis after parking.

[0061] It is understandable that the vehicle will have its own positioning system, such as Beidou and GPS, so the background can obtain its real-time position through the platform corresponding to the vehicle computer. However, it should be noted that because it is for civilian use and the yard is relatively large, the average error of Beidou positioning is 2.5 meters. The width of a general parking space is 2.5 meters. If Beidou positioning is used directly, it is not accurate enough. Therefore, in this method, it is only used as the first step of positioning to select a matching UWB base station group.

[0062] The position of each base station in the UWB base station group is pre-recorded and can be called in the above process; matching: four base stations surrounding the vehicle.

[0063] 3) The background obtains the communication data generated by the UWB base station group communicating with the UWB tag card on the vehicle, and calculates the position of the UWB tag card based on the communication data analysis of the same group of four UWB base stations.

[0064] In this embodiment, the data obtained by the background from the base station includes: the distance data between the base station and the located UWB tag card; if not this, at least the timestamp of the signal transmission between the base station and the UWB tag card is output so that the distance can be calculated according to the formula d=v*t, v is the signal transmission speed and is preset, and t is calculated according to the timestamp.

[0065] The above-mentioned communication data analysis and calculation of the position of the UWB tag based on the same group of four UWB base stations, in one embodiment:

[0066] Define a group of four UWB base stations with identification codes A1, A2, A3 and A4, and obtain the positions of the four UWB base stations as (x1, y1, z1), (x2, y2, z2), (x3, y3, z3), (x4, y4, z4); define the position of the UWB tag card as (x, y, z).

[0067] Get the distances from four UWB base stations to the UWB tag, recorded as d1, d2, d3, and d4 respectively;

[0068] Establish formula 2:

[0069]

[0070] According to the above analysis, the specific value of the position (x, y, z) of the UWB tag card is calculated.

[0071] 4) The background identifies and calculates the location of the UWB tag card (based on ID recognition), searches the historical (binding) records to determine the frame number to which it is bound, and generates vehicle positioning data.

[0072] According to the above settings, this method first locates the approximate position of the vehicle with the help of the vehicle-mounted positioning system, determines its matching UWB base station group, and then analyzes and calculates the position of the vehicle through UWB positioning technology, so the positioning is relatively accurate.

[0073] Regarding step three, specifically: after any vehicle enters the storage yard, the background generates a matching vehicle model in the pre-established storage yard model, and updates the real-time position of the vehicle model in the storage yard model according to the corresponding vehicle positioning data.

[0074] The above-mentioned yard model can be established through BIM technology. BIM three-dimensional modeling is an existing technology, so it will not be described in detail.

[0075] According to the above settings, after accurately locating the position of the vehicle, this application intuitively displays the vehicle position through a three-dimensional model simulation demonstration, making the yard operation visual; and based on the data obtained, the staff can directly export the data required for the roll-on / roll-off terminal inventory, thereby improving the convenience and accuracy of the terminal's inventory of commercial vehicles.

[0076] Reference Figure 2In another embodiment of the method, the above step three, positioning visualization, also includes: background counting the number of parked vehicles in any yard (here, specifically: a small yard in a large yard), and coloring the areas corresponding to each yard in the yard model with different colors according to the ratio K of the number of parked vehicles to the pre-recorded standard capacity.

[0077] Different colors are used for coloring, for example: the yard with k=0 is displayed in green; the yard with k=1 is displayed in red; the yard between 0<k<1 is displayed in yellow; k can also be displayed synchronously. Therefore, this method allows the staff to more intuitively understand the parking progress of vehicles in each small yard.

[0078] Furthermore, step three, positioning visualization, also includes: the background obtains the type (specification, shape), location of each yard (also refers to a small yard), classifies them, and assigns identification code one (such as letters) to the yards of the same type (such as the same specification), and assigns identification code two (such as numbers) to each yard in the same type.

[0079] According to the above settings, the method can also use the combination of identification codes one and two to display the information of each yard to improve the visualization effect.

[0080] In another embodiment of the method, step 1, preparing a positioning base, further comprises:

[0081] Install the UWB base station on the mobile unit and establish a data connection between the mobile unit and the backend;

[0082] Bind the UWB base station and the corresponding mobile unit in the background.

[0083] Among them, the mobile unit can be a remote-controlled car, an AGV car used in automatic warehousing, or a drone; the UWB base station is fixed on its external shell with screws; at this time, the base station can be powered by the battery of the mobile unit.

[0084] To optimize energy supply: the mobile car can be designed with the function of automatically returning to the charging station when the battery is low, or a wireless charging module can be designed under the use position of each base station, and the mobile unit can be equipped with a corresponding charging module to achieve automatic charging when the base station is in place to extend the use time.

[0085] According to the above settings, the staff can remotely and flexibly dispatch each base station for use.

[0086] In another embodiment, based on the above, the background configuration is:

[0087] If the ratio K meets the preset full-load condition, the mobile unit is ordered to move to another empty storage yard that lacks a UWB base station;

[0088] The position of the UWB base station is updated according to the movement result, and the corresponding yard is updated. That is, if a base station is originally bound to the C1 yard, if it moves to the C2 yard, it will be bound to C2 instead.

[0089] In this embodiment, the base station is used in the following way: after a (small) yard is fully loaded, the base station corresponding to the yard no longer stays in the original position, but moves to other empty yards that lack base stations; when a vehicle is taken out, the background automatically deletes the corresponding data according to the report; or the base station can be set at the entrance and exit of the entire (large) yard to read and then delete the corresponding vehicle parking records. The above method can reduce the amount of base stations put into use and reduce the cost of use.

[0090] Examples of the above full-load conditions: k=1; or the yard reports that n1 storage locations are unable to accommodate vehicles, and k=n-n1 / n, where n is the total number of storage locations in the yard, that is, the aforementioned pre-recorded standard capacity.

[0091] In another embodiment, the mobile unit is moved to another empty storage yard lacking a UWB base station, which includes:

[0092] The current position is defined as L1, and the target position is defined as L2; ​​among them, the preset position of the base station of the yard that is closest to the fully loaded yard and lacks a UWB base station is defined as L2;

[0093] Analyze the L1-L2 path based on the preset path planning logic and generate a planned path;

[0094] Control the mobile unit according to the planned path.

[0095] Among them, the path planning logic, example:

[0096] The first method: If all (small) yards are at the same height, and there is no first floor, second floor, etc., then: obtain the identification code of the yard through which the L1-L2 connection passes;

[0097] Call the corresponding K according to the identification code;

[0098] If the K of the passed yards is 0 or the line does not intersect the vehicle model, the line is used as the planned path.

[0099] The movement efficiency of this method is relatively higher.

[0100] The second type: If there is a blocking structure between each (small) yard, then:

[0101] Call and record the schematic diagram of the yard road distribution;

[0102] The mobile unit is ordered to move from L1 to the adjacent road first, and then select the road from the current position to the entrance and exit of the yard corresponding to L2. Then the mobile unit enters from the entrance and exit of the target yard and moves toward L2. The moving trajectory of the mobile unit is the planned path.

[0103] This method of movement is safer and has a wider range of applicability.

[0104] It can be understood that the movement of the mobile unit can be referred to as an AGV car, a sweeping robot, etc., and will not be elaborated on.

[0105] In summary, this method can also reduce the usage of base stations.

[0106] The embodiment of the present application also discloses a visual operation system for a commercial vehicle yard.

[0107] The visual operation system of the commodity vehicle yard includes UWWB base stations, UWB tag cards and background. Among them, there are multiple UWB base stations and four in a group for matching each yard. The UWB tag card is used to put into the vehicle to be counted and bind with the frame number. The background data is connected to the UWB base station and is configured as follows:

[0108] The real-time location of the vehicle is obtained through the vehicle's built-in positioning system, and the matching UWB base station group is determined based on the real-time location analysis after parking;

[0109] Acquire the communication data generated by the UWB base station group communicating with the UWB tag card on the vehicle, and calculate the position of the UWB tag card based on the communication data analysis of the same group of four UWB base stations;

[0110] Identify the UWB tag card with calculated location, search the historical records to determine the frame number bound to it, and generate vehicle positioning data;

[0111] After any vehicle enters the storage yard, a matching vehicle model is generated in the pre-established storage yard model, and the real-time position of the vehicle model in the storage yard model is updated according to the corresponding vehicle positioning data.

[0112] The configuration and usage of each component of the above system have been explained in the method embodiment of the present application, so they will not be repeated here.

[0113] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A visual operation method for a commodity vehicle yard, characterized in that: include: Step 1: Prepare the positioning basis, which includes: A plurality of UWB base stations are arranged in the storage yard, and the plurality of UWB base stations are divided into a plurality of groups, and each group includes four UWB base stations; Establish a background for positioning signal analysis and processing, and establish a data connection between the background and the UWB base station; Step 2: Positioning, which includes: When any vehicle enters the yard, the UWB tag card is placed in the vehicle and bound to the vehicle frame number; The background obtains the real-time location of the vehicle through the vehicle's own positioning system, and determines the matching UWB base station group based on the real-time location analysis after parking; The background obtains the communication data generated by the UWB base station group communicating with the UWB tag card on the vehicle, and calculates the position of the UWB tag card based on the communication data analysis of the same group of four UWB base stations; The background identifies the UWB tag card with calculated location, searches the historical records to determine the frame number bound to it, and generates vehicle positioning data; Step three: Positioning visualization, which includes: the background generates a matching vehicle model in the pre-established yard model after any vehicle enters the yard, and updates the real-time position of the vehicle model in the yard model according to the corresponding vehicle positioning data.

2. The method for visualizing the operation of a commodity vehicle yard according to claim 1, characterized in that: The method of analyzing and calculating the position of the UWB tag based on the communication data of the same group of four UWB base stations includes: Define a group of four UWB base stations with identification codes A1, A2, A3 and A4, and obtain the positions of the four UWB base stations as (x1, y1, z1), (x2, y2, z2), (x3, y3, z3), (x4, y4, z4); Define the position of the UWB tag as (x, y, z); Get the distances from four UWB base stations to the UWB tag, recorded as d1, d2, d3, and d4 respectively; Establish formula 2:

3. The method for visualizing the operation of a commodity vehicle yard according to claim 1, characterized in that: Step 3: Positioning visualization, which also includes: counting the number of parked vehicles in any yard in the background, and coloring the areas corresponding to each yard in the yard model with different colors according to the ratio K of the number of parked vehicles to the pre-recorded standard capacity.

4. The method for visualizing the operation of a commodity vehicle yard according to claim 3, characterized in that: Step three, positioning visualization, which also includes: the background obtains the type and location of each yard, classifies them, and assigns identification code one to the yards of the same type, and assigns identification code two to each yard in the same type.

5. The method for visualizing the operation of a commodity vehicle yard according to claim 3, characterized in that: The first step is to prepare a positioning basis, which includes: Install the UWB base station on the mobile unit and establish a data connection between the mobile unit and the backend; Bind the UWB base station and the corresponding mobile unit in the background.

6. The method for visualizing the operation of a commodity vehicle yard according to claim 5, characterized in that: The background configuration is: If the ratio K meets the preset full-load condition, the mobile unit is ordered to move to another empty storage yard that lacks a UWB base station; The location of the UWB base station is updated according to the movement result, and the corresponding yard is updated.

7. The method for visualizing the operation of a commodity vehicle yard according to claim 5, characterized in that: The method of causing the mobile unit to move to another empty storage yard lacking a UWB base station comprises: The current position is defined as L1, and the target position is defined as L2; ​​among them, the preset position of the base station of the yard that is closest to the fully loaded yard and lacks a UWB base station is defined as L2; Analyze the L1-L2 path based on the preset path planning logic and generate a planned path; Control the mobile unit according to the planned path.

8. A visual operation system for a commodity vehicle yard, characterized by: It includes UWB base station, UWB tag card and background. The UWB base station is multiple and a group of four is used to match each yard. The UWB tag card is used to be placed in the vehicle to be counted and bound to the frame number. The background data is connected to the UWB base station and is configured as follows: The real-time location of the vehicle is obtained through the vehicle's built-in positioning system, and the matching UWB base station group is determined based on the real-time location analysis after parking; Acquire the communication data generated by the UWB base station group communicating with the UWB tag card on the vehicle, and calculate the position of the UWB tag card based on the communication data analysis of the same group of four UWB base stations; Identify the UWB tag card with calculated location, search the historical records to determine the frame number bound to it, and generate vehicle positioning data; After any vehicle enters the storage yard, a matching vehicle model is generated in the pre-established storage yard model, and the real-time position of the vehicle model in the storage yard model is updated according to the corresponding vehicle positioning data.

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