Multi-dimensional optical communication intelligent port logistics positioning method

Abstract

The invention relates to a multi-dimensional optical communication intelligent port logistics positioning method, and the method comprises the steps: obtaining a wharf whole-environment region electronic map of a port wharf in advance, and laying a port logistics positioning network based on optical signal transmitting nodes in the whole-environment region of the port wharf in advance; marking node attribute information of each optical signal transmitting node on an electronic map of a wharf whole area, and dynamically adjusting the optical signal transmitting nodes participating in positioning when a logistics vehicle running in a port wharf is started to be positioned; and after fusion processing is carried out based on the optical signal intensity of each optical signal transmitting node received by the optical receiver of the logistics vehicle and the optical signal receiving time, position marking is carried out on the electronic map of the whole area of the wharf to obtain vehicle position information of the logistics vehicle in the port wharf, and the vehicle position information is sent to the logistics vehicle. Therefore, stable transmission of the optical signals in the port and the wharf is realized, the positioning requirement of the logistics vehicle during driving in the port and the wharf is realized, and the positioning precision is improved.

Description

Technical Field

[0001] The present invention relates to the field of port logistics, and in particular to a multi-dimensional optical communication intelligent port logistics positioning method. Background Art

[0002] Port logistics refers to that central port cities utilize their own port advantages, rely on advanced software and hardware environments, strengthen their radiation capabilities for the surrounding logistics activities of the port, highlight the port's strengths in cargo collection, inventory, and distribution, and based on the port-related industries, supported by information technology, and aiming at optimizing the integration of port resources, develop a port comprehensive service system covering all links of the logistics industry chain. As an important form of modern logistics, port logistics plays an important role in port cargo transportation and cargo transfer.

[0003] Since port logistics is a special logistics form occurring within the port terminal area, and there are buildings or other large objects such as large containers within the port terminal, when a logistics vehicle travels within the port terminal, the existing GPS-based positioning method is prone to the defect of insufficient positioning accuracy due to the GPS signal being blocked by buildings or large objects, and cannot meet the positioning requirements of logistics vehicles within the port terminal. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a multi-dimensional optical communication intelligent port logistics positioning method for the above-mentioned existing technology.

[0005] The technical solution adopted by the present invention to solve the above technical problem is: a multi-dimensional optical communication intelligent port logistics positioning method, characterized by including the following steps:

[0006] Step 1, pre-obtain the electronic map of the entire port terminal area; wherein, the electronic map of the entire port terminal area includes the two-dimensional coordinate parameters of all non-mobile objects within the port terminal; wherein, the non-mobile objects include buildings and large objects that do not belong to buildings;

[0007] Step 2, arrange a number of optical signal emission nodes capable of emitting visible light signals within the entire area of the port terminal according to a preset layout rule, and form a port logistics positioning network by all the optical signal emission nodes;

[0008] Step 3, based on the positions of all the preset optical signal emission nodes, mark the node attribute information of each optical signal emission node on the electronic map of the entire port terminal area; wherein, the node attribute information includes the node number and node position coordinates of the optical signal emission node;

[0009] Step 4: The port logistics positioning network starts positioning for the logistics vehicles traveling within the port terminal and equipped with visible light receivers, and dynamically adjusts the optical signal transmitting nodes participating in the positioning. The dynamically adjusted optical signal transmitting node network formed by all the optical signal transmitting nodes participating in the positioning starts the optical signal transmitting work;

[0010] Step 5: Obtain the optical signal intensity of the optical signals transmitted by each optical signal transmitting node received by the visible light receiver installed on the logistics vehicle and the optical signal reception time when the optical receiver receives the corresponding optical signal;

[0011] Step 6: Perform fusion processing based on the obtained optical signal intensity and optical signal reception time of each optical signal transmitting node. After this fusion processing, make a position mark on the electronic map of the entire port terminal area to obtain the vehicle position information of the logistics vehicle within the port terminal, and send this vehicle position information to the logistics vehicle.

[0012] Improved, in the multi-dimensional optical communication intelligent port logistics positioning method, in Step 2, the process of arranging a number of optical signal transmitting nodes capable of transmitting visible light signals according to a preset layout rule includes the following steps:

[0013] Step a1: Form the port terminal contour area of the port terminal on the electronic map of the entire port terminal area;

[0014] Step a2: Perform rasterization processing on the port terminal contour area to obtain the rasterized image of the port terminal contour;

[0015] Step a3: Take the grids located in the rasterized image of the port terminal contour and not fully occupied as abnormal grids, and take the rasterized image of the port terminal contour after deleting all abnormal grids as the port terminal layout image;

[0016] Step a4: Draw circles with a preset radius within the port terminal layout image to obtain a plurality of circular areas located within the port terminal;

[0017] Step a5: Respectively obtain the center points of two adjacent circular areas, and obtain the intermediate position points between two adjacent center points;

[0018] Step a6: Arrange an optical signal transmitting node at the center point of each circular area and at each intermediate position point respectively.

[0019] Furthermore, in the multi-dimensional optical communication intelligent port logistics positioning method, in Step 4, the process of dynamically adjusting the optical signal transmitting nodes participating in the positioning includes the following steps:

[0020] Step b1: Respectively obtain the number of positioning services and power consumption values that each optical signal transmitting node is participating in and executing at the moment when the positioning of the logistics vehicle is started;

[0021] Step b2, calculate the traffic volume ratio of the positioning service of each optical signal transmitting node at the current positioning moment in the total positioning service volume of all optical signal transmitting nodes;

[0022] Step b3, calculate the power consumption ratio of the power consumption value of each optical signal transmitting node at the current positioning moment in the total power consumption of all optical signal transmitting nodes;

[0023] Step b4, according to the traffic volume ratio and power consumption ratio of each optical signal transmitting node at the current positioning moment, obtain the positioning participation index of each optical signal transmitting node in participating in the current logistics vehicle positioning at the current positioning moment;

[0024] Step b5, regard all optical signal transmitting nodes located in the port logistics positioning network and whose positioning participation index is greater than the preset threshold as participating nodes in participating in the current logistics vehicle positioning;

[0025] Step b6, use the optical signal transmitting node network formed by all participating nodes as the dynamically adjusted optical signal transmitting node network.

[0026] Furthermore, in the multi-dimensional optical communication intelligent port logistics positioning method, in step b4, the calculation method of the positioning participation index of each optical signal transmitting node in participating in the current logistics vehicle positioning is as follows:

[0027]

[0028] Wherein, is the positioning participation index of the nth optical signal transmitting node in the port logistics positioning network; α n is the traffic volume ratio of the nth optical signal transmitting node at the current positioning moment, M n is the positioning service volume of the nth optical signal transmitting node at the current positioning moment, β n is the power consumption ratio of the nth optical signal transmitting node at the current positioning moment, Φ n is the power consumption value of the nth optical signal transmitting node at the current positioning moment, and N is the total number of optical signal transmitting nodes in the port logistics positioning network.

[0029] Furthermore, in the multi-dimensional optical communication intelligent port logistics positioning method, in step 6, the process of making a fusion process based on the obtained optical signal intensity and optical signal reception moment of each optical signal transmitting node, and after this fusion process, making a position mark on the electronic map of the entire dock area to obtain the position information of the logistics vehicle in the port terminal includes the following steps:

[0030] Step c1: Ascendingly process the optical signal intensities of the obtained optical signal emitting nodes to obtain an ascending sequence of optical signal intensities;

[0031] Step c2: Based on the chronological order of the optical signal reception times, perform a chronological sorting on the obtained ascending sequence of optical signal intensities to obtain a chronological-based optical signal intensity sequence;

[0032] Step c3: According to the chronological order of the optical signal intensities in the obtained chronological-based optical signal intensity sequence, respectively obtain the node attribute information corresponding to each optical signal intensity in this optical signal intensity sequence;

[0033] Step c4: According to the node attribute information corresponding to the obtained optical signal intensities, respectively extract the node numbers and node position coordinates in the node attribute information;

[0034] Step c5: Based on the chronological order, respectively mark the extracted node position coordinates on the electronic map of the entire dock area to obtain a marked electronic map of the entire dock area;

[0035] Step c6: According to the chronological order of the received visible light signals, use line segments to connect the marked nodes on the marked electronic map of the entire dock area before and after to obtain a node trajectory marked curve; wherein, the starting point of this node trajectory marked curve is the optical signal emitting node where the optical signal is first received by the optical receiver of the logistics vehicle, and the end of this node trajectory marked curve is the optical signal emitting node where the optical signal is currently newly received by the optical receiver of the logistics vehicle.

[0036] Step c7: Take the node position closest to the end of the current node trajectory marked curve as the current position information of the logistics vehicle within the port dock.

[0037] Compared with the prior art, the advantages of the present invention are as follows: The multi-dimensional optical communication intelligent port logistics positioning method of the present invention pre-obtains the electronic map of the entire port terminal area, and pre-deploys a port logistics positioning network based on optical signal emission nodes within the entire port terminal area. Then, the node attribute information of each optical signal emission node is marked on the electronic map of the entire port terminal area. When starting to position the logistics vehicles driving within the port terminal, the optical signal emission nodes participating in the positioning are dynamically adjusted, and then fusion processing is performed based on the optical signal intensity and the optical signal reception time received by the optical receivers of the logistics vehicles. After this fusion processing, a position mark is made on the electronic map of the entire port terminal area to obtain the vehicle position information of the logistics vehicles within the port terminal, and this vehicle position information is sent to the logistics vehicles. In this way, the influence of large obstacles within the port terminal on the positioning of logistics vehicles can be avoided, and based on the advantages of visible light signals having straight-line propagation and being less susceptible to interference, the stable transmission of optical signals within the port terminal can be realized, and further, the positioning requirements for logistics vehicles when driving within the port terminal can be realized, and the positioning accuracy can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic flowchart of the multi-dimensional optical communication intelligent port logistics positioning method in the embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0039] The present invention will be further described in detail below with reference to the embodiments of the drawings.

[0040] This embodiment provides a multi-dimensional optical communication intelligent port logistics positioning method. Specifically, the multi-dimensional optical communication intelligent port logistics positioning method in this embodiment includes the following steps:

[0041] Step 1: Pre-obtain the electronic map of the entire port terminal area; wherein, the electronic map of the entire port terminal area includes the two-dimensional coordinate parameters of all non-mobile objects within the port terminal; wherein, the non-mobile objects include buildings and large objects that do not belong to buildings;

[0042] Step 2: Deploy a number of optical signal emission nodes that can emit visible light signals within the entire port terminal area according to a preset deployment rule, and form a port logistics positioning network by all the optical signal emission nodes;

[0043] Step 3: Based on the positions of all the optical signal emission nodes that have been preset and deployed, mark the node attribute information of each optical signal emission node on the electronic map of the entire port terminal area; wherein, the node attribute information includes the node number and the node position coordinates of the optical signal emission node; it should be noted that in this embodiment, the node position coordinates here are in two dimensions;

[0044] Step 4, the port logistics positioning network starts positioning for the logistics vehicles traveling within the port terminal and equipped with visible light receivers, and dynamically adjusts the optical signal transmitting nodes participating in the positioning. The dynamically adjusted optical signal transmitting node network formed by all the optical signal transmitting nodes participating in the positioning starts the optical signal transmitting work;

[0045] Step 5, obtain the optical signal intensity of the optical signals transmitted by each optical signal transmitting node received by the visible light receiver installed on the logistics vehicle and the optical signal reception time when the optical receiver receives the corresponding optical signal;

[0046] Step 6, perform fusion processing based on the obtained optical signal intensity and optical signal reception time of each optical signal transmitting node. After this fusion processing, make a position mark on the electronic map of the entire port terminal area to obtain the vehicle position information of the logistics vehicle within the port terminal, and send this vehicle position information to the logistics vehicle.

[0047] Specifically, in step 2 of this embodiment, the process of arranging several optical signal transmitting nodes that can emit visible light signals according to a preset arrangement rule includes the following steps a1 to a6:

[0048] Step a1, form the port terminal contour area of the port terminal on the electronic map of the entire port terminal area;

[0049] Step a2, perform rasterization processing on the port terminal contour area to obtain a rasterized image of the port terminal contour; Among them, part of the rasterization processing can refer to the following:

[0050] grid = RasterData('matoulunkuo / matoulunkuo.shp', 2000);

[0051] grid_data = grid.grid map();

[0052] fig, ax = plt.subplots(figsize=(10, 10));

[0053] cd_shape.plot(ax = ax, edgecolor='k', linewidth = 1, facecolor='none');

[0054] grid_data.plot(ax = ax, edgecolor='k, linewidth = 0.5, facecolor='none');

[0055] Step a3: Take the unoccupied grids in the rasterized image of the port terminal contour as abnormal grids, and take the rasterized image of the port terminal contour after deleting all abnormal grids as the port terminal layout image;

[0056] Step a4: Draw circles with a preset radius within the port terminal layout image to obtain multiple circular areas within the port terminal;

[0057] Step a5: Respectively obtain the center points of two adjacent circular areas, and obtain the intermediate position points between two adjacent center points;

[0058] Step a6: Arrange an optical signal emission node at the center point of each circular area and at each intermediate position point respectively.

[0059] In addition, it should be noted that in step 4 of this embodiment, the process of dynamically adjusting the optical signal emission nodes participating in positioning includes the following steps b1 to b6:

[0060] Step b1: Respectively obtain the number of positioning services and power consumption values that each optical signal emission node is participating in the positioning service at the moment when the positioning of the logistics vehicle is started;

[0061] Step b2: Calculate the ratio of the number of positioning services of each optical signal emission node at the current positioning moment to the total amount of positioning services of all optical signal emission nodes;

[0062] Step b3: Calculate the ratio of the power consumption value of each optical signal emission node at the current positioning moment to the total power consumption of all optical signal emission nodes;

[0063] Step b4: According to the ratio of the number of services and the ratio of power consumption of each optical signal emission node at the current positioning moment, obtain the positioning participation index of each optical signal emission node in the current positioning of the logistics vehicle; among them, the calculation method of the positioning participation index of each optical signal emission node in the current positioning of the logistics vehicle is as follows:

[0064]

[0065] Among them, is the positioning participation index of the nth optical signal emission node in the port logistics positioning network; α n is the ratio of the number of services of the nth optical signal emission node at the current positioning moment, M n is the number of positioning services of the nth optical signal emission node at the current positioning moment, β n is the ratio of the power consumption of the nth optical signal emission node at the current positioning moment, Φ nis the power consumption value of the nth optical signal emission node at the current positioning moment, and N is the total number of optical signal emission nodes in the port logistics positioning network;

[0066] Step b5: All optical signal emission nodes located in the port logistics positioning network and whose positioning participation index is greater than the preset threshold are used as participating nodes for the current logistics vehicle positioning;

[0067] Step b6: The optical signal emission node network formed by all participating nodes is used as the dynamically adjusted optical signal emission node network.

[0068] More specifically, in step 6 of this embodiment, based on the obtained optical signal intensities and optical signal reception times of each optical signal emission node, a fusion process is performed. After this fusion process, position marking is done on the electronic map of the entire dock area to obtain the position information of the logistics vehicle in the port dock, and the process includes the following steps c1 to c7:

[0069] Step c1: Sort the obtained optical signal intensities of each optical signal emission node in ascending order to obtain an ascending sequence of optical signal intensities;

[0070] Step c2: Based on the order of the optical signal reception times, perform a time series sorting on the obtained ascending sequence of optical signal intensities to obtain a time series-based optical signal intensity sequence;

[0071] Step c3: According to the order of the optical signal intensities in the obtained time series-based optical signal intensity sequence, respectively obtain the node attribute information corresponding to each optical signal intensity in this optical signal intensity sequence;

[0072] Step c4: According to the obtained node attribute information corresponding to each optical signal intensity, respectively extract the node number and node position coordinates in each node attribute information;

[0073] Step c5: Based on the order of time series, respectively mark the extracted node position coordinates on the electronic map of the entire dock area to obtain the marked electronic map of the entire dock area;

[0074] Step c6: According to the order of the times when the visible light signals are received, use line segments to connect the marked nodes on the marked electronic map of the entire dock area before and after to obtain a node trajectory marked curve; among them, the starting point of this node trajectory marked curve is the optical signal emission node where the optical signal is first received by the optical receiver of the logistics vehicle, and the end of this node trajectory marked curve is the optical signal emission node where the optical signal is currently last received by the optical receiver of the logistics vehicle,

[0075] Step c7: Use the position of the node closest to the end of the current node trajectory marked curve as the position information of the logistics vehicle currently in the port dock.

[0076] Although the preferred embodiments of the present invention have been described in detail above, it should be clearly understood that various changes and modifications can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. Multidimensional optical communication intelligent port logistics positioning method, characterized in that, It includes the following steps: Step 1: Pre-acquire the electronic map of the entire port terminal area; among them, the electronic map of the entire port terminal area includes the two-dimensional coordinate parameters of all non-mobile objects in the port terminal; among them, non-mobile objects include buildings and large objects that do not belong to buildings; Step 2: Arrange a number of optical signal emission nodes that can emit visible light signals in the entire area of the port terminal according to a preset layout rule, and form a port logistics positioning network by all the optical signal emission nodes; Step 3: Based on the positions of all the preset optical signal emission nodes, mark the node attribute information of each optical signal emission node on the electronic map of the entire port terminal area; among them, the node attribute information includes the node number and the node position coordinates of the optical signal emission node; Step 4: The port logistics positioning network starts positioning for the logistics vehicles driving in the port terminal and equipped with visible light receivers, and dynamically adjusts the optical signal emission nodes participating in the positioning. The dynamically adjusted optical signal emission node network formed by all the optical signal emission nodes participating in the positioning starts the optical signal emission work; Step 5: Obtain the optical signal intensity of the optical signals emitted by each optical signal emission node received by the visible light receiver installed on the logistics vehicle and the optical signal reception time when the optical receiver receives the corresponding optical signal; Step 6: Make a fusion process based on the obtained optical signal intensity and optical signal reception time of each optical signal emission node. After the fusion process, make a position mark on the electronic map of the entire port terminal area to obtain the vehicle position information of the logistics vehicle in the port terminal, and send the vehicle position information to the logistics vehicle.

2. The multi-dimensional optical communication intelligent port logistics positioning method according to claim 1, wherein In Step 2, the process of arranging a number of optical signal emission nodes that can emit visible light signals according to a preset layout rule includes the following steps: Step a1: Form the port terminal contour area of the port terminal on the electronic map of the entire port terminal area; Step a2: Perform rasterization processing on the port terminal contour area to obtain a rasterized image of the port terminal contour; Step a3: Take the grids in the rasterized image of the port terminal contour that are not fully occupied as abnormal grids, and take the rasterized image of the port terminal contour after deleting all abnormal grids as the port terminal layout image; Step a4: Draw circles with a preset radius in the port terminal layout image to obtain a plurality of circular areas located in the port terminal; Step a5: Respectively obtain the center points of two adjacent circular areas, and obtain the intermediate position points between two adjacent center points; Step a6: Arrange an optical signal emission node at the center point of each circular area and at each intermediate position point respectively.

3. The multi-dimensional optical communication intelligent port logistics positioning method according to claim 2, characterized in that, In Step 4, the process of dynamically adjusting the optical signal emission nodes participating in the positioning includes the following steps: Step b1: Respectively obtain the number of positioning services and the power consumption value that each optical signal emission node is participating in and executing at the moment when the positioning of the logistics vehicle is started; Step b2: Calculate the ratio of the number of positioning services of each optical signal emission node at the current positioning moment in the total amount of positioning services of all optical signal emission nodes; Step b3: Calculate the ratio of the power consumption value of each optical signal transmitting node at the current positioning moment to the total power consumption of all optical signal transmitting nodes; Step b4: Obtain the positioning participation index of each optical signal transmitting node in the current logistics vehicle positioning at the current positioning moment according to the traffic volume ratio and power consumption ratio of each optical signal transmitting node at the current positioning moment; Step b5: All optical signal transmitting nodes located in the port logistics positioning network and whose positioning participation index is greater than the preset threshold are used as participating nodes in the current logistics vehicle positioning; Step b6: Use the optical signal transmitting node network formed by all participating nodes as the dynamically adjusted optical signal transmitting node network.

4. The multi-dimensional optical communication intelligent port logistics positioning method according to claim 3, characterized in that In step b4, the calculation method of the positioning participation index of each optical signal transmitting node in the current logistics vehicle positioning is as follows: Among them, is the positioning participation index of the nth optical signal emission node in the port logistics positioning network; α n is the traffic volume occupancy ratio of the nth optical signal emission node at the current positioning moment, M n is the number of positioning services of the nth optical signal emission node at the current positioning moment, β n is the power consumption occupancy ratio of the nth optical signal emission node at the current positioning moment, Φ n is the power consumption value of the nth optical signal emission node at the current positioning moment, and N is the total number of optical signal emission nodes in the port logistics positioning network.

5. The multi-dimensional optical communication intelligent port logistics positioning method according to claim 3, wherein In step 6, the process of making a fusion process based on the obtained optical signal intensity and optical signal reception time of each optical signal transmitting node, and after this fusion process, making a position mark on the electronic map of the entire dock area to obtain the position information of the logistics vehicle in the port and dock includes the following steps: Step c1: Perform an ascending order process on the obtained optical signal intensity of each optical signal transmitting node to obtain an ascending order sequence of optical signal intensity; Step c2: Based on the order of the optical signal reception time, perform a time series sorting on the obtained ascending order sequence of optical signal intensity to obtain an optical signal intensity sequence based on time series; Step c3: According to the order of the optical signal intensity in the obtained optical signal intensity sequence based on time series, respectively obtain the node attribute information corresponding to each optical signal intensity in the optical signal intensity sequence; Step c4: According to the obtained node attribute information corresponding to each optical signal intensity, respectively extract the node number and node position coordinates in each node attribute information; Step c5: Based on the order of time series, respectively mark the obtained node position coordinates on the electronic map of the entire dock area to obtain the marked electronic map of the entire dock area; Step c6: According to the order of the time when the visible light signal is received, use a line segment to connect the marked nodes on the marked electronic map of the entire dock area before and after to obtain a node trajectory marked curve; where the starting point of the node trajectory marked curve is the optical signal transmitting node that first receives the optical signal by the optical receiver of the logistics vehicle, and the end of the node trajectory marked curve is the optical signal transmitting node that is currently newly received the optical signal by the optical receiver of the logistics vehicle, Step c7: Use the node position closest to the end of the current node trajectory marked curve as the position information of the logistics vehicle currently in the port and dock.

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