Target positioning system and method based on safety production

Abstract

The invention discloses a target positioning system and method based on safety production, and relates to the technical field of industrial safety production, a model construction module is used for constructing a visual plane model according to situation distribution data of a target area and positioning data of an object to be processed; the object definition module is used for dividing a to-be-processed object into an air target and a ground target according to the spatial distribution of the to-be-processed object, and dividing the ground target into a static target and a dynamic target according to the state of the to-be-processed object; the instruction receiving module is used for receiving an external input instruction of the air target and determining a track starting position and a track ending position of the air target; the trajectory planning module is used for generating a planning trajectory of the aerial target according to an external input instruction, a warning area and a danger area are defined based on the planning trajectory, trajectory planning takes the requirement for minimizing the number of static targets in the warning area as a constraint condition, and a final transfer trajectory is output. And potential safety hazards in industrial production are reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial safety production, and particularly relates to a target positioning system and method based on safety production. BACKGROUND

[0002] Industrial safety production is the core guarantee for the sustainable development of manufacturing industry. New generation information technology, digital twin model, Internet of Things, big data and other technologies have been widely applied in the field of safety production monitoring.

[0003] Chinese invention patent (CN116700199A) discloses a "factory production control method and system based on digital twin technology", which specifically discloses that "by acquiring equipment information and personnel state information, according to the equipment information and personnel state information, selecting a corresponding preset dangerous area prediction model and a pre-constructed digital twin model, inputting the equipment information into the corresponding preset dangerous area prediction model and the pre-constructed digital twin model, obtaining the dangerous area range and the warning area range based on the current equipment information; inputting the personnel state information into the pre-constructed digital twin model to obtain the personnel motion trajectory based on the current personnel state information; inputting the dangerous area range, the warning area range and the personnel motion trajectory into the pre-constructed danger prediction model to obtain the personnel danger prediction result; according to the danger prediction result, the personnel is given a danger warning or the equipment running state is changed to reduce or avoid the occurrence of safety accidents in factory production";

[0004] Although the above disclosure tries to avoid the occurrence of safety accidents through the in-process emergency response mechanism, there is a lag in risk blocking. The above scheme triggers intervention only when the accident chain is transmitted to the middle and late stages, and fails to implement active prevention and control based on early risk characteristics in the accident germination stage. How to combine the on-site information of the factory to make the best response measures and minimize the safety hazards in the initial stage has become a technical problem to be solved.

[0005] Therefore, there is an urgent need for a target positioning system and method based on safety production to solve the above technical problems. SUMMARY

[0006] The present application aims to provide a target positioning system and method based on safety production to solve the problems in the prior art.

[0007] To achieve the above-mentioned purpose, the present application provides the following technical scheme:

[0008] A target positioning method based on safety production, acquiring situation distribution data of a target area, constructing a visual plane model, positioning a to-be-processed object in the target area, and mapping the positioning result to the visual plane model.

[0009] The objects to be processed are divided into aerial targets and ground targets based on the motion dimension attribute;

[0010] The ground targets are defined as dynamic targets and static targets according to displacement states, and when the displacement of a dynamic target within a preset time threshold is lower than a set threshold, the state of the dynamic target is updated to a static target.

[0011] In response to an external input instruction, the initial position and the terminal position of the trajectory of the aerial target are determined.

[0012] The planning trajectory of the aerial target is generated according to the external input instruction, and the warning zone and the danger zone are defined based on the planning trajectory, wherein the trajectory planning is constrained by the minimization of the number of static targets in the warning zone, and the final transfer trajectory is output.

[0013] According to the above technical solution, in the visual plane model, the positioning coordinate value of any object to be processed is represented as (X k ,Y k ), wherein k represents the kth object to be processed.

[0014] The initial transfer trajectory of the aerial target is constructed according to the initial position coordinate value (X start ,Y start ) and the terminal position coordinate value (X end ,Y end ) specified by the external input instruction.

[0015] The warning zone is formed by symmetrically widening and extending to both sides along the initial transfer trajectory, and the circular danger zone is established with the real-time position of the aerial target as the centroid reference point, wherein the widening width of the warning zone is greater than the diameter of the danger zone.

[0016] The warning zone and the danger zone are digitally processed to generate the warning zone function P (X) and the danger zone function Q (X) , respectively.

[0017] According to the above technical solution, according to the positioning distribution of the ground targets, it is analyzed whether there is a static target in the warning zone corresponding to the initial transfer trajectory, if there is no static target, the initial transfer trajectory is the final transfer trajectory of the aerial target.

[0018] If there is a static target, the following steps are performed:

[0019] a. Traverse the coordinate point set in the region function E (X) to which the terminal position specified by the external input instruction belongs, to generate a plurality of candidate transfer trajectories.

[0020] b. judging whether there is a static target in the warning area of the candidate transfer trajectory, if there is no static target in the warning area corresponding to the candidate transfer trajectory, the candidate transfer trajectory is the final transfer trajectory of the aerial target;

[0021] c. if there are static targets in the warning areas corresponding to the candidate transfer trajectories, the initial transfer trajectory and the candidate transfer trajectory are taken as adjustment objects for trajectory optimization.

[0022] According to the above technical solution, the trajectory optimization of the adjustment object includes the following steps:

[0023] A. determining the coordinate values (X i ,Y i ) of the static targets in the warning area corresponding to any adjustment object, and determining the coordinate values (X i ,Y i ) of the static target with the minimum distance coordinate value (X j ,Y j ) outside the warning area corresponding to the adjustment object;

[0024] B. determining the center point coordinate value (X ,Y ) of the line connecting the two static targets according to the coordinate values of the two static targets in step A;

[0025] C. judging whether there is a static target in the warning area corresponding to the adjustment transfer trajectory, if there is no static target, the adjustment transfer trajectory is the final transfer trajectory of the aerial target;

[0026] If there is a static target, steps A and B are continuously executed until there is no static target in the warning area corresponding to the adjustment transfer trajectory.

[0027] According to the above technical solution, if the warning area corresponding to the adjustment transfer trajectory always has static targets, the number of static targets in the warning area corresponding to the initial transfer trajectory is determined, and the trajectory with the least number of static targets in the warning area is selected from the candidate transfer trajectory and the adjustment transfer trajectory for static target number comparison.

[0028] In the case that the number of static targets in the warning areas corresponding to the initial transfer trajectory, the candidate transfer trajectory and the adjustment transfer trajectory are the same, the initial transfer trajectory is selected as the final transfer trajectory, otherwise, the initial transfer trajectory or the candidate transfer trajectory or the adjustment transfer trajectory with fewer static targets in the warning area is selected as the final transfer trajectory.

[0029] According to the technical scheme, the aerial target refers to an object moving above a physical space of the target region, and the ground target refers to personnel or a transport vehicle moving or being static in the target region.

[0030] In the visual plane model, the dynamic target is marked with an arrow to indicate the displacement direction, and the static target is marked with a non-directional symbol.

[0031] According to the technical scheme, the aerial target is provided with a warning projection device for projecting warning information to the ground dynamic target.

[0032] When there is a dynamic target in the warning area of the final transfer trajectory, a warning arrow or a color area is projected to the ground, or a control instruction is sent to the transport vehicle to drive it away from the warning area.

[0033] A target positioning system, the system comprises a model construction module, an object definition module, an instruction receiving module and a trajectory planning module.

[0034] The model construction module is used to construct a visual plane model according to the situation distribution data of the target region and the object positioning data to be processed.

[0035] The object definition module is used to divide the object to be processed into an aerial target and a ground target according to the spatial distribution of the object to be processed, and divide the ground target into a static target and a dynamic target according to the state of the object to be processed.

[0036] The instruction receiving module is used to receive an external input instruction of the aerial target, and determine a trajectory starting position and a trajectory ending position of the aerial target.

[0037] The trajectory planning module is used to generate a planning trajectory of the aerial target according to the external input instruction, define a warning area and a danger area based on the planning trajectory, wherein the trajectory planning is constrained by minimizing the number of static targets in the warning area, and output a final transfer trajectory.

[0038] A storage medium storing a computer program, when executed on a processor, implements the target positioning method.

[0039] Compared with the prior art, the beneficial effects of the present application are:

[0040] The present application avoids the occurrence of safety accidents as much as possible through a prior planning mechanism, realizes the foresight of industrial safety production, and makes the best response measures combined with the on-site information of the factory, and minimizes the safety hazards in the initial stage.

[0041] Based on the classification of the objects to be processed, the analysis objects and limiting conditions are clearly defined to maximize the protection of industrial safety and production, while taking into account the convenience of on-site production, avoiding additional workload to industrial production, avoiding excessive analysis that leads to increased computing power, and making the best response plan. Attached Figure Description

[0042] Figure 1 This is a schematic diagram illustrating the logical relationship of a target positioning method based on safe production according to the present invention.

[0043] Figure 2 This is a schematic diagram of the object positioning and trajectory planning in a target positioning method based on safe production according to the present invention;

[0044] Figure 3 This is a schematic diagram illustrating the adjustment of the termination position coordinates in a target positioning method based on safe production according to the present invention.

[0045] Figure 4 This is a schematic diagram of the initial transfer trajectory of an aerial target in a target positioning method based on safe production according to the present invention;

[0046] Figure 5 This is a schematic diagram illustrating the adjustment of the transfer trajectory in a target positioning method based on safe production according to the present invention. Detailed Implementation

[0047] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0048] Example 1: One embodiment of the present invention provides a target positioning method based on safe production, applied in industrial safe production, including the following:

[0049] like Figure 1 As shown, situational distribution data of the target area is obtained, a visual planar model is constructed, the objects to be processed within the target area are located, and the location results are mapped to the visual planar model.

[0050] Specifically, such as Figure 2As shown, the situation distribution data is a layout diagram of a plant, workshop or factory, which includes production areas, temporary storage areas and passing areas, etc., a plane rectangular coordinate system is established on the layout diagram, and a target area is positioned by using Beidou positioning, GPS positioning, image recognition positioning and other methods, the target object is calibrated in the plane rectangular coordinate system according to the positioning result, and each target object is given a coordinate value to obtain a visual plane model.

[0051] Further, in the visual plane model, the positioning coordinate value of each target object is (X k ,Y k ), wherein k represents the kth target object.

[0052] The target area is digitally processed, and a visual plane model is obtained by combining positioning technology, so that the safety production of the target area is realized digital analysis and management, and the production safety is more accurate and reliable.

[0053] The target object is divided into an aerial target and a ground target based on the motion dimension attribute.

[0054] The ground target is defined as a dynamic target and a static target according to the displacement state, and when the displacement of the dynamic target is less than a set threshold within a preset time threshold, the state of the dynamic target is updated to the static target.

[0055] Specifically, the aerial target refers to moving on the top of a plant, workshop or factory, and transferring large objects, for example, a portal crane transfers large parts of a completed machine tool, and the ground target refers to personnel or transport vehicles that are active or stationary in the target area, for example, an AGV car transports small parts of a completed machine tool, and the personnel active in the target area are mainly divided into two categories, one is an operator who performs equipment production operation, and the other is a coordinator who performs production coordination, and in general, the operator is a static target, and the coordinator or other personnel active in the target area is a dynamic target.

[0056] Because in industrial safety production, the transfer of large objects by the aerial target has a great safety hazard, once the object hoisted by the aerial target falls off, it will be a major safety accident, therefore, the present application divides the target object into an aerial target and a ground target based on the motion dimension attribute, which can better analyze the target object and reduce the safety hazard of industrial production and ensure safety production.

[0057] In one embodiment of the present application, when the displacement amount of the target object within the preset time threshold 10 min is less than 2 m, it is defined as a static target, and the static target and the dynamic target are both labeled on the visual plane model, for example: the transport vehicle is labeled by a rectangular frame, and the driving direction of the transport vehicle is labeled by an arrow, if the transport vehicle is a static target, the driving direction is not labeled by an arrow, the operator who is a static target is labeled by a pentagram, the coordinator who is a dynamic target or other personnel who enters and exits the target area is labeled by a triangle, and is uniformly labeled in the visual plane model, for the dynamic target, the position information is continuously updated by using Beidou positioning, GPS positioning or image recognition positioning, and is relabeled in the visual plane model, and the displacement direction is labeled by an arrow.

[0058] In response to an external input instruction, the initial position and the terminal position of the trajectory of the aerial target are determined.

[0059] Specifically, as shown in the figure, the external input instruction is an instruction for controlling the aerial device to transfer the large object, including the starting position coordinate point (X start ,Y start ) and the terminal position coordinate point (X end ,Y end ) of the large object transfer, and the external input instruction further includes a region function E (X) to which the terminal position coordinate point belongs. (X) The region function E end is the terminal position region of the large object transfer, that is, the transfer end point of the large object can be in the terminal position region, and preferably the terminal position coordinate point (X end ,Y (X) ).

[0060] In one embodiment of the present application, the large parts in the machine tool production process need to be transferred, the starting position coordinate point of the transfer is (4, 20), the terminal position coordinate point is (115, 5), and the region function E 2 to which the terminal coordinate value belongs is (X―115) 2 +(Y―5) 2 ≤9, that is, the terminal position coordinate value can be in (X―115) 2 +(Y―5) (X) ≤9, and preferably (115, 5).

[0061] According to the external input instruction, a planning trajectory of the aerial target is generated, and a warning area and a danger area are defined based on the planning trajectory, wherein the trajectory planning is constrained by minimizing the number of static targets in the warning area to obtain a final transfer trajectory.

[0062] Specifically, the following steps are included:

[0063] Step 1, constructing an initial transfer trajectory of the aerial target based on the starting position coordinate point and the ending position coordinate point, the initial transfer trajectory being a line between the starting position coordinate point and the ending position coordinate point, and extending to both sides of the initial transfer trajectory to obtain a warning zone, taking the aerial target as the center and setting a threshold as the radius to obtain a danger zone, the width of the warning zone being greater than the diameter of the danger zone, and performing digital processing on the warning zone and the danger zone to obtain a warning zone function P (X) and a danger zone function Q (X) ;

[0064] The warning zone function P (X) and the danger zone function Q (X) are both inequalities, representing the mathematical expression of the warning zone and the danger zone in the visual plane model.

[0065] The warning zone refers to the vertical projection area of the space through which the aerial target will pass during transfer, and the danger zone refers to the vertical projection area of the space around the aerial target, which moves with the transfer of the aerial target. Since there is a security risk of falling away when the aerial target transfers a large object, it is absolutely prohibited for personnel or vehicles to exist in the danger zone.

[0066] Step 2, analyzing whether there is a static target in the warning zone corresponding to the initial transfer trajectory according to the positioning distribution of the ground target. If there is no static target, the initial transfer trajectory is the final transfer trajectory of the aerial target. If there is a static target, proceed to the next step.

[0067] Because when there is no static target in the warning zone, even if there is a dynamic target in the warning zone, the dynamic target can be prompted to move away from the warning zone to reduce the security risk during the transfer of the aerial target by the large object, therefore, as long as there is no static target in the warning zone, the transfer trajectory of the aerial target is the transfer trajectory with the lowest security risk.

[0068] Step 3, traversing the coordinate point set in the region function E (X) , constructing several candidate transfer trajectories of the aerial target according to step 1, each candidate transfer trajectory corresponding to a warning zone;

[0069] When the shortest transfer trajectory cannot be determined according to the starting position coordinate point and the ending position coordinate point, since the ending position coordinate point has a region function E (X) , as long as the final landing point of the large object is located in the region function E (X) , then the candidate transfer trajectory can be planned by modifying the ending position coordinate point within the range of the region function E (X) ;

[0070] Then determine whether there is a static target in the warning area corresponding to the candidate transfer trajectory. If there is no static target in the warning area corresponding to the candidate transfer trajectory, then the candidate transfer trajectory is the final transfer trajectory of the air target. If there is a static target in the warning area corresponding to each candidate transfer trajectory, then proceed to the next step.

[0071] In the process of using aerial targets to transfer large objects, if the transfer can be carried out using the shortest trajectory, not only can the transfer time be reduced, but also the risk of transferring large objects can be further reduced because the shortest transfer trajectory has no turning points. Therefore, when planning the transfer trajectory, the shortest transfer trajectory is preferred.

[0072] Step 4, as follows Figures 4-5 As shown, further adjustments are made to the initial transfer trajectory and candidate transfer trajectory, and the initial transfer trajectory or candidate transfer trajectory with the fewest static targets in the warning area is selected as the adjustment object.

[0073] Specifically, determine the coordinates (X) of the static target within the warning zone corresponding to the adjustment object. i ,Y i ), and determine the distance coordinates (X) outside the warning zone corresponding to the adjustment object. i ,Y i The smallest static target's coordinates (X) j ,Y j The coordinates of the center point of the line connecting the two static targets are determined based on their coordinate values. The center point coordinates are used as the turning point of the aerial target transfer trajectory, and the transfer trajectory is replanned and defined as the adjusted transfer trajectory. The warning zone is then redefined based on the adjusted transfer trajectory.

[0074] It also determines whether there is a static target within the warning zone corresponding to the adjusted transfer trajectory. If there is no static target, the adjusted transfer trajectory is the final transfer trajectory of the aerial target.

[0075] If a static target exists, continue with step 4 until there is no static target in the warning area corresponding to the adjusted transfer trajectory.

[0076] If the warning zone corresponding to the adjusted transfer trajectory always contains static targets, then the number of static targets in the warning zone corresponding to the initial transfer trajectory is determined, and the trajectory with the fewest static targets in the warning zone is selected from the candidate transfer trajectory and the adjusted transfer trajectory, and the number of static targets is compared.

[0077] In the case that the number of static targets in the warning zones corresponding to the initial transfer trajectory, the candidate transfer trajectory and the adjusted transfer trajectory is the same, the initial transfer trajectory is selected as the final transfer trajectory, otherwise, the initial transfer trajectory or the candidate transfer trajectory or the adjusted transfer trajectory with less static targets in the warning zone is selected as the final transfer trajectory.

[0078] When there are static targets in all the transfer trajectories, the transfer of large objects inevitably needs to pass above the static targets, in this case, the determination of the final transfer trajectory is performed according to the principles of the least number of static targets and the shortest transfer trajectory, so as to reduce the safety hazards of the aerial target in the large object transfer process as much as possible.

[0079] In an embodiment of the present application, the aerial target is provided with a warning projection device for projecting warning information to the ground, such as projecting warning arrows, projecting warning slogans or projecting warning colors, etc., when there are dynamic targets in the warning zone of the final transfer trajectory, the warning information is projected to the ground in real time as the aerial target moves, prompting the dynamic targets on the ground to move away from the warning zone, because when the aerial target moves above the dynamic targets, the dynamic targets will be in the danger zone, which will greatly increase the safety hazards.

[0080] If the dynamic target is an automatic transport vehicle, the control system of the automatic transport vehicle can be connected with the aerial target, specifically, the connection can be achieved through wireless connection modes such as wireless local area network, and the final transfer trajectory determined by the aerial target is used to issue control instructions to the automatic transport vehicle in the warning zone to drive the automatic transport vehicle away from the warning zone.

[0081] Embodiment 2, another embodiment of the present application provides a target positioning system based on safety production, the system comprises a model construction module, an object definition module, an instruction receiving module and a trajectory planning module;

[0082] The model construction module is used for constructing a visual plane model according to the situation distribution data of the target area and the object positioning data to be processed;

[0083] The object definition module is used for dividing the object to be processed into an aerial target and a ground target according to the spatial distribution of the object to be processed, and dividing the ground target into a static target and a dynamic target according to the state of the object to be processed;

[0084] The instruction receiving module is used for receiving the external input instructions of the aerial target, and determining the trajectory start position and the trajectory end position of the aerial target;

[0085] The trajectory planning module is configured to generate a planned trajectory of the aerial target according to an external input instruction, define a warning zone and a danger zone based on the planned trajectory, wherein the trajectory planning is constrained by minimizing the number of static targets in the warning zone, and output a final transfer trajectory.

[0086] In one embodiment, the application provides a storage medium storing a computer program, wherein the computer program is executed on a processor to implement the target positioning method.

[0087] It will be obvious to a person skilled in the art that the application is not limited to the details of the foregoing exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or essential characteristics of the application. Therefore, the embodiments should be considered as exemplary and non-limiting, and the scope of the application is defined by the appended claims rather than the foregoing description, and all changes falling within the meaning and range of the equivalent elements of the claims are intended to be embraced by the application. Any reference signs in the claims should not be considered as limiting the claims involved.

Claims

1. A target positioning method based on safe production, characterized in that: Acquire situational distribution data of the target area, construct a visual planar model, locate the objects to be processed within the target area, and map the location results to the visual planar model; Based on the motion dimension attribute, the objects to be processed are divided into aerial targets and ground targets; The ground targets are defined as dynamic targets and static targets based on their displacement states. When the displacement of a dynamic target is lower than a set threshold within a preset time threshold, its state is updated to that of a static target. Responding to external input commands, determine the starting and ending positions of the trajectory of aerial targets; The system generates a planned trajectory for the aerial target based on external input instructions, defines a warning zone and a danger zone based on the planned trajectory, and uses the minimization of the number of static targets within the warning zone as a constraint in the trajectory planning, and outputs the final transfer trajectory.

2. The target positioning method based on safe production according to claim 1, characterized in that: In the visualized planar model, the positioning coordinates of any object to be processed are represented as (X... k ,Y k ), where k represents the k-th object to be processed; Based on the starting position coordinates (X) specified by the external input command start ,Y start ) and termination position coordinates (X end ,Y end ), to construct the initial transfer trajectory of the aerial target; The warning zone is symmetrically widened and extended to both sides along the initial transfer trajectory to form a warning zone. A circular danger zone is established with the real-time position of the aerial target as the centroid reference point. The widening width of the warning zone is greater than the diameter of the danger zone. The warning zone and danger zone are digitized to generate warning zone functions P respectively. (X) and the danger zone function Q (X) .

3. The target positioning method based on safe production according to claim 2, characterized in that: Based on the location and distribution of ground targets, analyze whether there are static targets within the warning zone corresponding to the initial transfer trajectory. If there are no static targets, the initial transfer trajectory is the final transfer trajectory of the air target. If a static target exists, perform the following steps: a. Traverse the function region E to which the termination position specified by the external input command belongs. (X) The set of coordinate points within the range is used to generate several candidate transition trajectories; b. Determine whether there is a static target within the warning area of ​​the candidate transfer trajectory. If there is no static target within the warning area corresponding to the candidate transfer trajectory, then the candidate transfer trajectory is the final transfer trajectory of the aerial target. c. If there are static targets in the warning areas corresponding to the candidate transfer trajectories, then the initial transfer trajectory and the candidate transfer trajectory will be used as adjustment objects for trajectory optimization.

4. The target positioning method based on safe production according to claim 3, characterized in that: Optimizing the trajectory of the object being adjusted includes the following steps: A. Determine the coordinates (X) of the static target within the warning zone corresponding to any adjustment object. i ,Y i ), and determine the distance coordinates (X) outside the warning zone corresponding to the adjustment object. i ,Y i The smallest static target's coordinates (X) j ,Y j ); B. Determine the coordinates of the center point of the line connecting the two static targets from step A. The center point coordinates are used as the turning point of the aerial target transfer trajectory, and the transfer trajectory is replanned and defined as the adjusted transfer trajectory. The warning zone is then redefined based on the adjusted transfer trajectory. C. Determine whether there is a static target within the warning zone corresponding to the adjusted transfer trajectory. If there is no static target, then the adjusted transfer trajectory is the final transfer trajectory of the aerial target. If a static target exists, continue with steps A and B until no static target is found in the warning area corresponding to the adjusted transfer trajectory.

5. The target positioning method based on safe production according to claim 4, characterized in that: If static targets are always present in the warning zone corresponding to the adjusted transfer trajectory, the number of static targets in the warning zone corresponding to the initial transfer trajectory is determined, and the trajectory with the fewest static targets in the warning zone is selected from the candidate transfer trajectory and the adjusted transfer trajectory, and the number of static targets is compared. If the number of static targets in the warning zone corresponding to the initial transfer trajectory, candidate transfer trajectory, and adjusted transfer trajectory are all the same, the initial transfer trajectory is selected as the final transfer trajectory; otherwise, the initial transfer trajectory, candidate transfer trajectory, or adjusted transfer trajectory with fewer static targets in the warning zone is selected as the final transfer trajectory.

6. A target positioning method based on safe production according to any one of claims 1-5, characterized in that: The aerial target refers to an object that moves above the physical space of the target area, and the ground target refers to personnel or transport vehicles that are active or stationary in the target area. In the visualized planar model, the dynamic targets are labeled with arrows indicating their displacement direction, while the static targets are labeled with no directional symbols.

7. The target positioning method based on safe production according to claim 6, characterized in that: The aerial target is equipped with a warning projection device for projecting warning information onto dynamic ground targets; When a dynamic target is present within the warning zone of the final transfer trajectory, a warning arrow or colored area is projected onto the ground and / or control commands are sent to the transport vehicle to drive it away from the warning zone.

8. A target positioning system for executing the target positioning method based on safe production as described in claim 7, characterized in that: The system includes a model building module, an object definition module, an instruction receiving module, and a trajectory planning module; The model building module is used to build a visual planar model based on the situational distribution data of the target area and the positioning data of the objects to be processed. The object definition module is used to classify the objects to be processed into air targets and ground targets based on their spatial distribution, and to classify ground targets into static targets and dynamic targets based on their state. The instruction receiving module is used to receive external input instructions from aerial targets and determine the starting and ending positions of the aerial target's trajectory. The trajectory planning module is used to generate the planned trajectory of the aerial target according to the external input instructions, define the warning zone and the danger zone based on the planned trajectory, wherein the trajectory planning is constrained to minimize the number of static targets in the warning zone, and output the final transfer trajectory.

9. A storage medium, characterized in that, It stores a computer program that, when executed on a processor, implements the target localization method as described in claim 7.

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