A safety production-based target positioning system and method

Abstract

The application discloses a target positioning system and method based on safety production, relates to the technical field of industrial safety production, and a model construction module is used for constructing a visual plane model according to situation distribution data of a target area and object positioning data to be processed; an object definition module is used for dividing the object to be processed into aerial targets and ground targets according to the spatial distribution of the object to be processed, and dividing the ground targets into static targets and dynamic targets according to the state of the object to be processed; an instruction receiving module is used for receiving external input instructions of the aerial targets, and determining the starting position and the ending position of the trajectory of the aerial targets; a trajectory planning module is used for generating a planning trajectory of the aerial targets according to the external input instructions, and defining a warning area and a danger area based on the planning trajectory, wherein the trajectory planning takes the minimization of the number of static targets in the warning area as a constraint condition, and outputs a final transfer trajectory; and the application can maximize the guarantee of production safety and reduce the safety hazards in industrial production.

Description

Technical Field

[0001] This invention relates to the field of industrial safety production technology, specifically a target positioning system and method based on safety production. Background Technology

[0002] Industrial safety is the core guarantee for the sustainable development of the manufacturing industry. New-generation information technology, digital twin models, 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," specifically disclosing that "by acquiring equipment information and personnel status information, and selecting corresponding preset hazardous area prediction models and pre-built digital twin models based on the equipment information and personnel status information, the equipment information is input into the corresponding preset hazardous area prediction models and pre-built digital twin models to obtain the hazardous area range and warning area range based on the current equipment information; personnel status information is input into the pre-built digital twin model to obtain the personnel movement trajectory based on the current personnel status information; the hazardous area range, warning area range, and personnel movement trajectory are input into the pre-built hazardous prediction model to obtain the personnel hazardous prediction result; based on the hazardous prediction result, hazardous warnings are issued to personnel or the equipment operating status is changed to reduce or avoid the occurrence of safety accidents in factory production."

[0004] While the aforementioned disclosures aim to minimize safety incidents through an emergency response mechanism, there is a lag in risk prevention. The proposed solutions only trigger intervention in the later stages of the accident chain, failing to proactively prevent and control incidents at the nascent stage based on early risk characteristics. Therefore, how to combine on-site information from the factory to develop the best response measures and minimize safety hazards in the initial stage has become an urgent technical problem to be solved.

[0005] Therefore, there is an urgent need for a target positioning system and method based on safe production to solve the above-mentioned technical problems. Summary of the Invention

[0006] The purpose of this invention is to provide a target positioning system and method based on safe production, so as to solve the problems raised in the prior art.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] A target positioning method based on safe production involves acquiring situational distribution data of a target area, constructing a visual planar model, locating the objects to be processed within the target area, and mapping the positioning results to the visual planar model.

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

[0010] 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.

[0011] Responding to external input commands, determine the starting and ending positions of the trajectory of aerial targets;

[0012] The planned trajectory of the aerial target is generated based on the external input command. Warning zones and danger zones are defined based on the planned trajectory. The trajectory planning is constrained by minimizing 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 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;

[0014] 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;

[0015] 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.

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

[0017] According to the above technical solution, based on the location and distribution of ground targets, it is analyzed whether there are static targets in the warning area 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.

[0018] If a static target exists, perform the following steps:

[0019] 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;

[0020] 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.

[0021] 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.

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

[0023] 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 );

[0024] 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.

[0025] 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.

[0026] 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.

[0027] According to the above technical solution, if there are always static targets in the warning area corresponding to the adjusted transfer trajectory, the number of static targets in the warning area corresponding to the initial transfer trajectory is determined, and the trajectory with the fewest static targets in the warning area is selected from the candidate transfer trajectory and the adjusted transfer trajectory respectively, and the number of static targets is compared.

[0028] 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.

[0029] According to the above technical solution, the aerial target refers to an object moving 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.

[0030] 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.

[0031] According to the above technical solution, the aerial target is equipped with a warning projection device for projecting warning information onto dynamic ground targets;

[0032] 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.

[0033] A target localization system, the system comprising a model building module, an object definition module, an instruction receiving module, and a trajectory planning module;

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

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

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

[0040] This invention uses a pre-planning mechanism to minimize the occurrence of safety accidents, achieving foresight in industrial safety production, and combines on-site factory information to make the best response measures, minimizing 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 situational distribution data is a layout map of a factory, workshop, or plant. The layout map includes production areas, temporary storage areas, and passage areas. A Cartesian coordinate system is established on the layout map, and the objects to be processed in the target area are located using Beidou positioning, GPS positioning, image recognition positioning, and other methods. Based on the positioning results, the objects to be processed are marked in the Cartesian coordinate system, and each object to be processed is assigned a coordinate value to obtain a visual planar model.

[0051] Furthermore, in the visualized planar model, the positioning coordinates of each object to be processed are (X... k ,Y k ), where k represents the k-th object to be processed.

[0052] By digitizing the target area and combining it with positioning technology, a visualized planar model is obtained, enabling digital analysis and management of safe production in the target area, thus ensuring production safety more accurately and reliably.

[0053] Based on the motion dimension attribute, the objects to be processed are divided into aerial targets and ground targets;

[0054] 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.

[0055] Specifically, the aerial target refers to a moving object that is on top of a factory, workshop, or plant, used to transfer large objects, such as a gantry crane transferring large machine tool parts after production. The ground target refers to personnel or transport vehicles that are moving or stationary in the target area, such as AGVs transporting small machine tool parts after production. Personnel moving in the target area are mainly divided into two categories: operators who perform equipment production operations and coordinators who coordinate production. Generally, operators are static targets, while coordinators or other personnel moving in and out of the target area are dynamic targets.

[0056] Because the transfer of large objects by aerial targets poses significant safety hazards in industrial safety production, and the fall of objects hoisted by aerial targets would result in a major safety accident, this invention categorizes the objects to be processed into aerial targets and ground targets based on motion dimension attributes. This allows for better analysis of the objects to be processed, reduces safety hazards in industrial production, and ensures safe production.

[0057] In one embodiment of the present invention, when the displacement of a target object within a preset time threshold of 10 minutes is less than 2m, it is defined as a static target. Both static and dynamic targets are marked on a visual plane model. For example, transport vehicles are marked with rectangles and their driving direction is marked with arrows. If the transport vehicle is a static target, its driving direction is not marked with arrows. Operators of static targets are marked with pentagrams, and coordinators or other personnel entering and leaving the target area of ​​dynamic targets are marked with triangles. All are uniformly marked on the visual plane model. For dynamic targets, their position information is continuously updated using Beidou positioning, GPS positioning, or image recognition positioning, and they are re-marked on the visual plane model with arrows indicating the displacement direction.

[0058] In response to external input commands, determine the starting and ending positions of the trajectory of aerial targets.

[0059] Specifically, such as Figure 3 As shown, the external input command refers to the command to control the aerial equipment to transfer a large object, including the starting position coordinates (X) of the large object transfer. start ,Y start ) and the coordinates of the termination position (X) end ,Y end The external input command also includes the region function E to which the termination position coordinate point belongs. (X) , where the regional function E (X) This refers to the termination location area for the transfer of large objects; that is, the transfer endpoint of the large object can be within this area, but the preferred endpoint coordinate point is (X). end ,Y end ).

[0060] In one embodiment of the present invention, it is necessary to transfer large parts during the machine tool production process. The starting coordinate point of the transfer is (4, 20), and the ending coordinate point is (115, 5). The region function E to which the ending coordinate value belongs is... (X) (X―115) 2 +(Y―5) 2 ≤9, meaning the endpoint's coordinates are located at (X-115). 2 +(Y―5) 2 Any value within ≤9 is acceptable, with (115,5) being the preferred value.

[0061] The planned trajectory of the aerial target is generated based on the external input command. Warning zones and danger zones are defined based on the planned trajectory. The trajectory planning is constrained by minimizing the number of static targets in the warning zone, and the final transfer trajectory is obtained.

[0062] Specifically, it includes the following steps:

[0063] Step 1: Construct the initial transfer trajectory of the aerial target based on the starting and ending position coordinates. The initial transfer trajectory is the line connecting the starting and ending position coordinates. Extend the initial transfer trajectory to both sides to obtain a warning zone. With the aerial target as the center and a threshold as the radius, obtain the danger zone. The width of the warning zone is greater than the diameter of the danger zone. Digitize the warning zone and the danger zone to obtain the warning zone function P. (X) and the danger zone function Q (X) ;

[0064] The warning zone function P (X) and the danger zone function Q (X) All are represented by inequalities, indicating the mathematical representation of warning zones and danger zones in the visual planar model.

[0065] The warning zone refers to the vertical projection area of ​​space that an aerial target will pass through during its transfer, while the danger zone refers to the vertical projection area of ​​space surrounding the aerial target. The danger zone moves with the transfer of the aerial target. Because there is a safety hazard of the aerial target detaching and falling when transferring large objects, the presence of personnel or vehicles is absolutely prohibited in the danger zone.

[0066] Step 2: Based on the location and distribution of ground targets, analyze whether there are static targets in 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 there are static targets, proceed to the next step.

[0067] Because when there are no static targets within the warning zone, even if there are dynamic targets within the warning zone, the movement of large objects by aerial targets can alert the dynamic targets to stay away from the warning zone, thereby reducing safety hazards. Therefore, as long as there are no static targets within the warning zone, the movement trajectory of aerial targets is the movement trajectory with the lowest safety hazards.

[0068] Step 3: Traverse the region function E (X) The set of coordinate points within the area is used to construct several candidate transfer trajectories for the aerial target based on step 1. Each candidate transfer trajectory corresponds to a warning area.

[0069] When the shortest transition trajectory cannot be determined based on the starting and ending position coordinates, the ending position coordinates have a corresponding region function E. (X) As long as the final landing point of the large object is located within the region function E (X) If it's within any region, then we can try using the regional function E. (X) The coordinates of the termination position within the range are modified to plan candidate transfer trajectories;

[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] 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.

[0078] When all transfer trajectories contain static targets, the transfer of large objects inevitably requires passing over the static targets. In this case, the final transfer trajectory is determined by following the principle of minimizing the number of static targets and the shortest transfer trajectory, so as to minimize the safety hazards during the transfer of large objects from the air.

[0079] In one embodiment of the present invention, an airborne target is equipped with a warning projection device for projecting warning information onto the ground, such as projecting warning arrows, warning slogans, or warning colors. After the final transfer trajectory is determined, when a dynamic target exists within the warning area of ​​the final transfer trajectory, warning information is projected onto the ground in real time as the airborne target continues to move, reminding the dynamic target on the ground to stay away from the warning area. This is because when the airborne target moves above the dynamic target, the dynamic target will be in the danger zone, which will greatly increase the safety hazard.

[0080] If the dynamic target is an automated guided vehicle (AGV), the AGV's control system can be connected to the aerial target. Specifically, this can be done via wireless connection methods such as wireless local area networks (WLANs). The final transfer trajectory determined by the aerial target is used to send control commands to the AGV located in the warning zone, driving the AGV away from the warning zone.

[0081] Example 2: Another embodiment of the present invention provides a target positioning system based on safe production, the system including a model building module, an object definition module, an instruction receiving module, and a trajectory planning module;

[0082] 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] Example 3: In another embodiment of the present invention, a storage medium is provided that stores a computer program, which, when executed on a processor, implements the target localization method described above.

[0087] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

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 in the warning zone as a constraint in the trajectory planning, and outputs the final transfer trajectory. In the visualized planar model, the positioning coordinates of any object to be processed are represented as follows: ,in, Indicates the first One object to be processed; Based on the starting position coordinates specified by the external input command and termination position coordinates To construct the initial transfer trajectory of aerial targets; 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 respectively. and danger zone function ; 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 regions belonging to the termination position specified by the external input command. 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. Optimizing the trajectory of the object being adjusted includes the following steps: A. Determine the coordinates of static targets within the warning zone corresponding to any adjustment object. And determine the distance coordinates outside the warning zone corresponding to the adjustment object. The coordinates of the smallest static target ; 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.

2. The target positioning method based on safe production according to claim 1, characterized in that: 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. 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.

3. A target positioning method based on safe production according to any one of claims 1-2, 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.

4. The target positioning method based on safe production according to claim 3, 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.

5. A target positioning system for executing the target positioning method based on safe production as described in claim 4, 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.

6. 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 4.

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