Railway yard forklift driving behavior management and control system

Abstract

The invention discloses a railway yard forklift driving behavior management and control system, and aims to solve the problem that the prior art lacks a single positioning mode capable of simultaneously adapting to indoor and outdoor environment requirements, so that indoor and outdoor positioning seamless handover can be realized. Comprising the steps that an outdoor Beidou positioning module obtains outdoor positioning; the indoor Bluetooth AOA positioning module obtains indoor positioning; the data conversion module converts the indoor plane coordinate data into longitude and latitude data; the GIS geographic information module is used for dividing different indoor and outdoor areas; the station yard management and control module achieves real-time monitoring of the forklift and the speed and achieves overspeed early warning. And when two positioning results are obtained at the same time in an indoor and outdoor overlapping area, when an RSSI value obtained by the indoor Bluetooth AOA positioning module is greater than or equal to-75, or a Beidou signal HDOP obtained by the outdoor Beidou positioning module is greater than 1, selecting a positioning result of the indoor Bluetooth AOA positioning module, otherwise, selecting a positioning result of the outdoor Beidou positioning module. The method is used for indoor and outdoor positioning integration.

Description

TECHNICAL FIELD

[0001] The present application relates to a railway yard forklift driving behavior management and control system, belongs to the field of indoor and outdoor positioning technology. BACKGROUND

[0002] At present, the satellite navigation system has been very mature in civil application, and in the field of railway, the Beidou positioning technology can realize high-precision positioning of mobile equipment facilities, personnel and freight cars. However, there are the following problems:

[0003] 1. At present, the satellite navigation system has been very mature in civil application, and in the field of railway, the Beidou positioning technology can realize high-precision positioning of mobile equipment facilities, personnel and freight cars. However, the Beidou technology can only provide stable satellite navigation and positioning service in outdoor open and satellite signal good place at present. If it is in the indoor or the environment with some heavy metal shielding in the air, the satellite navigation system will have many limitations and deficiencies, and cannot provide stable positioning.

[0004] 2. There is a lack of a single positioning method that can adapt to indoor and outdoor environment requirements at the same time, so that indoor and outdoor can realize seamless connection of positioning, thereby realizing indoor and outdoor positioning integration.

[0005] How to realize good indoor positioning, so that it can be seamlessly connected with outdoor positioning, thereby realizing indoor and outdoor positioning integration, has been imminent in life or work. SUMMARY

[0006] The present application aims to solve the problem that the prior art lacks a single positioning method that can adapt to indoor and outdoor environment requirements at the same time, so that indoor and outdoor can realize seamless connection of positioning, and provides a railway yard forklift driving behavior management and control system.

[0007] The railway yard forklift driving behavior management and control system comprises:

[0008] An outdoor Beidou positioning module is used to obtain the positioning of the forklift in the outdoor, and the positioning data is longitude and latitude data;

[0009] An indoor Bluetooth AOA positioning module is used to obtain the positioning of the forklift in the indoor, and the positioning data is plane coordinate data;

[0010] A data conversion module is used to convert the plane coordinate data obtained by the indoor Bluetooth AOA positioning module into longitude and latitude data, so as to realize seamless connection of indoor positioning and outdoor positioning of the forklift;

[0011] A GIS geographic information module is used to realize division of different areas in the indoor and outdoor;

[0012] The station management and control module is used for realizing real-time monitoring of the forklift position and real-time monitoring of the forklift speed according to the data conversion module, and realizing the forklift overspeed early warning according to preset data; is also used for realizing storage of forklift track tracking data and storage of forklift overspeed data; and is also used for realizing that when two positioning results are obtained simultaneously in the indoor and outdoor overlapping areas, if the RSSI value obtained by the indoor Bluetooth AOA positioning module is greater than or equal to -75, or the Beidou signal HDOP obtained by the outdoor Beidou positioning module is greater than 1, the positioning result of the indoor Bluetooth AOA positioning module is selected, otherwise the positioning result of the outdoor Beidou positioning module is selected.

[0013] Preferably, the specific method for the indoor Bluetooth AOA positioning module to obtain the plane coordinate data comprises:

[0014] S2-1, in the indoor area, according to the height in the warehouse and the area of the working area, the blue tooth base stations are installed as positioning terminals at equal intervals;

[0015] S2-2, the node signal emitted by the blue tooth beacon in the positioning terminal is received by the blue tooth AOA base station receiving device;

[0016] S2-3, according to the height angle and the acceptance signal angle of the node signal, the positioning terminal position is solved and obtained according to the triangle geometric principle, and the plane coordinate data is obtained.

[0017] Preferably, the interval of the installed blue tooth base stations in S2-1 is 18 meters.

[0018] Preferably, the specific method for the outdoor Beidou positioning module to obtain the forklift outdoor positioning data comprises:

[0019] S4-1, the broadcast text of the Beidou satellite is captured by the outdoor Beidou positioning module;

[0020] S4-2, the broadcast text is analyzed by the outdoor Beidou positioning module to obtain the C / A code and HN code modulated on the carrier, and to obtain the satellite ephemeris, signal sending time information and signal receiving time information;

[0021] S4-3, the signal sending time information is subtracted from the signal receiving time information to obtain the signal propagation time, and the signal propagation time is multiplied by the speed of light to obtain the distance between the outdoor Beidou positioning module and the satellite;

[0022] S4-4, according to the distance between the outdoor Beidou positioning module and the three satellites, the spatial three-dimensional coordinates of the outdoor Beidou positioning module are solved according to the three-ball intersection principle.

[0023] Preferably, the outdoor Beidou positioning module adopts a double-frequency B1+B2 positioning terminal to obtain the forklift outdoor positioning data, and transmits the positioning data to the server through a wireless network.

[0024] Preferably, the specific method by which the data conversion module converts the planar coordinate data obtained by the indoor Bluetooth AOA positioning module into latitude and longitude data includes:

[0025] S6-1. Select four vertices on the outer perimeter of the work area, namely point 1, point 2, point 3 and point 4;

[0026] S6-2. Measure and obtain the latitude and longitude data of points 1, 2, 3 and 4;

[0027] S6-3. Using point 1 as the origin, calculate the distance between point 1 and point 2, the distance between point 1 and point 3, and the distance between point 1 and point 4 to obtain the correspondence between latitude and longitude coordinates and planar distances.

[0028] S6-4. Select any point M, and take point 1 as the reference point. Obtain the indoor positioning plane coordinates of point M relative to point 1 through the positioning terminal's Bluetooth base station.

[0029] S6-5. Obtain the distance between point M and point 1;

[0030] S6-6. Calculate the latitude and longitude coordinates of point M using the following formula:

[0031]

[0032] in, This represents the distance between point M and point 1; This represents the latitude and longitude coordinates of point M. This represents the latitude and longitude coordinates of point 1. This represents a radian value of 1 degree. , Represents the Earth's radius. .

[0033] Advantages of the present invention: The railway station forklift driving behavior control system proposed in this invention adopts a comprehensive positioning method to achieve indoor positioning, outdoor positioning and seamless switching between indoor and outdoor positioning, thereby achieving seamless and accurate positioning inside and outside the forklift garage, effectively realizing seamless connection of real-time positioning inside and outside the forklift garage, and recording driving behavior, speeding warning and other functions, improving operation efficiency and safety level.

[0034] The railway station yard forklift driving behavior control system combines outdoor Beidou positioning with indoor Bluetooth AOA positioning, realizes smooth transition, seamless connection and time difference switching of positioning algorithm, positioning accuracy and coverage range in the application scenario of indoor and outdoor combined positioning of the forklift, realizes the highest speed limit of the partitioned operation area combined with the GIS map, different areas have different speed limits, improves the production operation efficiency and ensures the operation safety, directly converts the indoor Bluetooth positioning plane coordinate data into latitude and longitude data form, does not need to perform page switching on the indoor positioning data alone, intuitively displays the indoor positioning position on the map, and facilitates the management personnel to view.

[0035] The effective range of the indoor reference station is greater than or equal to 20 m, the network registration time after starting is less than or equal to 10 s, the positioning accuracy can reach 30 cm, and the border crossing early warning response time is less than or equal to 5 s. In the complex scene where multiple positioning systems coexist, the system can quickly switch and seamlessly transition when the vehicle body and large components move in different positioning systems, and realize full coverage of indoor and outdoor positioning services. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 is a principle diagram of the railway station yard forklift driving behavior control system described in the application;

[0037] Figure 2 is a forklift position display schematic diagram of the station yard control module described in the application;

[0038] Figure 3 is a positioning principle diagram of the outdoor Beidou positioning module described in the application;

[0039] Figure 4 is a positioning principle diagram of the indoor Bluetooth AOA positioning module described in the application;

[0040] Figure 5 is a principle diagram of the indoor Bluetooth AOA positioning module acquiring plane coordinate data described in the application;

[0041] Figure 6 is a seamless connection principle diagram of indoor and outdoor positioning of the station yard control module described in the application;

[0042] Figure 7 is a seamless connection data flow diagram of indoor and outdoor positioning of the station yard control module described in the application;

[0043] Figure 8 is a principle diagram of the data conversion module converting the plane coordinate data acquired by the indoor Bluetooth AOA positioning module into latitude and longitude data described in the application. DETAILED DESCRIPTION

[0044] With reference to the accompanying drawings, the technical solutions in the embodiments of the present application will be clearly and completely described below, obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work belong to the scope of protection of the present application.

[0045] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0046] The present application will be further described below in combination with the accompanying drawings and specific embodiments, but is not limited by the specific embodiments.

[0047] Embodiment 1:

[0048] The present application will be further described below in combination with the accompanying drawings and specific embodiments, but is not limited by the specific embodiments. Figures 1-8 The present application will be further described below in combination with the accompanying drawings and specific embodiments, but is not limited by the specific embodiments. Figure 1 As shown in the figure, it comprises:

[0049] The outdoor Beidou positioning module is used for acquiring the positioning of the forklift outdoors, and the positioning data is longitude and latitude data;

[0050] The indoor Bluetooth AOA positioning module is used for acquiring the positioning of the forklift indoors, and the positioning data is plane coordinate data;

[0051] The data conversion module is used for converting the plane coordinate data acquired by the indoor Bluetooth AOA positioning module into longitude and latitude data, realizing the seamless connection of indoor and outdoor positioning of the forklift;

[0052] The GIS geographic information module is used for realizing the division of different indoor and outdoor areas;

[0053] The station control module is used for realizing the real-time monitoring of the forklift position and the real-time monitoring of the forklift speed according to the data conversion module, and realizing the overspeed warning of the forklift according to the preset data; it is also used for realizing the storage of the forklift track tracking data and the storage of the forklift overspeed data; it is also used for realizing that when two positioning results are obtained in the indoor and outdoor overlapping area at the same time, if the RSSI value obtained by the indoor Bluetooth AOA positioning module is greater than or equal to-75, or the Beidou signal HDOP obtained by the outdoor Beidou positioning module is greater than 1, the positioning result of the indoor Bluetooth AOA positioning module is selected, otherwise the positioning result of the outdoor Beidou positioning module is selected.

[0054] In the present embodiment, the Beidou high-precision positioning terminal is used to collect the positioning data of the forklift operation area, and the GIS technology is used to draw a map, as shown in the figure, to intuitively display the forklift position information and the speed limit of each area in the form of a map. Figure 2 In the present embodiment, the Beidou high-precision positioning terminal is used to collect the positioning data of the forklift operation area, and the GIS technology is used to draw a map, as shown in the figure, to intuitively display the forklift position information and the speed limit of each area in the form of a map.

[0055] In this embodiment, the outdoor Beidou positioning module adopts a Beidou positioning chip, utilizes the built Beidou satellite network, and adopts a dual-frequency B1+B2 positioning technology to achieve better accuracy. The outdoor part transmits the coordinates to the server through the built-in 4G network. In this way, long-distance accurate positioning can be achieved outdoors without being limited to a certain area. It is suitable for positioning of forklifts and other vehicles that often move outside the warehouse.

[0056] In this embodiment, the indoor Bluetooth AOA positioning module is based on the RSSI (Received Signal Strength Indication) positioning principle. According to different positioning ends, the Bluetooth positioning method is divided into network-side positioning and terminal-side positioning. Terminal-side positioning is generally used for indoor positioning navigation, accurate location marketing, and other user terminals. The advantage of Bluetooth positioning is that it is simple to implement, and the positioning accuracy is closely related to the laying density and transmission power of the Bluetooth beacon. It is also very power-saving, and can achieve power-saving purposes through deep sleep, connection-free, and simple protocol.

[0057] In this embodiment, by combining the Beidou satellite system with the Bluetooth AOA indoor positioning technology, an indoor and outdoor integrated positioning platform based on the positioning and driving behavior control needs of forklifts is created, achieving accurate positioning with an outdoor forklift precision of 0.5-1 meter and an indoor positioning accuracy of 30 cm. At the same time, a seamless switching algorithm and positioning solution model are used for positioning optimization, achieving smooth transition of positioning in the indoor and outdoor interface areas. Figure 6 and Figure 7 as shown.

[0058] In this embodiment, in order to realize indoor and outdoor joint positioning of forklifts in the railway system, an outdoor Beidou RTK+indoor Bluetooth joint positioning system is proposed based on the coordinate calibration points of the Bluetooth base station. Since the positioning accuracy of both is already very high, and the signals of the two rarely overlap, there is no need to use a fusion positioning method, and only the respective positioning areas need to be responsible. One of the keys is the seamless switching between the two positioning systems. Smooth handover is completed by judging the strength of the Bluetooth signal and the Beidou signal. In the design, a signal strength detection circuit, a comparison circuit, and a power module are added. The outdoor positioning module and the communication module are in sleep mode by default, and the signal strength detection circuit detects the strength of the Bluetooth signal. The stronger the signal, the stronger the signal, indicating that the system is in the coverage area of the Bluetooth base station, and indoor positioning modules can be used for positioning. Conversely, the weaker the signal, the weaker the signal, indicating that the system is outside the coverage area of the Bluetooth base station, and the outdoor positioning module and the 4G communication module are activated, finally realizing seamless switching between indoor and outdoor.

[0059] In this embodiment, when two positioning results are obtained in the overlapping area, if the RSSI value is greater than or equal to -75 or the Beidou signal HDOP is greater than 1, the Bluetooth positioning data is selected, otherwise the Beidou positioning data is selected. With this scheme, unnecessary coordinate switching is avoided during handover, and problems such as positioning drift and coordinate loss are solved. The specific method is as shown in Figure 6 The principle block diagram of seamless connection of indoor and outdoor positioning and Figure 7 The data flow diagram of seamless connection of indoor and outdoor positioning is shown.

[0060] Further, as shown in Figure 4 and Figure 5 The specific method of the indoor Bluetooth AOA positioning module for obtaining plane coordinate data includes:

[0061] S2-1, in the indoor area, according to the height of the warehouse and the area of the working area, the Bluetooth base station is installed as a positioning terminal at equal intervals;

[0062] S2-2, the node signal emitted by the Bluetooth beacon in the positioning terminal is received by the Bluetooth AOA base station receiving device;

[0063] S2-3, according to the elevation angle and the acceptance signal angle of the node signal, the position of the positioning terminal is solved according to the principle of triangle geometry, and the plane coordinate data is obtained.

[0064] Further, the interval of the installed Bluetooth base station in S2-1 is 18 meters.

[0065] In this embodiment, according to the height of the warehouse and the area of the working area, the Bluetooth base station is installed at equal intervals, which can fully exert the technical advantages of high precision and wide coverage of two-dimensional positioning of single base station of Bluetooth AOA indoor positioning technology.

[0066] In this embodiment, the Bluetooth positioning base station is installed in the indoor area, and one Bluetooth base station is installed every 18 meters according to the height of the warehouse and the area of the working area, which can fully exert the technical advantages of high precision and wide coverage of two-dimensional positioning of single base station of Bluetooth AOA indoor positioning technology. The position of the forklift is calculated by receiving the node signal emitted by the Bluetooth beacon in the receiving positioning device.

[0067] In this embodiment, the indoor high-precision positioning technology mainly includes RFID, infrared, Bluetooth, Zigbee, Wifi, UWB, etc., and the technical indicators are shown in Table 1. After comparison, it is found that Bluetooth AOA and UWB are two competitive technologies. Before 2020, the hotspot of indoor high-precision positioning is UWB, and with the iteration of Bluetooth standard and protocol, the Bluetooth Alliance introduces the "seek" function in Bluetooth standard specification 5.1. This function can detect the direction of the Bluetooth signal, compared with the past fingerprint positioning realized by RSSI, the "seek" function greatly improves the positioning accuracy, and the advantages of Bluetooth AOA technology are gradually highlighted. Mainly in the real-time positioning of 500 tags with 0.3cm-0.5cm accuracy under the positive single base station and low power consumption.

[0068] Table 1

[0069] Positioning technology RFID Infrared Bluetooth Beacon Zigbee Wifi UWB Bluetooth AOA Accuracy (m) 10-50 10-50 3-5 3-10 3-15 0.1-1 0.1-1 Frequency 125 KHz 0.3 THz 2.4 GHz 2.4 GHz 2.4 GHz 3.1 GHz 2.4 GHz Power consumption (mA) 10 15 20 5 30 25 5 Anti-interference Good Good Bad Bad Bad Good Medium Cost Medium Medium Low Low Low High Medium

[0070] In this embodiment, the Bluetooth AOA (Angle-of-Arrival) technology measures the direction of arrival of the electromagnetic wave returned by the positioning terminal through the Bluetooth base station with an array antenna, realizes the positioning function. The principle is shown in Figure 5 According to the elevation angle β and the received signal angle θ, the mobile terminal position is solved by using the principle of triangle geometry, and the accuracy is centimeter level. The coverage range of the Bluetooth base station is 2 times the height of the base station, and the height of the base station is 2-10m.

[0071] Further, as shown in Figure 3 The specific method for the outdoor Beidou positioning module to obtain the outdoor positioning data of the forklift includes:

[0072] S4-1, the outdoor Beidou positioning module captures the broadcast text of the Beidou satellite;

[0073] S4-2, the outdoor Beidou positioning module analyzes the broadcast text to obtain the C / A code and HN code modulated on the carrier, obtains the satellite ephemeris, signal sending time information and signal receiving time information;

[0074] S4-3, the signal sending time information and the signal receiving time information are subtracted to obtain the signal propagation time, and the signal propagation time is multiplied by the speed of light to obtain the distance between the outdoor Beidou positioning module and the satellite;

[0075] S4-4, according to the distance between the outdoor Beidou positioning module and the three satellites, according to the three-ball intersection principle, the spatial three-dimensional coordinates of the outdoor Beidou positioning module are solved.

[0076] In this embodiment, at least 4 visible satellites are needed in the Beidou satellite positioning process. After the ground Beidou positioning module captures the satellite broadcast text, the C / A code and NH code modulated on the carrier are analyzed to obtain satellite ephemeris and signal transmission time information. Then, the signal propagation time is obtained by combining the signal receiving time, and the distance from the positioning module to the satellite is obtained by multiplying the light speed. With the distances between the positioning module and 3 different satellites, the spatial three-dimensional coordinates of the positioning module are calculated by the three-ball intersection principle. The 4-star positioning method eliminates the clock difference caused by the inconsistency between the satellite high-precision atomic clock and the ground Beidou positioning module clock, but does not eliminate the ionospheric, tropospheric delay error and ephemeris error. Moreover, because the C / A code frequency is low, one code length corresponds to 300m in reality, so even if the error accuracy is 1%, the positioning accuracy can only be maintained at the meter level.

[0077] Further, the outdoor Beidou positioning module adopts a dual-frequency B1+B2 positioning terminal to obtain the outdoor positioning data of the forklift, and transmits the positioning data to the server through a wireless network.

[0078] Further, as shown in Figure 8 The specific method for converting the plane coordinate data obtained by the indoor Bluetooth AOA positioning module into latitude and longitude data includes:

[0079] S6-1, four vertices of the outer periphery of the working area are selected, which are point 1, point 2, point 3 and point 4;

[0080] S6-2, the latitude and longitude data of point 1, point 2, point 3 and point 4 are measured and obtained;

[0081] S6-3, taking point 1 as the origin, the distance between point 1 and point 2, the distance between point 1 and point 3, and the distance between point 1 and point 4 are calculated to obtain the corresponding relationship between the latitude and longitude coordinates and the plane distance;

[0082] S6-4, selecting an arbitrary point M, taking point 1 as the reference point, and obtaining the indoor positioning plane coordinate of point M relative to point 1 through the positioning terminal Bluetooth base station

[0083] S6-5, the distance between point M and point 1 is obtained;

[0084] S6-6, the latitude and longitude coordinate data of point M is calculated according to the following formula:

[0085]

[0086] wherein, represents the distance between point M and point 1; represents the latitude and longitude coordinate data of point M, represents the latitude and longitude coordinate data of point 1, represents the radian value of 1 degree, , represents the radius of the earth, .

[0087] In the present application, outdoor positioning adopts Beidou satellite navigation positioning, Beidou positioning technology is researched, and the problems of large size and high power consumption of the positioning terminal are improved; indoor and outdoor positioning board cards and antennas are developed, and power supply, communication, starting and correction circuits of the board card are independently developed. By comparing indoor positioning technologies such as Wifi positioning, RFID positioning, Bluetooth positioning, Zigbee positioning and UWB positioning, finally, the Beidou positioning product 4G+NBIoT module with Bluetooth communication function is adopted, indoor and outdoor seamless connection positioning is realized, and the advantages of high positioning accuracy, low power consumption and low cost are achieved, indoor and outdoor positioning data can be switched without time difference, and the positioning defects and positioning blind area problems of single system are effectively solved.

[0088] In the present application, the forklift indoor and outdoor seamless connection precise positioning is realized, and the positioning accuracy is 0.5-1 meter. The forklift speed monitoring and early warning are realized: the forklift speed is automatically identified, and after the speed threshold set by the system is exceeded, the host computer system alarms, and the positioning terminal on the forklift reminds by voice. The system can set the forklift working area and working time, and realize real-time positioning, playback trajectory, speed query and other functions.

[0089] In the present application, the system realizes real-time monitoring of forklift position and speed, overspeed early warning, trajectory tracking record playback and overspeed record query functions by using Beidou positioning technology, Bluetooth AOA technology, GIS geographic information technology and indoor and outdoor seamless connection algorithm, which can effectively monitor the forklift driving behavior and improve the operation safety.

[0090] Although the present application is described herein with reference to particular embodiments, it should be understood that these examples are merely illustrative of the principles and applications of the present application. It should therefore be understood that numerous modifications can be made to the illustrative embodiments and that other arrangements can be devised without departing from the spirit and scope of the present application as defined by the appended claims. It should be understood that the features described in connection with one embodiment can be used in conjunction with other embodiments described herein. It should also be understood that features described in connection with separate embodiments can be used in combination with each other.

Claims

1. A railway station forklift driving behavior control system, characterized in that, It includes: The outdoor Beidou positioning module is used to obtain the location of the forklift outdoors. The positioning data is latitude and longitude data. The indoor Bluetooth AOA positioning module is used to obtain the positioning of the forklift indoors. This positioning data is planar coordinate data. The data conversion module is used to convert the planar coordinate data obtained by the indoor Bluetooth AOA positioning module into latitude and longitude data, so as to realize the seamless connection between indoor and outdoor positioning of forklifts. The GIS geographic information module is used to divide different indoor and outdoor areas; The station control module is used to monitor the forklift's position and speed in real time based on the data conversion module, and to provide overspeed warnings based on preset data. It is also used to store forklift trajectory tracking data and forklift overspeed data. Furthermore, when two positioning results are obtained simultaneously in the overlapping area of ​​indoor and outdoor spaces, if the RSSI value obtained by the indoor Bluetooth AOA positioning module is greater than or equal to -75, or the BeiDou signal HDOP obtained by the outdoor BeiDou positioning module is greater than 1, the positioning result of the indoor Bluetooth AOA positioning module is selected; otherwise, the positioning result of the outdoor BeiDou positioning module is selected.

2. The railway station forklift driving behavior control system according to claim 1, characterized in that, The specific method for the indoor Bluetooth AOA positioning module to obtain planar coordinate data includes: S2-1. In indoor areas, Bluetooth base stations are installed at equal intervals as positioning terminals according to the height of the warehouse and the area of ​​the work area. S2-2. A Bluetooth AOA base station receiver is used to receive the node signal transmitted by the Bluetooth beacon in the positioning terminal; S2-3. Based on the elevation angle of the node signal and the angle of the received signal, and using the principles of trigonometric geometry, the position of the positioning terminal is obtained, and the planar coordinate data is obtained.

3. The railway station forklift driving behavior control system according to claim 2, characterized in that, The interval between Bluetooth base stations installed as described in S2-1 is 18 meters.

4. The railway station forklift driving behavior control system according to claim 1, characterized in that, The specific method for the outdoor BeiDou positioning module to acquire outdoor positioning data of the forklift includes: S4-1, Outdoor BeiDou positioning module captures broadcast messages from BeiDou satellites; S4-2, the outdoor Beidou positioning module parses the broadcast message to obtain the C / A code and HN code modulated on the carrier, and acquires satellite ephemeris, signal transmission time information and signal reception time information; S4-3. Subtract the signal transmission time information from the signal reception time information to obtain the signal propagation time. Multiply the signal propagation time by the speed of light to obtain the distance between the outdoor Beidou positioning module and the satellite. S4-4. Based on the distance between the outdoor BeiDou positioning module and the three satellites, and according to the principle of tri-sphere intersection, the spatial three-dimensional coordinates of the outdoor BeiDou positioning module are calculated.

5. A railway station forklift driving behavior control system according to claim 4, characterized in that, The outdoor Beidou positioning module uses a dual-frequency B1+B2 positioning terminal to obtain the positioning data of the forklift outdoors, and transmits the positioning data to the server via a wireless network.

6. A railway station forklift driving behavior control system according to claim 1, characterized in that, The specific method by which the data conversion module converts the planar coordinate data obtained by the indoor Bluetooth AOA positioning module into latitude and longitude data includes: S6-1. Select four vertices on the outer perimeter of the work area, namely point 1, point 2, point 3 and point 4; S6-2. Measure and obtain the latitude and longitude data of points 1, 2, 3 and 4; S6-3. Using point 1 as the origin, calculate the distance between point 1 and point 2, the distance between point 1 and point 3, and the distance between point 1 and point 4 to obtain the correspondence between latitude and longitude coordinates and planar distances. S6-4. Select any point M, and take point 1 as the reference point. Obtain the indoor positioning plane coordinates of point M relative to point 1 through the positioning terminal's Bluetooth base station. S6-5. Obtain the distance between point M and point 1; S6-6. Calculate the latitude and longitude coordinates of point M using the following formula: in, This represents the distance between point M and point 1; This represents the latitude and longitude coordinates of point M. This represents the latitude and longitude coordinates of point 1. This represents a radian value of 1 degree. , Represents the Earth's radius. .

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