Warning line monitoring system and method based on edge calculation and Beidou positioning

Abstract

The invention provides a warning line monitoring system and method based on edge calculation and Beidou positioning, and relates to the technical field of intelligent monitoring, and the warning line monitoring system comprises a coordinate obtaining unit which is used for obtaining real-time positioning coordinates; the coordinate calibration unit is used for carrying out space calibration on the real-time positioning coordinates to obtain actual space coordinates; the parameter calculation unit is used for determining the advancing direction and the advancing speed according to the actual space coordinates; the movement analysis unit is used for obtaining a movement speed ratio according to the theoretical speed and the advancing speed of the actual space coordinates in the advancing direction; the time prediction unit is used for carrying out advancing time prediction to obtain predicted arrival time when Beidou positioning fails; and the warning and early warning unit is used for carrying out warning line monitoring and early warning when the predicted arrival time is smaller than an early warning value. According to the system and the method provided by the invention, the early warning signal of intrusion into the warning area can be dynamically sensed, and the maneuverability and the reliability of warning line monitoring are ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent monitoring, in particular to a warning line monitoring system and method based on edge computing and Beidou positioning. BACKGROUND

[0002] By monitoring the warning line set in the warning area, the behavior of the mobile target crossing the warning line can be monitored in real time, thereby improving the safety of the warning area.

[0003] In the existing warning line monitoring process, the positioning of the mobile target is usually directly based on Beidou positioning. However, when the terrain near the warning line is complex and the Beidou positioning signal is weak (such as urban canyons, mountainous areas, indoor shielding), the Beidou positioning will fail. If the positioning failure occurs when the mobile target is about to approach the warning area, not only the positioning of the mobile target cannot be accurately completed, but also the behavior of breaking into the boundary of the warning line cannot be reasonably predicted, greatly reducing the safety of the warning area. SUMMARY

[0004] The warning line monitoring system and method based on edge computing and Beidou positioning provided by the present application solve the technical problem that when the terrain near the warning line is complex and the Beidou positioning signal is weak, the Beidou positioning will fail, and if the positioning failure occurs when the mobile target is about to approach the warning area, not only the positioning of the mobile target cannot be accurately completed, but also the behavior of breaking into the boundary of the warning line cannot be reasonably predicted, greatly reducing the safety of the warning area.

[0005] To achieve the above-mentioned purpose and other related purposes, the present application provides a warning line monitoring system based on edge computing and Beidou positioning, comprising: a coordinate acquisition unit for acquiring real-time positioning coordinates of a mobile target monitored by Beidou positioning around a warning line; a coordinate calibration unit for spatially calibrating the real-time positioning coordinates in a regional model to obtain actual spatial coordinates of the mobile target; a parameter calculation unit for determining the direction and speed of travel of the mobile target according to the action path formed by the actual spatial coordinates in the regional model; a movement analysis unit for analyzing the movement rhythm according to the theoretical speed and travel speed of the actual spatial coordinates in the direction of travel to obtain the corresponding movement speed ratio at the corresponding time, the movement speed ratio including the translation movement speed ratio and the change movement speed ratio; a time prediction unit for, when the Beidou positioning fails, acquiring the target actual spatial coordinates, target movement speed ratio, target travel direction and regional model corresponding to the failure start time, predicting the travel time corresponding to the warning line to obtain the predicted arrival time; and a warning alarm unit for generating a warning signal when the predicted arrival time is less than the warning value to monitor and warn the warning line.

[0006] In an embodiment of the present application, the model construction unit further comprises: an image acquisition subunit configured to acquire a topographic feature image around the warning line; a model construction subunit configured to identify the topographic features in the topographic feature image to obtain surface feature coordinates, and to perform coordinate interpolation between the surface feature coordinates to establish a surface structure model around the warning line; and a calibration subunit configured to calibrate the coordinates of each spatial point in the surface structure model with respect to the theoretical speed in different directions of travel to obtain a regional model.

[0007] In an embodiment of the present application, the calibration subunit comprises: a first division module configured to divide the surface structure model into a plurality of travel routes in a circumferential direction with the center of the warning line as the center; a second division module configured to identify the linear slope corresponding to each coordinate point of each travel route, and to divide each travel route into travel line segments corresponding to different linear slopes; a vector calculation module configured to obtain a theoretical speed vector corresponding to each spatial point coordinate when the spatial point coordinate travels towards the center according to the spatial point coordinate, the start point coordinate of the travel line segment corresponding to the spatial point coordinate, the linear slope of the travel line segment, and the calibration speed of the moving target; and a model calibration module configured to calibrate the surface structure model according to the theoretical speed vector corresponding to each spatial point coordinate to obtain a regional model.

[0008] In an embodiment of the present application, the vector calculation module comprises: an intermediate vector calculation submodule configured to obtain an intermediate speed vector according to the spatial point coordinate, the start point coordinate of the travel line segment corresponding to the spatial point coordinate, the linear slope of the travel line segment, and the calibration speed of the moving target; a first vector output submodule configured to take the intermediate speed vector as a first theoretical speed vector corresponding to the spatial point coordinate when the spatial point coordinate travels towards the center when the point corresponding to the spatial point coordinate is a repaired road surface; and a second vector output submodule configured to correct the intermediate speed vector according to the speed decrement corresponding to the non-repaired road surface to obtain a second theoretical speed vector corresponding to the spatial point coordinate when the spatial point coordinate travels towards the center when the point corresponding to the spatial point coordinate is a non-repaired road surface.

[0009] In an embodiment of the present application, the coordinate calibration unit comprises: a coordinate detection subunit configured to perform coordinate detection on the real-time positioning coordinates in the regional model; a first calibration output subunit configured to take the real-time positioning coordinates as the actual spatial coordinates of the moving target when it is detected that the real-time positioning coordinates exist in the regional model; and a second calibration output subunit configured to perform height coordinate searching on the regional model according to the longitude coordinate and the latitude coordinate in the real-time positioning coordinates when it is detected that the real-time positioning coordinates do not exist in the regional model, and to obtain the actual spatial coordinates of the moving target according to the longitude coordinate, the latitude coordinate in the real-time positioning coordinates, and the found height coordinate.

[0010] In an embodiment of the present application, the parameter calculation unit comprises: a length intercepting subunit, configured to intercept the movement path in unit length of travel according to the position of the actual spatial coordinate on the movement path formed in the regional model, to obtain the historical spatial coordinate corresponding to the movement path under the intercept node corresponding to the unit length of travel; a direction analysis subunit, configured to obtain the slope value of the current actual spatial coordinate on the unit length of travel according to the unit length of travel and the current actual spatial coordinate, and to obtain the travel direction of the moving target by performing geographical direction conversion on the slope value; and a speed analysis subunit, configured to obtain the time difference in the unit length of travel according to the historical time corresponding to the historical spatial coordinate and the current time corresponding to the current actual spatial coordinate, and to obtain the travel speed of the moving target according to the unit length of travel and the time difference.

[0011] In an embodiment of the present application, the movement analysis unit comprises: a vector lookup subunit, configured to look up the corresponding theoretical speed vector in the regional model according to the current actual spatial coordinate, to obtain the current theoretical speed vector; a speed ratio calculation subunit, configured to calculate the current theoretical speed of the current actual spatial coordinate in the current travel direction according to the current travel direction corresponding to the current actual spatial coordinate and the current theoretical speed vector, and to obtain the current movement speed ratio corresponding to the current moment according to the current theoretical speed and the current travel speed corresponding to the current actual spatial coordinate; a speed ratio change analysis subunit, configured to detect the trend of the current movement speed ratio according to the historical travel speeds of the plurality of historical coordinate points before the current actual spatial coordinate and the historical travel speeds, to obtain the trend change rate of the current movement speed ratio; a first speed ratio determination subunit, configured to take the current movement speed ratio as the constant movement speed ratio when the trend change rate is zero; and a second speed ratio determination subunit, configured to take the current movement speed ratio as the change movement speed ratio when the trend change rate is not zero.

[0012] In an embodiment of the present application, the speed ratio change analysis subunit comprises: a historical analysis module, configured to extract the historical travel speeds of the plurality of historical coordinate points before the current actual spatial coordinate and the corresponding historical theoretical speeds of the historical travel speeds, to obtain the historical movement speed ratio; a curve drawing module, configured to draw the change curve between the movement speed ratio and the corresponding coordinate points according to the historical movement speed ratio and the current movement speed ratio; and a change extraction module, configured to extract the linear change rate corresponding to the change curve as the trend change rate of the current movement speed ratio.

[0013] In an embodiment of the present application, the time prediction unit comprises: a path query subunit configured to perform path query in the regional model according to the target actual spatial coordinate, the target moving direction and the warning line to obtain an optimal moving path from the target actual spatial coordinate to the warning line along the target moving direction; a model output subunit configured to output theoretical speeds of each prediction trajectory point corresponding to the optimal moving path through the regional model; a speed ratio processing subunit configured to process each theoretical speed through the target moving speed ratio to obtain a prediction moving speed at each prediction trajectory point, the target moving speed ratio comprising one of a translation moving speed ratio and a variable moving speed ratio; a trajectory segment prediction subunit configured to obtain a prediction moving time at each trajectory segment distance according to the trajectory segment distance between each adjacent prediction trajectory point in the optimal moving path and the prediction moving speed; and a splicing subunit configured to splice the prediction moving times to obtain the prediction arrival time.

[0014] To achieve the above object and other related objects, the present application further provides a warning line monitoring method based on edge computing and Beidou positioning, comprising: obtaining real-time positioning coordinates of a moving target around a warning line through Beidou positioning by a coordinate acquisition unit; performing spatial calibration of the real-time positioning coordinates in a regional model by a coordinate calibration unit to obtain actual spatial coordinates of the moving target; determining a moving direction and a moving speed of the moving target according to an action path formed by the actual spatial coordinates in the regional model by a parameter calculation unit; performing moving rhythm analysis according to a theoretical speed in the moving direction and the moving speed of the actual spatial coordinates by a moving analysis unit to obtain a corresponding moving speed ratio at a corresponding moment, the moving speed ratio comprising a translation moving speed ratio and a variable moving speed ratio; obtaining the target actual spatial coordinates, the target moving speed ratio, the target moving direction and the regional model corresponding to the moment when Beidou positioning fails, performing moving time prediction corresponding to the warning line by a time prediction unit when Beidou positioning fails to obtain a prediction arrival time; generating an early warning signal to perform warning line monitoring early warning by a warning early warning unit when the prediction arrival time is less than a warning value.

[0015] The application has the beneficial effects that the warning line monitoring system and method based on edge computing and Beidou positioning provided by the application can obtain real-time positioning coordinates of a mobile device of a mobile target located around a warning line detected by Beidou positioning, can calibrate the spatial position of the real-time positioning coordinates based on a constructed regional model to determine whether the real-time positioning coordinates can accurately fall into the regional model, and can re-adjust the real-time positioning coordinates to determine the actual spatial coordinates of the mobile target based on the real-time positioning coordinates if the real-time positioning coordinates do not fall into the regional model. Then, the actual spatial coordinates are used to further construct a corresponding action path in the regional model, and the action path is used to analyze and determine the moving direction and speed of the mobile target. After the moving direction and speed are determined, the actual spatial coordinates corresponding to the regional model in the moving direction are extracted to calculate the corresponding moving speed ratio of the mobile target at different times when Beidou positioning fails, so as to calculate the backup of the mobile target when Beidou positioning fails, to realize further edge computing. Specifically, when Beidou positioning fails (including detecting that the positioning signal is weak or unable to be positioned), the actual spatial coordinates of the target at the start time of failure, the target moving speed ratio, and the target moving direction are obtained, and the actual spatial coordinates, the target moving speed ratio, and the target moving direction are used in combination with the constructed regional model, such as the theoretical speed and the ground structure, to predict the travel time from the actual spatial coordinates of the target to the warning line, so as to accurately evaluate the predicted arrival time. Finally, the predicted arrival time and the warning value can be compared in size, and a warning signal can be generated when the predicted arrival time is less than the warning value, to monitor and warn the warning line, so as to ensure that the dynamic perception of the warning signal based on the regional model parameters such as the geological shape and the theoretical speed is realized during the movement of the mobile target around the warning line, and the maneuverability and reliability of the warning line monitoring are ensured. BRIEF DESCRIPTION OF DRAWINGS

[0016] The drawings incorporated into the specification and forming a part thereof show embodiments consistent with the present application and, together with the specification, serve to explain the principles of the application. It is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained from these drawings without creative labor for those skilled in the art.

[0017] In the drawings: Figure 1 The structural block diagram of the warning line monitoring system based on edge computing and Beidou positioning provided by the embodiment of the application is shown. Figure 2 The schematic diagram of the speed vector calibration process provided by the embodiment of the application is shown.

[0018] Figure 3 FIG. 4 shows a schematic diagram of a coordinate calibration process using a regional model according to an embodiment of the present application.

[0019] Figure 4 FIG. 5 shows a schematic diagram of a unit travel length interception process of a movement path according to an embodiment of the present application.

[0020] Figure 5 FIG. 6 shows a schematic diagram of a warning line monitoring method based on edge computing and Beidou positioning according to an embodiment of the present application.

[0021] Reference signs are listed as follows: Coordinate acquisition unit 111; coordinate calibration unit 112; parameter calculation unit 113; movement analysis unit 114; time prediction unit 115; warning and early warning unit 116. DETAILED DESCRIPTION

[0022] The present application is described in more detail by the following specific examples. Other advantages and effects of the present application can be easily understood by those skilled in the art from this disclosure. The present application can also be implemented or applied in other different specific embodiments, and each detail in the specification can be modified or changed based on different views and applications without departing from the spirit of the present application. The following examples and features in the examples can be combined with each other without conflict under the condition that they do not conflict.

[0023] It should be noted that the diagrams provided in the following examples only schematically illustrate the basic concept of the present application, and the drawings only show the components related to the present application, not the number, shape and size of the components when actually implemented. The actual implementation of each component may be randomly changed in shape, number and proportion, and the layout pattern of the components may also be more complex.

[0024] In the following description, a large number of details are discussed to provide a more thorough explanation of the embodiments of the present application, however, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details, and in other embodiments, the known structures and devices are shown in the form of block diagrams rather than in the form of details, to avoid making the embodiments of the present application difficult to understand.

[0025] Please refer to Figure 1The application provides a warning line monitoring system based on edge computing and Beidou positioning, which comprises a coordinate acquisition unit 111, a coordinate calibration unit 112, a parameter calculation unit 113, a movement analysis unit 114, a time prediction unit 115 and a warning early warning unit 116. The coordinate acquisition unit 111 is used for acquiring real-time positioning coordinates of a mobile target around a warning line monitored through Beidou positioning. The coordinate calibration unit 112 is used for spatially calibrating the real-time positioning coordinates in a regional model to obtain actual spatial coordinates of the mobile target. The parameter calculation unit 113 is used for determining a travel direction and a travel speed of the mobile target according to an action path formed by the actual spatial coordinates in the regional model. The movement analysis unit 114 is used for performing movement rhythm analysis according to a theoretical speed in the travel direction and the travel speed of the actual spatial coordinates to obtain a corresponding movement speed ratio at a corresponding moment, wherein the movement speed ratio comprises a translation movement speed ratio and a change movement speed ratio. The time prediction unit 115 is used for acquiring target actual spatial coordinates, target movement speed ratio, target travel direction and a regional model corresponding to a starting moment when Beidou positioning fails, performing travel time prediction corresponding to the warning line, and obtaining a predicted arrival time when Beidou positioning fails. The warning early warning unit 116 is used for generating a warning signal to perform warning line monitoring warning when the predicted arrival time is less than a warning value.

[0026] It can be found from the above that when the mobile target carrying the mobile device is monitored and warned by using the warning line, the real-time positioning coordinates of the mobile device of the mobile target detected by the Beidou positioning when located around the warning line can be obtained by the coordinate acquisition unit 111, which can be three-dimensional coordinates. After obtaining the real-time positioning coordinates, in order to ensure the accuracy of the coordinates, the real-time positioning coordinates can be used by the coordinate calibration unit 112 to calibrate the spatial position of the coordinates based on the constructed regional model, so as to determine whether the real-time positioning coordinates can be accurately fallen into the regional model. If not, the real-time positioning coordinates can be adjusted to determine the actual spatial coordinates of the mobile target based on the real-time positioning coordinates. Then, the calibrated actual spatial coordinates can be used by the parameter calculation unit 113 to further construct the corresponding action path in the regional model, and the travel parameters of the mobile target, including the travel direction and the travel speed, are determined based on the action path. After obtaining the travel direction and the travel speed, the theoretical speed corresponding to the actual spatial coordinates in the travel direction of the regional model is further extracted by the mobile analysis unit 114, so as to calculate the corresponding mobile speed ratio of the mobile target when the Beidou positioning fails, to realize further edge computing. Specifically, when the Beidou positioning fails (including detecting that the positioning signal is weak or unable to be positioned), the actual spatial coordinates of the target, the target mobile speed ratio, and the target travel direction corresponding to the failure starting time can be obtained by the time prediction unit 115, so as to use the actual spatial coordinates, the target mobile speed ratio, and the target travel direction to combine the constructed regional model, such as the theoretical speed and the ground structure, to predict the travel time from the actual spatial coordinates of the target to the warning line, so as to accurately evaluate the predicted arrival time. Finally, the warning prediction unit 116 can compare the predicted arrival time with the warning value, and generate a warning signal when the predicted arrival time is less than the warning value, to monitor and warn the warning line, so as to ensure the dynamic perception of the warning signal based on the regional model parameters such as the geological shape and the theoretical speed during the movement of the mobile target around the warning line, and ensure the mobility and reliability of the warning line monitoring.

[0027] The warning line monitoring system based on edge computing and Beidou positioning of the application can further comprise a model construction unit, which comprises: an image acquisition subunit for acquiring the topographic feature image around the warning line; a model construction subunit for identifying the ground features of the topographic feature image to obtain the ground feature coordinates, and performing coordinate interpolation between the ground feature coordinates to establish a ground structure model around the warning line; and a calibration subunit for calibrating the theoretical speed of each spatial point coordinate in the ground structure model in different travel directions to obtain a regional model.

[0028] In the use of the warning line monitoring system of the present application, the regional model needs to be modeled and calibrated in advance by the model building unit to ensure the accuracy of the predicted arrival time prediction. Specifically, the topographic feature images around the warning line can be obtained in advance by the image acquisition subunit. For example, the topographic feature images around the warning line can be obtained by unmanned aerial vehicle shooting technology, and then uploaded to the model image acquisition subunit. Then, the model construction subunit identifies the ground surface features in the topographic feature images, determines the ground surface feature coordinates at each position that can be directly determined based on the shooting height of the unmanned aerial vehicle, constructs the basic framework of the ground surface construction model with the ground surface feature coordinates, and performs interpolation processing between the ground surface feature coordinates by interpolation method, thereby constructing the ground surface construction model to reflect the ground surface shape features around the warning line. Of course, the areas between the ground surface feature coordinates that cannot be identified can also be calibrated by manual method to ensure the accuracy of the ground surface shape features around the warning line. After determining the ground surface construction model, the spatial point coordinates in the ground surface construction model can be further calibrated by the calibration subunit in different travel directions to obtain the regional model, which not only represents the position coordinates of each position point around the warning line, but also reflects the theoretical speed of each position point, so as to facilitate the prediction of the moving speed ratio of the moving target, and to predict the travel time to the warning line when the Beidou positioning fails, so as to take precautions in advance.

[0029] In the model building unit, the calibration subunit can further include: a first division module for dividing the ground surface construction model into a plurality of travel routes along the circumferential direction with the center of the warning line as the center; a second division module for identifying the linear slope corresponding to each coordinate point of each travel route, and dividing each travel route into travel line segments corresponding to different linear slopes; a vector calculation module for obtaining the theoretical speed vector corresponding to each spatial point coordinate when traveling towards the center based on each spatial point coordinate, the starting point coordinate of the travel line segment corresponding to the spatial point coordinate, the linear slope of the travel line segment, and the calibrated speed of the moving target; and a model calibration module for calibrating the ground surface construction model based on the theoretical speed vector corresponding to each spatial point coordinate to obtain the regional model.

[0030] Please refer to Figure 2, the calibration subunit can first divide the surface structure model into a plurality of travel routes towards the center of the warning line along the circumferential direction by taking the center of the warning line as the center of the circle through the first division module, to realize the calibration of the theoretical four-dimensional vector of the moving target. Specifically, the linear slope corresponding to each coordinate point on the travel route can be calculated through the second division module, so as to divide the travel route into a plurality of different travel line segments by using the difference of the linear slope. The theoretical speed vector corresponding to each space point coordinate when traveling towards the center of the circle is calculated by the vector calculation module based on each space point coordinate, the starting point coordinate of the travel line segment corresponding to the space point coordinate, the linear slope of the travel line segment, and the calibration speed of the moving target. After the theoretical speed vector is calculated, the model calibration module can calibrate the theoretical speed vector of each space point coordinate in the surface structure model, and after the calibration is completed, the regional model is updated to not only show the position coordinates of each position point around the warning line, but also reflect the theoretical speed of each position point.

[0031] The vector calculation module can further include: an intermediate vector calculation submodule for obtaining an intermediate speed vector according to each space point coordinate, the starting point coordinate of the travel line segment corresponding to the space point coordinate, the linear slope of the travel line segment, and the calibration speed of the moving target; a first vector output submodule for taking the intermediate speed vector as the first theoretical speed vector corresponding to the space point coordinate when traveling towards the center of the circle when the point corresponding to the space point coordinate is a repaired road surface; and a second vector output submodule for correcting the intermediate speed vector according to the speed reduction corresponding to the non-repaired road surface to obtain the second theoretical speed vector corresponding to the space point coordinate when traveling towards the center of the circle when the point corresponding to the space point coordinate is a non-repaired road surface.

[0032] During the process of calculating the theoretical speed vector, the vector calculation module can obtain an intermediate speed vector according to each space point coordinate, the starting point coordinate of the travel line segment corresponding to the space point coordinate, the linear slope of the travel line segment, and the calibration speed of the moving target through the intermediate vector calculation submodule. After obtaining the intermediate speed vector, the point corresponding to the space point coordinate can be further detected. When the point corresponding to the space point coordinate is a repaired road surface, the intermediate speed vector is taken as the first theoretical speed vector corresponding to the space point coordinate when traveling towards the center of the circle through the first vector output submodule. When the point corresponding to the space point coordinate is a non-repaired road surface, the intermediate speed vector is corrected according to the speed reduction corresponding to the non-repaired road surface through the second vector output submodule to obtain the second theoretical speed vector corresponding to the space point coordinate when traveling towards the center of the circle.

[0033] In the specific calculation process, the corresponding speed attenuation factor can be obtained by using the linear slope of the running line segment, looking up the linear slope-speed attenuation factor correspondence table, and then combining the speed attenuation amount caused by the unit length to calculate the corresponding intermediate speed vector of each spatial point coordinate towards the center of the circle.

[0034] The calculation formula of the intermediate speed vector can be represented as: ; The intermediate speed vector is represented as The calibration speed is represented as The speed attenuation factor is represented as The number of unit lengths formed by the running line segment is represented as is an integer, The speed attenuation amount is represented as, and the value thereof increases with the increase of the number of unit lengths The length of the running line segment is represented as The unit length is represented as, which can be manually set.

[0035] Finally, when the point corresponding to the spatial point coordinate is a repaired road surface, the intermediate speed vector can be directly used as the first theoretical speed vector. When the point corresponding to the spatial point coordinate is a non-repaired road surface, the second theoretical speed vector can be represented as , The second theoretical speed vector is represented as The speed reduction amount is represented as, and the speed reduction amount can be manually set as a fixed value.

[0036] Of course, when calibrating the theoretical speed vector of the ground structure model, the theoretical speed vector of the road segment can also be calibrated directly by manual experience or other ways.

[0037] In the warning line monitoring system of the application, the coordinate calibration unit 112 can further include: a coordinate detection sub-unit for performing coordinate detection on the real-time positioning coordinates in the regional model; a first calibration output sub-unit for taking the real-time positioning coordinates as the actual spatial coordinates of the moving target when it is detected that the real-time positioning coordinates exist in the regional model; and a second calibration output sub-unit for performing height coordinate lookup on the regional model according to the longitude coordinates and latitude coordinates in the real-time positioning coordinates when it is detected that the real-time positioning coordinates do not exist in the regional model, and obtaining the actual spatial coordinates of the moving target according to the longitude coordinates, latitude coordinates and found height coordinates in the real-time positioning coordinates.

[0038] ​The coordinate detection subunit can detect whether the real-time positioning coordinates correspond to the coordinates in the regional model by the coordinate detection subunit during the process of the spatial coordinate calibration. If the real-time positioning coordinates exist in the regional model, the real-time positioning coordinates can be directly taken as the actual spatial coordinates of the moving target by the first calibration output subunit. If the real-time positioning coordinates do not exist in the regional model, such as Figure 3 In the given example, the second calibration output subunit can use the longitude and latitude coordinates in the real-time positioning coordinates to find the corresponding height coordinates of the ground in the regional model. Thus, the actual spatial coordinates of the moving target are updated in combination with the longitude and latitude coordinates in the real-time positioning coordinates.

[0039] In the warning line monitoring system of the present application, the parameter calculation unit 113 can further include: a length intercepting subunit for intercepting the unit travel length of the action path according to the position of the actual spatial coordinates on the action path formed in the regional model to obtain the corresponding historical spatial coordinates of the action path under the intercepting node corresponding to the unit travel length; a direction analysis subunit for obtaining the slope value of the current actual spatial coordinates on the unit travel length according to the unit travel length and the current actual spatial coordinates, and converting the slope value to obtain the travel direction of the moving target; and a speed analysis subunit for obtaining the time difference within the unit travel length according to the historical time corresponding to the historical spatial coordinates and the current time corresponding to the current actual spatial coordinates, and obtaining the travel speed of the moving target according to the unit travel length and the time difference.

[0040] When determining the travel direction and travel speed of the moving target, the parameter calculation unit 113 can first intercept the unit travel length of the path that each actual spatial coordinate has experienced according to the position of the actual spatial coordinates on the action path formed in the regional model by the length intercepting subunit, so as to find the intercepting node after intercepting the unit travel length on the action path before the actual spatial coordinates, and output the historical spatial coordinates corresponding to the intercepting node. For details, please refer to the example given in Figure 4 Then, the direction analysis subunit uses the unit travel length and the current actual spatial coordinates to determine the tangent line of the current actual spatial coordinates on the line segment corresponding to the unit travel length, and takes the inclination of the tangent line in the coordinate system as the slope value of the current actual spatial coordinates on the unit travel length. The slope value is converted to the corresponding actual geographical direction, so as to determine the travel direction of the moving target.

[0041] In the alert line monitoring system of the present application, the movement analysis unit 114 comprises: a vector lookup subunit for looking up a corresponding theoretical speed vector in the regional model according to the current actual spatial coordinates to obtain a current theoretical speed vector; a speed ratio calculation subunit for calculating a current theoretical speed of the current actual spatial coordinates in the current travel direction according to the current travel direction corresponding to the current actual spatial coordinates and the current theoretical speed vector, and obtaining a current movement speed ratio corresponding to the current time according to the current theoretical speed and the current travel speed corresponding to the current actual spatial coordinates; a speed ratio change analysis subunit for detecting the change trend of the current movement speed ratio according to the historical travel speeds of the plurality of historical coordinate points before the current actual spatial coordinates and the historical travel speeds to obtain a trend change rate of the current movement speed ratio; a first speed ratio determination subunit for taking the current movement speed ratio as a constant movement speed ratio when the trend change rate is zero; and a second speed ratio determination subunit for taking the current movement speed ratio as a variable movement speed ratio when the trend change rate is not zero.

[0042] In the process of determining the movement speed ratio of the movement target by the movement analysis unit 114, the vector lookup subunit can first look up a corresponding theoretical speed vector in the regional model based on the current actual spatial coordinates to quickly and conveniently find the current theoretical speed vector corresponding to the current actual spatial coordinates. Then, the speed ratio calculation subunit determines the included angle between the current travel direction and the current theoretical speed vector by using the current travel direction corresponding to the current actual spatial coordinates and the current theoretical speed vector, and further calculates the current theoretical speed of the current actual spatial coordinates in the current travel direction, which can be specifically referred to the vector calculation method. Then, the current travel speed and the current theoretical speed are determined based on the current theoretical speed and the current travel speed corresponding to the current actual spatial coordinates, and the speed ratio between the current travel speed and the current theoretical speed is determined as the current movement speed ratio corresponding to the current time. In addition, in order to determine the change of the movement speed ratio of each point after the current actual spatial coordinates, the speed ratio change analysis subunit can also detect the change trend of the current movement speed ratio by using the historical travel speeds of the plurality of historical coordinate points before the current actual spatial coordinates and the historical travel speeds to determine the trend change rate of the current movement speed ratio. When the trend change rate is zero, the first speed ratio determination subunit can take the current movement speed ratio as a constant movement speed ratio, and when the trend change rate is not zero, the second speed ratio determination subunit can take the current movement speed ratio as a variable movement speed ratio.

[0043] In the mobile analysis unit 114, the speed ratio change analysis subunit can further include: a history analysis module configured to extract a history travel speed of a plurality of history coordinate points before the current actual spatial coordinate and a corresponding history theoretical speed of the history travel speed, to obtain a history mobile speed ratio; a curve drawing module configured to draw a change curve between the mobile speed ratio and the corresponding coordinate point based on the history mobile speed ratio and the current mobile speed ratio; and a change extraction module configured to extract a linear change rate corresponding to the change curve as a trend change rate of the current mobile speed ratio.

[0044] When analyzing and calculating the trend change rate, the speed ratio change analysis subunit can extract the history travel speed of the plurality of history coordinate points before the current actual spatial coordinate and the corresponding history theoretical speed of the history travel speed through the history analysis module, and then can calculate the history mobile speed ratio by referring to the aforementioned current mobile speed ratio calculation method. The change curve between the mobile speed ratio (including the history mobile speed ratio and the current mobile speed ratio) and the corresponding coordinate point is drawn by the curve drawing module using the history mobile speed ratio and the current mobile speed ratio, and finally the linear change rate corresponding to the change curve is extracted as the trend change rate of the current mobile speed ratio by the change extraction module, for example, the linear slope corresponding to the change curve can be determined as the trend change rate based on the distribution of the history mobile speed ratio and the current mobile speed ratio by the least square method, so that whether the mobile speed ratio after the current mobile speed ratio will change can be determined, and if the change occurs, the current mobile speed ratio can be increased or decreased accordingly based on the trend change rate of the change, so as to ensure the accuracy of the prediction time.

[0045] In the warning line monitoring system of the present application, the time prediction unit 115 includes: a path query subunit configured to perform path query in the regional model based on the target actual spatial coordinate, the target travel direction and the warning line, to obtain an optimal travel path from the target actual spatial coordinate to the warning line along the target travel direction; a model output subunit configured to output the theoretical speed of each prediction trajectory point corresponding to the optimal travel path through the regional model; a speed ratio processing subunit configured to process each theoretical speed by a target mobile speed ratio to obtain a prediction travel speed under each prediction trajectory point, the target mobile speed ratio including one of the translation mobile speed ratio and the change mobile speed ratio; a trajectory segment prediction subunit configured to obtain a prediction travel time under each trajectory segment distance based on the trajectory segment distance between each adjacent prediction trajectory point in the optimal travel path and the prediction travel speed; and a splicing subunit configured to splice the prediction travel time to obtain a prediction arrival time.

[0046] In the process of predicting the predicted arrival time, the time prediction unit 115 can determine an optimal travel path from the target actual spatial coordinates to the warning line along the target travel direction by querying the regional model through the path query subunit using the target actual spatial coordinates, the target travel direction, and the warning line. The optimal travel path can be the nearest distance obtained by using the nearest principle. Then, the model output subunit directly outputs the theoretical speed of each predicted trajectory point corresponding to the optimal travel path using the regional model. Then, the speed ratio processing subunit processes each theoretical speed using the target movement speed ratio to obtain the predicted travel speed at each predicted trajectory point. The trajectory segment prediction subunit predicts the predicted travel time at each trajectory segment distance using the trajectory segment distance between adjacent predicted trajectory points in the optimal travel path and the predicted travel speed. Finally, the splicing subunit splices the predicted travel times to obtain the predicted arrival time through superposition calculation. Thus, the predicted arrival time can be used for early warning monitoring, thereby improving the safety and reliability of the warning line monitoring process.

[0047] Preferably, the calculation formula of the predicted arrival time can be represented as: ; wherein, represents the predicted arrival time, represents the trajectory segment distance between adjacent predicted trajectory points, represents the theoretical speed corresponding to the i-th predicted trajectory point, represents the target movement speed ratio, represents the trend change rate corresponding to the target movement speed ratio, represents the predicted travel time when the target movement speed ratio is 0, represents the predicted travel time when the target movement speed ratio is 1.

[0048] Referring to Figure 5 , the application also provides a warning line monitoring method based on edge computing and Beidou positioning, comprising: Step 10: obtaining the real-time positioning coordinates of the moving target around the warning line monitored by Beidou positioning through the coordinate acquisition unit 111; Step 20: performing spatial calibration of the real-time positioning coordinates in the regional model through the coordinate calibration unit 112 to obtain the actual spatial coordinates of the moving target; Step 30: determining the travel direction and travel speed of the moving target according to the action path formed by the actual spatial coordinates in the regional model through the parameter calculation unit 113; ​​​Step 40: by moving analysis unit 114, the movement rhythm analysis is carried out according to the actual space coordinates in the direction of the theoretical speed and the movement speed, and the corresponding movement speed ratio is obtained, including the translation movement speed ratio and the change movement speed ratio; Step 50: by time prediction unit 115, when the Beidou positioning is invalid, the target actual space coordinates corresponding to the invalid start time, the target movement speed ratio, the target movement direction and the regional model are obtained, the movement time prediction corresponding to the warning line is carried out, and the predicted arrival time is obtained; Step 60: by warning early warning unit 116, when the predicted arrival time is less than the warning value, a warning signal is generated to monitor and warn the warning line.

[0049] In summary, the warning line monitoring system and method based on edge computing and Beidou positioning disclosed in the present application, by obtaining the real-time positioning coordinates of the mobile device of the moving target detected by the Beidou positioning when the mobile device is located around the warning line, in order to ensure the accuracy of the coordinates, the real-time positioning coordinates can be used to calibrate the spatial position of the coordinates based on the constructed regional model, so as to determine whether the real-time positioning coordinates can accurately fall into the regional model, if not, the real-time positioning coordinates can be adjusted to determine the actual space coordinates of the moving target based on the real-time positioning coordinates. Then, by using the calibrated actual space coordinates, the corresponding action path is further constructed in the regional model, and the movement direction and speed of the moving target are determined based on the action path. After obtaining the movement direction and speed, the theoretical speed corresponding to the regional model of the actual space coordinates in the direction of movement is further extracted, so as to combine the corresponding movement speed to calculate the corresponding movement speed ratio of the moving target at different times when the Beidou positioning is invalid, to realize further edge computing. Specifically, when the Beidou positioning is invalid (including detecting weak positioning signal or unable to position, etc.), the target actual space coordinates corresponding to the invalid start time, the target movement speed ratio and the target movement direction can be obtained, so that the target actual space coordinates, the target movement speed ratio and the target movement direction can be used in combination with the constructed regional model, such as the theoretical speed, the ground structure, etc., to carry out the movement time prediction from the target actual space coordinates to the warning line, so as to accurately evaluate the predicted arrival time. Finally, the predicted arrival time and the warning value can be compared, and when the predicted arrival time is less than the warning value, a warning signal is generated to monitor and warn the warning line, so as to ensure the dynamic perception of the warning signal based on the regional model parameters such as the geological shape, the theoretical speed, etc. during the movement of the moving target in the warning line, and ensure the mobility and reliability of the warning line monitoring. Therefore, the present application effectively overcomes the shortcomings of the prior art and has high industrial utilization value.

[0050] The above embodiments are only illustrative of the principles of the present application and its efficacy, and are not intended to limit the present application. Any modification or change made by any person skilled in the art without departing from the spirit and scope of the present application shall be covered by the claims of the present application.

Claims

1. A warning line monitoring system based on edge computing and BeiDou positioning, characterized in that, include: The coordinate acquisition unit is used to acquire the real-time positioning coordinates of the moving target monitored by Beidou positioning around the warning line; A coordinate calibration unit is used to spatially calibrate the real-time positioning coordinates in a geographic model to obtain the actual spatial coordinates of the moving target. The parameter calculation unit is used to determine the direction and speed of the moving target based on the movement path formed by the actual spatial coordinates in the regional model. The movement analysis unit is used to perform movement rhythm analysis based on the theoretical speed and the speed of travel in the direction of travel according to the actual spatial coordinates, and to obtain the movement speed ratio at the corresponding moment. The movement speed ratio includes the translational movement speed ratio and the variable movement speed ratio. The time prediction unit is used to obtain the target's actual spatial coordinates, target movement speed ratio, target travel direction and regional model corresponding to the start time of the failure when BeiDou positioning fails, and to predict the travel time corresponding to the warning line to obtain the predicted arrival time. as well as The warning and alert unit is used to generate an alert signal when the predicted arrival time is less than the warning value, so as to monitor and warn of the warning line.

2. The warning line monitoring system based on edge computing and BeiDou positioning according to claim 1, characterized in that, Also includes: Model building unit, the model building unit includes: The image acquisition subunit is used to acquire images of the terrain features around the warning line; The model construction subunit is used to identify surface features in the terrain feature image, obtain surface feature coordinates, perform coordinate interpolation between the surface feature coordinates, and establish a surface structure model around the warning line; and The calibration subunit is used to calibrate the theoretical velocity of each spatial point coordinate in the surface structure model in different directions of travel to obtain the regional model.

3. The warning line monitoring system based on edge computing and BeiDou positioning according to claim 2, characterized in that, The calibration subunit includes: The first division module is used to divide the surface structure model into multiple travel routes along the circumferential direction, with the center of the warning line as the center. The second division module is used to identify the linear slope corresponding to each coordinate point of each of the travel routes and divide each of the travel routes into travel segments corresponding to different linear slopes. The vector calculation module is used to obtain the theoretical velocity vector corresponding to each spatial point as it moves towards the center of the circle, based on the coordinates of each spatial point, the starting coordinates of the corresponding travel segment, the linear slope of the travel segment, and the calibrated velocity of the moving target; and The model calibration module is used to calibrate the surface structure model based on the theoretical velocity vector corresponding to the coordinates of each spatial point, so as to obtain the regional model.

4. The warning line monitoring system based on edge computing and BeiDou positioning according to claim 3, characterized in that, The vector calculation module includes: The intermediate vector calculation submodule is used to obtain the intermediate velocity vector based on the coordinates of each spatial point, the starting coordinates of the travel segment corresponding to the spatial point coordinates, the linear slope of the travel segment, and the calibration velocity of the moving target. The first vector output submodule is used to, when the point corresponding to the spatial point coordinates is a road surface under repair, use the intermediate velocity vector as the first theoretical velocity vector corresponding to the spatial point coordinates moving towards the center of the circle; and The second vector output submodule is used to correct the intermediate velocity vector based on the velocity reduction corresponding to the unrepaired road surface when the point corresponding to the spatial point coordinates is an unrepaired road surface, so as to obtain the second theoretical velocity vector corresponding to the spatial point coordinates moving towards the center of the circle.

5. The warning line monitoring system based on edge computing and BeiDou positioning according to claim 1, characterized in that, The coordinate calibration unit includes: A coordinate detection subunit is used to perform coordinate detection on the real-time positioning coordinates in the geographic model; The first calibration output subunit is used to use the real-time positioning coordinates as the actual spatial coordinates of the moving target when the real-time positioning coordinates are detected in the geographic model; and The second calibration output subunit is used to perform an altitude coordinate search on the regional model based on the longitude and latitude coordinates in the real-time positioning coordinates when the real-time positioning coordinates are not detected in the regional model. Based on the longitude and latitude coordinates in the real-time positioning coordinates and the found altitude coordinates, the actual spatial coordinates of the moving target are obtained.

6. The warning line monitoring system based on edge computing and BeiDou positioning according to claim 1, characterized in that, The parameter calculation unit includes: The length truncation subunit is used to truncate the action path by a unit travel length based on the position of the actual spatial coordinates on the action path formed in the regional model, so as to obtain the historical spatial coordinates of the action path under the truncation node corresponding to the unit travel length. The direction analysis subunit is used to obtain the slope value of the current actual spatial coordinates along the unit travel length based on the unit travel length and the current actual spatial coordinates; to perform a geographic direction transformation on the slope value to obtain the travel direction of the moving target; and The speed analysis subunit is used to obtain the time difference within the unit travel length based on the historical time corresponding to the historical spatial coordinates and the current time corresponding to the current actual spatial coordinates; and to obtain the travel speed of the moving target based on the unit travel length and the time difference.

7. The warning line monitoring system based on edge computing and BeiDou positioning according to claim 1, characterized in that, The mobility analysis unit includes: The vector lookup subunit is used to perform a corresponding theoretical velocity vector lookup in the regional model based on the current actual spatial coordinates to obtain the current theoretical velocity vector. The speed ratio calculation subunit is used to calculate the current theoretical speed of the current actual spatial coordinates in the current direction of travel based on the current direction of travel and the current theoretical speed vector, and to obtain the current movement speed ratio corresponding to the current moment based on the current theoretical speed and the current speed of travel corresponding to the current actual spatial coordinates. The speed ratio change analysis subunit is used to detect the change trend of the current movement speed ratio based on the historical travel speed and historical travel speed of multiple historical coordinate points before the current actual spatial coordinates, and to obtain the trend change rate of the current movement speed ratio. The first speed ratio determination subunit is used to take the current moving speed ratio as the translational moving speed ratio when the trend change rate is zero; and The second speed ratio determination subunit is used to take the current moving speed ratio as the changing moving speed ratio when the trend change rate is not zero.

8. The warning line monitoring system based on edge computing and BeiDou positioning according to claim 7, characterized in that, The speed ratio change analysis subunit includes: The historical analysis module is used to extract the historical travel speed and the corresponding historical theoretical speed of multiple historical coordinate points before the current actual spatial coordinates, and to obtain the historical movement speed ratio. The curve drawing module is used to draw a curve showing the change between the movement speed ratio and the corresponding coordinate points based on the historical movement speed ratio and the current movement speed ratio; and The change extraction module is used to extract the linear rate of change corresponding to the change curve as the trend rate of change of the current moving speed ratio.

9. The warning line monitoring system based on edge computing and BeiDou positioning according to claim 1, characterized in that, The time prediction unit includes: The path query subunit is used to perform a path query in the regional model based on the actual spatial coordinates of the target, the direction of travel of the target, and the warning line, to obtain the optimal travel path from the actual spatial coordinates of the target to the warning line along the direction of travel of the target. The model output sub-unit is used to output the theoretical speed of each predicted trajectory point corresponding to the optimal travel path through the regional model; The speed ratio processing subunit is used to process each of the theoretical speeds through the target movement speed ratio to obtain the predicted travel speed at each predicted trajectory point. The target movement speed ratio includes one of the translational movement speed ratio and the variable movement speed ratio. The trajectory segment prediction subunit is used to obtain the predicted travel time for each trajectory segment distance based on the trajectory segment distance between each adjacent predicted trajectory point within the optimal travel path and the predicted travel speed; and The splicing subunit is used to splice the predicted travel time to obtain the predicted arrival time.

10. A method for monitoring warning lines based on edge computing and BeiDou positioning, characterized in that, include: The coordinate acquisition unit obtains the real-time positioning coordinates of the moving target around the warning line, which is monitored by Beidou positioning. The real-time positioning coordinates are spatially calibrated in the geographic model by the coordinate calibration unit to obtain the actual spatial coordinates of the moving target. The parameter calculation unit determines the direction and speed of the moving target based on the movement path formed in the regional model according to the actual spatial coordinates. The movement analysis unit performs movement rhythm analysis based on the theoretical speed and the actual speed in the direction of travel according to the actual spatial coordinates, and obtains the movement speed ratio at the corresponding moment. The movement speed ratio includes the translational movement speed ratio and the variable movement speed ratio. When BeiDou positioning fails, the time prediction unit obtains the target's actual spatial coordinates, target movement speed ratio, target direction of travel, and regional model corresponding to the start time of failure, and performs a travel time prediction corresponding to the warning line to obtain the predicted arrival time. When the predicted arrival time is less than the warning value, the warning unit generates a warning signal to monitor and warn of the warning line.

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