Dock crane group collaborative anti-collision early warning system and method based on multi-source perception and spatial modeling

Abstract

The invention discloses a dock crane group collaborative anti-collision early warning system and method based on multi-source perception and spatial modeling, and belongs to the technical field of anti-collision early warning. The system is composed of a sensing layer, a control layer, a network layer and a platform layer. The sensing layer is integrated with a Beidou RTK differential positioning module and a multi-source sensor. The control layer operates an AABB collision detection algorithm in real time through a vehicle-mounted host, decomposes the crane into a hexahedron wireframe model, dynamically calculates boundary box intersection and outputs a three-level control signal; a network layer adopts a dual-redundancy architecture: a 433MHz ad hoc network realizes millisecond-level data synchronization between cranes, and a 5.8 GHz iMAX private network supports VRRP hot standby remote transmission; the platform layer constructs a 1: 1 three-dimensional dock simulation model, and visually monitors the equipment pose and the alarm state. According to the invention, the limitation of traditional single-point protection is broken through, the realization of the anti-collision protection function of other crane groups is not influenced by the system fault of any crane in the network, and the collision risk in a dense operation scene is obviously reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to a ship dock crane group cooperative anti-collision early warning system and method based on multi-source perception and space modeling, which belongs to the technical field of anti-collision early warning. BACKGROUND

[0002] The ship dock is the core area of shipbuilding and maintenance, and its hoisting operation environment has high complexity and danger. Large shipbuilding bases generally densely arrange various heavy lifting equipment, including large gantry cranes, gantry cranes, etc., in a limited space. These devices have multiple complex working conditions such as cross operation, passing operation and parallel crane lifting when working cooperatively, forming a unique collision risk scenario. Our company has 4 800t shipbuilding gantry cranes, 4 300t gantry cranes and 2 7080 gantry cranes in the two dock areas, and the equipment layout is complex, the cross operation is frequent, and the collision risk is high. At present, anti-collision protection completely relies on manual monitoring by operators and crane commanders, and it is impossible to accurately monitor the collision risk of the crane in real time.

[0003] However, the existing patent CN115477232B proposes a collision avoidance scheme based on three-dimensional model simulation, which fails to solve the problems of monitoring and anti-collision of gantry crane trolley and hook position, and link hot standby when a certain link fails.

[0004] The existing technology has the problems of insufficient positioning accuracy leading to collision missed reports, poor sensor environmental adaptability, high network delay and single point failure risk, insufficient three-dimensional collision detection capability, and low system extreme environment reliability. Based on the above defects, the present application aims to provide a high-precision, high-reliability, and full-dimensional ship dock crane anti-collision system. SUMMARY

[0005] To solve the problems in the prior art, the present application provides a ship dock crane group cooperative anti-collision early warning system and method based on multi-source perception and space modeling, which realizes high-precision positioning in a mobile state through a Beidou RTK differential positioning module, improves the detection capability of three-dimensional space collision through an AABB collision detection algorithm, avoids network delay and single point failure of the crane group cooperative anti-collision early warning system through VRRP virtual routing hot standby to build a dual-link redundant network, and realizes visual monitoring and strengthens equipment management through a digital twin monitoring platform.

[0006] The technical scheme adopted by the present application is as follows: a ship dock crane group cooperative anti-collision early warning system based on multi-source perception and space modeling, which comprises a perception layer, a control layer, a network layer and a platform layer, and each layer cooperatively realizes the anti-collision early warning function of the crane group; The perception layer integrates a Beidou RTK differential positioning module and multi-source sensors, and the multi-source sensors include a gantry crane absolute value encoder, a heavy hammer type inclinometer, a gantry crane microwave radar and a drum direct connection encoder; The control layer configures a vehicle-mounted host computer, the vehicle-mounted host computer runs an AABB collision detection algorithm, decomposes the crane into a 6-faced wireframe model, dynamically calculates the intersection of the bounding boxes and outputs a three-level control signal; The network layer adopts a dual-redundancy architecture, including a 433MHz ad hoc network and a 5.8GHz iMAX private network, the 433MHz ad hoc network realizes millisecond-level data synchronization between cranes, and the 5.8GHz iMAX private network supports VRRP virtual routing hot standby remote transmission; The platform layer constructs a 1:1 three-dimensional dock simulation model for visual monitoring of the device pose and alarm state.

[0007] Further, the plane accuracy of the Beidou RTK differential positioning module is 1cm, the rotation angle accuracy of the absolute value encoder of the gantry crane is ≤0.5°, the pitch angle accuracy of the heavy hammer type tilt angle instrument is ≤0.02°, the ranging error of the gantry crane microwave radar is ±15cm, and the height accuracy of the drum direct-connection encoder is 1mm.

[0008] Further, the three-level control signal includes an acousto-optic early warning signal, a deceleration signal and a stop signal, and the data synchronization delay of the 433MHz ad hoc network is <0.5s.

[0009] Further, the three-dimensional dock simulation model of the platform layer contains 1:1 geometric modeling of the crane equipment entities and auxiliary mechanisms, the tracks, track spacings and equipment operation activity ranges of the dock site are accurately modeled according to 1:1, and the size accuracy reaches the centimeter level.

[0010] Further, the 433MHz ad hoc network in the network layer is formed by a WA80 data transmission radio, and the crane groups of the dock and the berth are respectively formed into a shared data network; the 5.8GHz iMAX private network is configured with 4 sets of wireless devices, and 2 groups of local area network base stations are deployed in each dock to realize site wireless coverage.

[0011] A working method of a dock crane group cooperative anti-collision early warning system based on multi-source perception and space modeling, comprising the following steps: Step 1: decompose the crane entity mechanism into N 6-faced wireframe models according to the actual size of 1:1, and establish a crane structure model; and establish a mathematical model of the track and track spacing relationship of the dock site according to 1:1 scale; Step 2: integrate the crane structure model into the dock site mathematical model, take the dock space as a unified coordinate system, take the track direction as the X axis, and clearly define the position mapping relationship of each part of the crane in the coordinate system; Step 3: collect the position, rotation angle, pitch angle, ranging and height data of the crane in real time through the Beidou RTK differential positioning module and multi-source sensors of the perception layer; Step 4: Data synchronization between cranes is achieved through a 433MHz self-organizing network at the network layer, and remote data transmission is achieved through the VRRP virtual router hot standby link of the 5.8GHz iMAX private network; the vehicle host at the control layer runs the AABB collision detection algorithm, converts the collected data into the cube positions of each component of the crane, and calculates the intersection of the wrapping surfaces of adjacent crane cubes; Step 5: Trigger the corresponding level 3 control signal based on the intersection calculation result. The 3D simulation model of the platform layer synchronously displays the device pose and alarm status, and supports querying alarm history records.

[0012] The method for collaborative collision avoidance and early warning of dock crane groups according to claim 6 is characterized in that, in step 3, the crane position data acquisition is achieved through Beidou PVT positioning technology and RTK carrier phase differential positioning technology. Each crane is equipped with a Beidou mobile positioning device, and a reference station is installed at a fixed position on the ground. The mobile station receives the RTK data from the reference station through a data transmission radio. The positioning accuracy in the static state reaches 10cm, and the positioning detection accuracy under all working conditions is ≤5cm.

[0013] Furthermore, the AABB collision detection algorithm described in step 4 obtains the coordinates x, y, and z of the object's center point, and calculates the minimum point min(x,y,z) and the maximum point max(x,y,z) based on the object's length, width, and height information to construct the key body bounding box. It uses Quadtree, Octtree, or BVH algorithms to optimize the detection efficiency and supports editing of the collision detection area to adapt to different alarm level requirements.

[0014] Furthermore, in step 4, the 5.8GHz iMAX private network has load balancing, millisecond-level hot standby switching and anti-interference functions. When any link fails, the service automatically switches to the backup link without STP delay.

[0015] Compared with existing technologies, this invention has the following advantages: Direct communication between cranes is achieved in less than 0.5 seconds through a 5.8GHz iMAX private network VRRP hot standby dual-redundant wireless network and a 433MHz data transmission radio self-organizing network, solving the network latency and single-point failure problems of distributed collaborative anti-collision for multiple cranes; The use of mechanically directly connected sensors and microwave radar ranging that resists dust obscuring and cumulative errors solves the problem of poor environmental adaptability of laser sensors and geomagnetic sensors, achieving high-precision fusion positioning of multi-source sensors, thereby achieving the purpose of accurately monitoring crane attitude; Positioning detection accuracy of ≤5cm is achieved under all working conditions based on BeiDou RTK differential positioning; The digital twin platform promotes visual monitoring and enhances equipment management; The AABB collision detection algorithm compensates for the lack of three-dimensional collision detection capabilities. Attached Figure Description

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed in the embodiments or prior art description. Obviously, the drawings described below are only some embodiments of the present application, and the ordinary skilled in the art can obtain other drawings according to these drawings without any creative effort.

[0017] Figure 1 Decomposed modeling diagram for crane structure.

[0018] Figure 2 Schematic diagram of a shipyard crane group collision avoidance early warning system based on multi-source perception and spatial modeling.

[0019] Figure 3 Gantry crane trolley position data acquisition sensor installation schematic diagram.

[0020] Figure 4 Anti-collision wireless networking schematic diagram.

[0021] Figure 5 Beidou positioning networking schematic diagram.

[0022] Figure 6 VRRP virtual routing hot standby connection schematic diagram. DETAILED DESCRIPTION

[0023] It should be noted that the embodiments and features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0024] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings of the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all. The description of the at least one exemplary embodiment is actually only illustrative, but not as any limitation on the present application and its application or use. Based on the embodiments in the present application, all other embodiments obtained by the ordinary skilled in the art without any creative effort are within the scope of protection of the present application.

[0025] It should be noted that the terms used herein are only for describing specific embodiments, and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form unless the context clearly indicates otherwise, and it should also be understood that when the terms "comprise" and / or "include" are used in the specification, there is a feature, step, operation, device, component and / or combination thereof.

[0026] The foregoing is considered as illustrative only of the principles of the application. Further, since numerous modifications and changes will readily occur to those skilled in the art, it is not desired to limit the application to the exact construction and practice described. Accordingly, all suitable modifications and equivalents can be resorted to falling within the scope of the application. Unless otherwise indicated herein, the contents of all patents, patent applications, publications, and test methods cited herein are hereby incorporated by reference in their entirety for all purposes.

[0027] In the description of the present application, it is to be understood that the orientation or positional relationships indicated by terms such as "front", "back", "up", "down", "left", "right", "lateral", "vertical", "horizontal", "top", "bottom", and the like are generally based on the orientation or positional relationships shown in the drawings, and are merely intended to facilitate the description and simplify the description, and do not indicate or imply that the device or element referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore cannot be construed as limiting the scope of protection of the present application. The orientation terms "inner", "outer" refer to the inner and outer relative to the contour of the components themselves.

[0028] For the convenience of description, spatial relative terms such as "over", "above", "upper surface", "upper", and the like can be used herein to describe the spatial positional relationship of one device or feature with respect to other devices or features as shown in the drawings. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation of the device as described in the drawings. For example, if the device in the drawings is inverted, the device described as "above" or "over" other devices or structures will be positioned "below" or "under" the other devices or structures. Thus, the exemplary term "above" can include both "above" and "below" orientations. The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein are interpreted accordingly.

[0029] In addition, it should be noted that the use of the terms "first", "second", and the like do not have a special meaning, and are merely used to distinguish the corresponding components, and therefore cannot be construed as limiting the scope of protection of the present application.

[0030] 1. Anti-collision system design, specifically comprising the following steps: (1) Crane structure decomposition modeling: the associated crane equipment is decomposed into N 6-face body wireframe models according to the actual size of the entity mechanism, and the basic size of the structure model is set according to the actual geometric size of the crane in a 1:1 ratio, which truly reflects the assembly position relationship and external dimensions of the crane equipment entity, as shown in Figure 1 .

[0031] (2) Dock site space modeling: the track of the associated crane in the dock site and the track spacing relationship thereof are established in a 1:1 mathematical model, which accurately and clearly reflects the relationship of each track in the dock space.

[0032] (3) Unified coordinates of crane and dock space: the associated crane model is brought into the dock site model, taking the dock space as the unified coordinate system and the track direction as the X axis, to truly reflect the position, boom orientation, hook height and other key information of each crane in the dock space mathematical model. For example, the travel of a gantry crane is used to determine the position of the 9 components of the gantry crane on the X axis of the coordinate system, and the trolley travel is used to determine the position of the trolley on the Y axis of the coordinate system.

[0033] (4) Anti-collision monitoring and alarm: the program forms a protective surface wrapping the crane components according to the set protection range value, forming a three-layer progressive protection reminder of early warning, deceleration and stopping. The system converts the real-time sensor data collected through calculation into the position of the cube of each component of the crane.

[0034] The system uses the middle axis alignment bounding box collision detection algorithm, and appropriately simplifies the collision parts, extracts the collision detection area and provides an editable function to meet the needs of different anti-collision alarm levels. When the system calculates that there is an intersection between the cube of the adjacent crane and the wrapping surface of the cube of the crane, it triggers a response alarm.

[0035] The full name of the collision detection algorithm is Axis Aligned Bounding Box. By wrapping the object in an axis-aligned rectangular frame, it detects whether two objects intersect or collide. Technical means: obtain the object center point coordinates x, y and z, calculate the minimum point min(x, y, z) and maximum point max(x, y, z) of the object through the length, width and height information of the object, and construct the key body bounding box of the object. In operation, the AABB boxes of each object are detected for intersection, thereby realizing collision detection. Algorithm depth application: layering processing of objects for collision detection, conversion of multiple object algorithms for intersection detection of objects in the same layer, optimization using Ouadtree, Octree, BVH algorithms, and improvement of calculation efficiency.

[0036] 2. Anti-collision system structure The composition of the anti-collision system comprises a data acquisition system (sensor), a host display and alarm control system, an anti-collision wireless networking system, a large vehicle positioning (Beidou positioning) and networking system, a "wireless local area network" special remote network system, a three-dimensional monitoring platform and several other components.

[0037] Figure 2 It is a remote monitoring signal transmission system architecture of a dock / berth crane group: a single crane (such as a gantry crane, a gantry crane) in the field collects its own running state data through a trolley position sensor, a large vehicle position sensor, etc., converts the remote signal through a local optical cable box and a serial server, and then aggregates to the control room. Through the signal network station, the signals of multiple cranes are uniformly transmitted to the remote server, and finally the position monitoring and angle monitoring modules on the server side realize the visual management of the state of the entire crane group.

[0038] (1) Data acquisition system (sensor) The gantry crane boom swing angle measurement sensor is realized by using a multi-turn absolute value encoder. The gantry crane boom angle measurement uses a heavy hammer type angle measurement sensor, that is, an above-mentioned sensor is installed at the right side of the boom root as shown in Figure 3 .

[0039] A microwave radar wireless ranging sensor is installed on the top of the gantry crane main beam, the upper trolley and the lower trolley, respectively, to measure the position data of the trolley from the steel leg in real time through the built-in algorithm. The positioning of the gantry crane hook height position is realized by using a multi-turn absolute value encoder.

[0040] The use of mechanically connected sensors and dust-proof microwave radar ranging with cumulative error achieves the purpose of accurately monitoring the attitude of the crane. Based on Beidou RTK differential positioning, the positioning detection accuracy is ≤5 cm under all working conditions. Multi-source sensor high-precision fusion positioning is realized.

[0041] (2) Host display and alarm control system Each crane is equipped with a set of alarm control device, which integrates anti-collision data processing, alarm reminder, control output and other functions, has an LED display screen, can display the collected large vehicle position, orientation, angle, height and other data of the crane in real time, can display the alarm state, provides a control output hardware interface, and provides alarm lights, voice and other alarms.

[0042] (3) Anti-collision wireless networking system The WA80 data transmission radio of the present scheme forms a shared data network for the crane group of the dock and the berth, and completes the data synchronization between the cranes. Figure 4The crane group data synchronization network architecture based on WA80 data radio: a single crane collects position data through a UWB positioning device, collects running data of the trolley / small car through a corresponding module, and accesses a shared network through a data radio; the data radios of multiple cranes are networked with each other to realize sharing and synchronization of equipment data within the group, and finally the position monitoring and angle monitoring modules at each crane end complete the synchronized monitoring of the running state of the entire crane group.

[0043] (4) Trolley positioning (Beidou positioning) and networking system The crane position data collection scheme of the system: Beidou satellite positioning (i.e. PVT positioning technology), reference station positioning (RTK carrier phase differential positioning technology), high-precision positioning in a mobile state is realized on the basis of the original Beidou positioning, and the positioning accuracy is improved to 10 cm in a stationary state.

[0044] Figure 5 The crane trolley positioning independent networking architecture based on Beidou RTK: the Beidou reference station at a fixed ground position generates RTK differential data, and the Beidou mobile positioning device on each crane collects its own position data, both of which are networked through an independently configured data radio. The RTK data of the reference station is broadcast to each crane mobile station through the data radio, and the mobile station realizes high-precision positioning in combination with satellite data, while the positioning data is exchanged among the crane group through the data radio, and finally the position monitoring and angle monitoring modules complete the synchronized monitoring of the positioning state of multiple cranes. Specific implementation method

[0045] a. Install a Beidou mobile positioning device on each crane that needs to be monitored, and install a reference station at a fixed ground position to provide RTK data support for each trolley position positioning. Both the reference station and the mobile station receive satellite positioning data, and the mobile station receives the RTK data of the reference station through the data radio.

[0046] b. Considering the stability of the positioning data, the data of the Beidou positioning device needs to be independently networked, i.e. a data radio is configured and installed for each Beidou positioning device (i.e. mobile station and reference station) to realize mutual exchange of trolley positioning data.

[0047] (5) Wireless local area network dedicated remote network system The iMAX wireless metropolitan area network technology is used to build a dual-link redundant network through VRRP virtual routing hot standby to form a wireless local area network between the shipbuilding berth crane monitoring data and the office platform. According to the site environment and the number of equipment, each dock considers using 2 sets of local area network base stations to network for site wireless coverage, and 4 sets of wireless equipment are configured for 2 docks.

[0048] The crane remote monitoring redundant network architecture mode based on the iMAX wireless metropolitan area network and VRRP hot standby is as follows: the video server, remote control workstation and other devices of the remote control operation center are connected to the iMAX access base station through a local area network (LAN), the base station is equipped with a VRRP virtual routing hot standby system to build a dual-link redundancy; each crane of the dock / berth is provided with a remote intelligent terminal, and the monitoring data collected by the terminal is transmitted to the base station through the iMAX wireless link, the dual-link load is balanced in normal times, and the standby link is switched in milliseconds in case of failure, so that the stable transmission and monitoring of the crane data to the remote control center are finally realized. A 5.8GHz iMAX private network VRRP hot standby dual-redundancy wireless network is built, and a 433MHz data radio station ad hoc network is used to realize the direct communication between cranes in less than 0.5s. The network delay and single-point failure problem of multi-crane distributed cooperative anti-collision are solved.

[0049] Core advantages: dual-link independent operation, maximum utilization of bandwidth. Millisecond hot standby switching: when any link fails, the service is automatically switched to the standby link (no STP delay). Unified technical solution avoids interference of multiple manufacturers' devices and eliminates the risk of ring network.

[0050] (6) Three-dimensional monitoring platform The scheme builds a digital twin monitoring platform. The platform models the associated device entities in 1:1 according to geometric size, material property, color, shape, etc., with a size accuracy of centimeters, which truly reflects the assembly relationship, origin, and subordinate relationship of the crane device entities. The model includes the device main body and its affiliated mechanisms and structures that will interfere and collide. The dock assembly site is processed as a three-dimensional scene model, and the key positions (such as the track position relationship and the device operation range) and the areas where the device generates spatial relationships are accurately modeled in 1:1, and the display is highlighted to ensure that the current working conditions of the device can be accurately and clearly reflected. Based on the above simulation model, the platform can realize: accessing and managing various data of the local crane, synchronously moving the data-driven model with the local crane and displaying the alarm state and alarm reminder; querying alarm history records. The digital twin platform is created, which promotes visual monitoring and facilitates device management.

[0051] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A collaborative collision avoidance and early warning system for dock crane groups based on multi-source perception and spatial modeling, characterized in that, It includes a perception layer, a control layer, a network layer, and a platform layer, with each layer working together to achieve the anti-collision early warning function for crane groups; The perception layer integrates a Beidou RTK differential positioning module and multi-source sensors, including a gantry crane absolute encoder, a counterweight inclinometer, a gantry crane microwave radar, and a drum direct-connect encoder. The control layer is configured with an on-board host, which runs the AABB collision detection algorithm to decompose the crane into a 6-sided wireframe model, dynamically calculate the intersection of bounding boxes and output three-level control signals. The network layer adopts a dual-redundancy architecture, including a 433MHz self-organizing network and a 5.8GHz iMAX private network. The 433MHz self-organizing network enables millisecond-level data synchronization between cranes, and the 5.8GHz iMAX private network supports VRRP virtual routing hot standby remote transmission. The platform layer constructs a 1:1 three-dimensional dock simulation model for visual monitoring of equipment position and alarm status.

2. The dock crane group collaborative collision avoidance and early warning system according to claim 1, characterized in that, The planar accuracy of the Beidou RTK differential positioning module is 1cm, the rotation angle accuracy of the absolute encoder of the gantry crane is ≤0.5°, the pitch angle accuracy of the weighted inclinometer is ≤0.02°, the ranging error of the gantry crane microwave radar is ±15cm, and the height accuracy of the drum direct-connect encoder is 1mm.

3. The dock crane group collaborative collision avoidance and early warning system according to claim 1, characterized in that, The three-level control signals include audible and visual warning signals, deceleration signals, and stop signals, and the data synchronization delay of the 433MHz self-organizing network is <0.5s.

4. The dock crane group collaborative collision avoidance and early warning system according to claim 1, characterized in that, The three-dimensional dock simulation model of the platform layer includes a 1:1 geometric model of the crane equipment entity and auxiliary mechanisms. The dock site's tracks, track spacing, and equipment operating range are modeled precisely at a 1:1 scale, with dimensional accuracy down to the centimeter level.

5. The dock crane group collaborative collision avoidance and early warning system according to claim 1, characterized in that, The 433MHz self-organizing network in the network layer is constructed using WA80 data radios, which connects the crane groups in the dock and slipway into a shared data network. The 5.8GHz iMAX private network is equipped with four sets of wireless devices, and two local area network base stations are deployed in each dock to achieve site wireless coverage.

6. The working method of the collaborative collision avoidance and early warning system for dock crane groups based on multi-source perception and spatial modeling as described in claim 1, characterized in that, Includes the following steps: Step 1: Decompose the crane structure into N hexahedral wireframe models at a 1:1 scale based on the actual dimensions of the crane's physical structure, and establish the crane's structural model; establish a mathematical model of the dock site tracks and track spacing relationship at a 1:1 scale. Step 2: Integrate the crane structure model into the dock site mathematical model, using the dock space as a unified coordinate system and the track direction as the X-axis, and clarify the positional mapping relationship of each component of the crane in the coordinate system; Step 3: Through the BeiDou RTK differential positioning module and multi-source sensors in the perception layer, collect real-time data on the crane's position, rotation angle, pitch angle, distance measurement, and height; Step 4: Data synchronization between cranes is achieved through a 433MHz self-organizing network at the network layer, and remote data transmission is achieved through the VRRP virtual router hot standby link of the 5.8GHz iMAX private network; the vehicle host at the control layer runs the AABB collision detection algorithm, converts the collected data into the cube positions of each component of the crane, and calculates the intersection of the wrapping surfaces of adjacent crane cubes; Step 5: Trigger the corresponding level 3 control signal based on the intersection calculation result. The 3D simulation model of the platform layer synchronously displays the device pose and alarm status, and supports querying alarm history records.

7. The method for coordinated collision avoidance and early warning of dock crane groups according to claim 6, characterized in that, In step 3, the crane position data acquisition is achieved through BeiDou PVT positioning technology and RTK carrier phase differential positioning technology. Each crane is equipped with a BeiDou mobile positioning device, and a reference station is installed at a fixed position on the ground. The mobile station receives RTK data from the reference station through a data transmission radio. The positioning accuracy in a static state reaches 10cm, and the positioning detection accuracy under all working conditions is ≤5cm.

8. The method according to claim 6, characterized in that, The AABB collision detection algorithm described in step 4 obtains the coordinates x, y, and z of the object's center point, and calculates the minimum point min(x,y,z) and maximum point max(x,y,z) based on the object's length, width, and height information to construct the key body bounding box. It uses Quadtree, Octtree, or BVH algorithms to optimize the detection efficiency and supports editing of the collision detection area to adapt to different alarm level requirements.

9. The method according to claim 6, characterized in that, In step 4, the 5.8GHz iMAX private network has load balancing, millisecond-level hot standby switching and anti-interference functions. When any link fails, the service automatically switches to the backup link without STP delay.

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