Navigation method and system based on electronic fence and electronic equipment

Abstract

The invention relates to a navigation method and system based on an electronic fence and electronic equipment. The method comprises the steps that an electronic fence is displayed on a navigation map, and areas corresponding to the electronic fence comprise a plurality of operation areas in a storage yard; determining the number of container trucks in each electronic fence; based on the number of the container trucks in each electronic fence, the congestion condition of the operation area corresponding to each electronic fence is determined; and displaying the congestion condition of each operation area in a navigation map. The technical problem that a traditional navigation system usually performs route planning based on a fixed path or static map information, lacks the real-time dynamic sensing capability of a site and is difficult to deal with congestion caused by dense vehicles and complex and changeable operation areas in a storage yard is solved.

Description

Technical Field

[0001] This application relates to the field of navigation, and in particular to a navigation method and system based on electronic fences, and electronic devices. Background Technology

[0002] With the continuous development of global trade, container transportation operations at ports, logistics parks, and yards are becoming increasingly frequent. In these complex operating environments, how to efficiently dispatch and guide container trucks has become one of the key issues for improving overall operational efficiency. Traditional navigation systems are usually based on fixed paths or static map information for route planning, lacking the ability to perceive real-time dynamics on-site, and are unable to cope with congestion problems caused by dense vehicle traffic and complex and changeable operating areas within yards. Summary of the Invention

[0003] The embodiments of this application provide a navigation method, system, and electronic device based on electronic fences, which at least solves the problem that traditional navigation systems usually plan routes based on fixed paths or static map information, lack the ability to perceive real-time dynamics on site, and are difficult to cope with the congestion caused by dense vehicles and complex and changeable work areas in the yard.

[0004] According to one aspect of the embodiments of this application, a navigation method based on electronic fences is provided, comprising: displaying electronic fences on a navigation map, wherein the area corresponding to the electronic fences includes multiple operating areas within a yard; determining the number of container trucks within each electronic fence; determining the congestion status of the operating area corresponding to each electronic fence based on the number of container trucks within each electronic fence; and displaying the congestion status of each operating area on the navigation map.

[0005] Optionally, determining the number of container trucks within each electronic fence includes: obtaining the real-time location of each container truck based on the positioning device installed on each container truck; periodically comparing the real-time location of the container truck with the boundary of the electronic fence at preset time intervals to determine the positional relationship between the container truck and the electronic fence; if the real-time location of the container truck is inside the boundary of the electronic fence, incrementing the number of container trucks inside the corresponding electronic fence by 1.

[0006] Optionally, the real-time location of the container truck is periodically compared with the boundary of the electronic fence at preset time intervals to determine the positional relationship between the container truck and the electronic fence, including: determining a ray along any direction with the real-time location of the container truck as the endpoint; determining the number of intersections between the ray and each boundary of the electronic fence; if the number of intersections is odd, determining that the container truck is located inside the boundary of the electronic fence; if the number of intersections is even, determining that the container truck is located outside the boundary of the electronic fence.

[0007] Optionally, the real-time position of the container truck is periodically compared with the boundary of the electronic fence at preset time intervals to determine the positional relationship between the container truck and the electronic fence. This also includes: calculating the sum of the cross products of the vectors formed by each vertex of the electronic fence boundary to the next vertex and to the real-time position of the container truck; if the sum of the cross products is not zero, it is determined that the container truck is located inside the boundary of the electronic fence; if the sum of the cross products is zero, it is determined that the container truck is located outside the boundary of the electronic fence.

[0008] Optionally, the congestion situation of the work area corresponding to each electronic fence is determined based on the number of container trucks within each electronic fence, including: determining the range to which the number of container trucks within each electronic fence belongs; and determining the congestion level of the work area corresponding to each electronic fence based on the range.

[0009] Optionally, the congestion situation of each work area can be displayed on the navigation map, including: displaying the number of container trucks within each electronic fence on the navigation map and displaying the areas corresponding to the electronic fences on the navigation map according to different colors, wherein different colors correspond to different congestion levels.

[0010] Optionally, the above method further includes: acquiring historical data, wherein the historical data includes the number of container trucks within each electronic fence during a historical time period; inputting the historical data and the real-time location of each container truck into a machine learning model for processing to obtain the change in the number of container trucks within each electronic fence within a future preset time period; determining the congestion situation of each work area within the future preset time period based on the change in the number of container trucks within each electronic fence within the future preset time period; and displaying the congestion situation of each work area within the future preset time period on a navigation map.

[0011] According to another aspect of the embodiments of this application, a navigation system based on electronic fences is also provided, including: a display device configured to display electronic fences on a navigation map, wherein the area corresponding to the electronic fence includes multiple working areas within a yard; a processor connected to the display, configured to determine the number of container trucks within each electronic fence; determine the congestion status of the working area corresponding to each electronic fence based on the number of container trucks within each electronic fence; and send the congestion status of the working area corresponding to each electronic fence to the display device for display.

[0012] According to another aspect of the embodiments of this application, an electronic device is also provided, including: a processor, and a memory storing a program, the program including instructions that, when executed by the processor, cause the processor to perform the above-described method.

[0013] According to another aspect of the embodiments of this application, a non-transitory machine-readable medium storing computer instructions for causing a computer to perform the above-described methods is also provided.

[0014] According to another aspect of the embodiments of this application, a computer program product is also provided, including a computer program that, when executed by a computer's processor, causes the computer to perform the above-described methods.

[0015] The beneficial effects of the embodiments of this application are as follows: In this embodiment, an electronic fence is displayed on a navigation map. The area corresponding to the electronic fence includes multiple work areas within the yard. The number of container trucks within each electronic fence is determined. Based on the number of container trucks within each electronic fence, the congestion status of the work area corresponding to each electronic fence is determined. The congestion status of each work area is displayed on the navigation map. By using electronic fence technology to perceive the density of container trucks in each work area in real time in complex work environments such as yards, and dynamically assessing the congestion status of the area based on this information, the purpose of intuitively displaying and assisting navigation route planning on the navigation map is achieved, thereby realizing the technical effect of improving transportation efficiency and the level of intelligent operation scheduling.

[0016] Details of one or more embodiments of this application are set forth in the following drawings and description to make other features, objects and advantages of this application more readily apparent. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other embodiments can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a flowchart of a navigation method based on an electronic fence according to an embodiment of this application; Figure 2 This is a schematic diagram of a navigation map according to an embodiment of this application; Figure 3 This is a schematic diagram of a navigation system based on an electronic fence according to an embodiment of this application; Figure 4 This is a schematic diagram of the structure of the electronic device in this embodiment. Detailed Implementation

[0019] Embodiments of this embodiment will now be described in more detail with reference to the accompanying drawings. While some embodiments of this embodiment are shown in the drawings, it should be understood that this embodiment can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this embodiment. It should be understood that the accompanying drawings and embodiments are for illustrative purposes only and are not intended to limit the scope of protection of this embodiment.

[0020] To better understand the embodiments of this application, the technical terms involved in the embodiments of this application are explained below: Container yard: In the logistics and supply chain management field, a container yard refers to an area specifically used for the temporary storage of goods, containers, or vehicles. It is typically located near ports, railway stations, logistics centers, or warehouses, serving as a crucial link in the transshipment of goods. The main functions of a container yard include loading and unloading, storage, sorting, and dispatching of goods.

[0021] In related technologies, traditional navigation systems typically plan routes based on fixed paths or static map information, lacking the ability to perceive real-time dynamics on-site, and struggling to cope with congestion caused by dense vehicle traffic and complex, ever-changing work areas within the yard. To address this problem, this application provides relevant solutions, which are detailed below.

[0022] Figure 1 This is a flowchart of a navigation method based on an electronic fence according to an embodiment of this application, such as... Figure 1 As shown, the method includes the following steps: Step S102: Display the electronic fence on the navigation map, wherein the area corresponding to the electronic fence includes multiple working areas within the yard.

[0023] An electronic fence is a security system based on geofencing technology. It uses positioning technologies such as Global Positioning System (GPS), Wi-Fi, Bluetooth, or cellular data to create a virtual boundary. When a mobile device or an object equipped with a positioning device enters or leaves this preset area, the system can detect it and trigger corresponding actions, such as sending notifications or alarms.

[0024] Figure 2 This is a schematic diagram of a navigation map according to an embodiment of this application, such as... Figure 2 As shown, the navigation map contains multiple electronic fences, which correspond to various work areas within the yard, such as maintenance areas, loading areas, and waiting areas.

[0025] In an optional embodiment of this application, different colors can be used to mark electronic fences to distinguish different categories. For example, the electronic fence corresponding to the repair area is red, the electronic fence corresponding to the waiting area is blue, and the electronic fence corresponding to the waiting area is green.

[0026] Step S104: Determine the number of container trucks within each electronic fence.

[0027] In this step, the number of container trucks in the work area corresponding to each electronic fence is determined.

[0028] Step S106: Determine the congestion situation of the work area corresponding to each electronic fence based on the number of container trucks within each electronic fence.

[0029] Step S108: Display the congestion situation of each work area on the navigation map.

[0030] The method provided in this application embodiment uses electronic fence technology to perceive the density of container trucks in each work area in real time in complex operating environments such as yards, and dynamically assesses the congestion status of the area based on this information. This achieves the purpose of intuitively displaying and assisting in navigation route planning on the navigation map, thereby realizing the technical effect of improving transportation efficiency and the level of intelligent operation scheduling.

[0031] According to some optional embodiments of this application, step S104, which determines the number of container trucks within each electronic fence, includes the following steps: obtaining the real-time position of each container truck based on the positioning device installed on each container truck; periodically comparing the real-time position of the container truck with the boundary of the electronic fence at preset time intervals to determine the positional relationship between the container truck and the electronic fence; if the real-time position of the container truck is inside the boundary of the electronic fence, incrementing the number of container trucks inside the corresponding electronic fence by 1.

[0032] Container trucks are equipped with onboard GPS devices or BeiDou positioning modules. The vehicle-to-everything (V2X) platform obtains the real-time location information (latitude, longitude, and timestamp) of each container truck, and the data can be transmitted to the backend system via MQTT, HTTP, or other methods. The system periodically compares the vehicle's location with the boundary of the electronic fence. If the vehicle is inside the electronic fence, it means that the vehicle is located in the area corresponding to that electronic fence, and the number of vehicles in the area corresponding to that electronic fence is increased by 1 accordingly. The above technical solution allows for accurate counting of container trucks within each operating area by setting up electronic fences.

[0033] According to some alternative embodiments of this application, the real-time position of the container truck is periodically compared with the boundary of the electronic fence at preset time intervals to determine the positional relationship between the container truck and the electronic fence. This can be achieved by the following method: determining a ray along any direction with the real-time position of the container truck as the endpoint; determining the number of intersections between the ray and each boundary of the electronic fence; if the number of intersections is odd, determining that the container truck is located inside the boundary of the electronic fence; if the number of intersections is even, determining that the container truck is located outside the boundary of the electronic fence.

[0034] Determining whether a point (i.e., the location of a container truck) is located within a polygon (such as a yard area defined by an electronic fence) is a crucial step in enabling functions such as vehicle entry and exit monitoring and counting the number of container trucks inside and outside the yard. In this embodiment, a ray is defined with the real-time location of the container truck as its endpoint, and the number of intersections between this ray and each side of the electronic fence is calculated. If the number of intersections is odd, the container truck is inside the electronic fence; if it is even, the container truck is outside the electronic fence.

[0035] According to some other optional embodiments of this application, the real-time position of the container truck is periodically compared with the boundary of the electronic fence at preset time intervals to determine the positional relationship between the container truck and the electronic fence. This can also be achieved by the following method: calculating the sum of the cross products of the vectors formed by each vertex of the electronic fence boundary to the next vertex and to the real-time position of the container truck; if the sum of the cross products is not zero, it is determined that the container truck is located inside the boundary of the electronic fence; if the sum of the cross products is zero, it is determined that the container truck is located outside the boundary of the electronic fence.

[0036] In this embodiment, the positional relationship of the test point relative to each edge of the electronic fence is determined by calculating the cross product between the vectors formed by the test point (the location of the container truck) and each vertex of the electronic fence. Specifically, the sum of the cross products (vector products) of the vectors formed by each vertex of the electronic fence to the next vertex and then to the test point can be calculated. If the sum is not zero, it means that the point is inside the electronic fence; if the sum is zero, it means that the point is outside the electronic fence.

[0037] Both of the above technical solutions can be used to determine whether a container bus is inside an electronic fence.

[0038] In some optional embodiments of this application, step S106, which determines the congestion status of the work area corresponding to each electronic fence based on the number of container trucks within each electronic fence, includes the following steps: determining the range to which the number of container trucks within each electronic fence belongs; and determining the congestion level of the work area corresponding to each electronic fence based on the range.

[0039] In the embodiments provided in this application, when determining the congestion situation of the area corresponding to each electronic fence, it can be determined by statistically analyzing the range of the number of container trucks in the area corresponding to each electronic fence.

[0040] For example, if statistics show that the number of container trucks in the area corresponding to a certain electronic fence is 22, then the congestion level of the area corresponding to that electronic fence is determined to be severe congestion (that is, if the number of container trucks in the area corresponding to a certain electronic fence is above 20, the congestion situation of that area is determined to be severe congestion).

[0041] If the number of container trucks in the area corresponding to a certain electronic fence is 15, then the congestion level of the area corresponding to the electronic fence is determined to be moderate congestion (that is, if the number of container trucks in the area corresponding to a certain electronic fence falls within the range of 10-20, then the congestion situation of the area is determined to be moderate congestion).

[0042] If the number of container trucks in the area corresponding to a certain electronic fence is 6, then the congestion level of the area corresponding to the electronic fence is determined to be mild congestion (that is, if the number of container trucks in the area corresponding to a certain electronic fence is below 10, then the congestion situation of the area is determined to be mild congestion).

[0043] In some other optional embodiments of this application, step S108, which displays the congestion situation of each work area in the navigation map, is achieved by the following method: displaying the number of container trucks within each electronic fence in the navigation map and displaying the areas corresponding to the electronic fences in the navigation map according to different colors, wherein different colors correspond to different congestion levels.

[0044] When performing step S108, the number of container trucks in each work area is displayed, and colors are used to distinguish the congestion level of each work area corresponding to the electronic fence (for example, green indicates light congestion, yellow indicates moderate congestion, and red indicates heavy congestion).

[0045] Suppose a storage yard is divided into three areas: Area A: Loading and unloading operations in progress; Area B: Waiting for operations; and Area C: Maintenance and repair. When the system detects that the number of trucks in Area A exceeds a set threshold (e.g., 20 trucks), it marks the area as "congested," and the area turns red on the front-end map. Simultaneously, it can trigger an alarm system to remind dispatchers to adjust work schedules.

[0046] As an optional embodiment of this application, the above method further includes: acquiring historical data, wherein the historical data includes the number of container trucks within each electronic fence during a historical time period; inputting the historical data and the real-time location of each container truck into a machine learning model for processing to obtain the change in the number of container trucks within each electronic fence within a future preset time period; determining the congestion situation of each work area within the future preset time period based on the change in the number of container trucks within each electronic fence within the future preset time period; and displaying the congestion situation of each work area within the future preset time period on a navigation map.

[0047] In some optional embodiments of this application, machine learning models can be used to predict the trend of container truck numbers over a future period of time (e.g., the next few hours). Based on the changes in the number of container trucks within each electronic fence over the future preset time period, the congestion situation in each work area over the future preset time period is determined, and the congestion situation in each work area over the future preset time period is displayed on the navigation map.

[0048] By predicting the trend of container truck numbers over a future period, it is easier to monitor yard dynamics in real time, assist in generating more reasonable dispatch plans, and improve operational efficiency.

[0049] Based on the above-described electronic fence-based navigation method provided in the embodiments of this application, the embodiments of this application also provide an electronic fence-based navigation system. Figure 3 This is a schematic diagram of a navigation system based on an electronic fence according to an embodiment of this application, as shown below. Figure 3 As shown, the navigation system includes: Display device 30 is used to display electronic fences on a navigation map, wherein the area corresponding to the electronic fence includes multiple working areas within the yard.

[0050] According to some optional embodiments of this application, the display device 30 described above can be an in-vehicle display device or a mobile terminal device such as a mobile phone or tablet.

[0051] The processor 32, connected to the display 30, is configured to determine the number of container trucks within each electronic fence; determine the congestion status of the work area corresponding to each electronic fence based on the number of container trucks within each electronic fence; and send the congestion status of the work area corresponding to each electronic fence to the display device 30 for display.

[0052] The above-mentioned electronic fence-based navigation system provided in this application embodiment uses electronic fence technology to perceive the density of container trucks in each work area in real time in complex operating environments such as yards, and dynamically assesses the congestion status of the area based on this information. This achieves the purpose of intuitively displaying and assisting in navigation route planning on the navigation map, thereby realizing the technical effect of improving transportation efficiency and the level of intelligent operation scheduling.

[0053] According to some optional embodiments of this application, the processor 32 is used to perform the following functions: obtain the real-time position of each container truck according to the positioning device installed on each container truck; periodically compare the real-time position of the container truck with the boundary of the electronic fence at a preset time interval to determine the positional relationship between the container truck and the electronic fence; if the real-time position of the container truck is inside the boundary of the electronic fence, increment the number of container trucks inside the corresponding electronic fence by 1.

[0054] As an optional embodiment of this application, the processor 32 is also configured to perform the following functions: determine a ray along any direction with the real-time position of the container truck as the endpoint; determine the number of intersections between the ray and each boundary of the electronic fence; if the number of intersections is odd, determine that the container truck is located inside the boundary of the electronic fence; if the number of intersections is even, determine that the container truck is located outside the boundary of the electronic fence.

[0055] As another optional embodiment of this application, the processor 32 is also configured to perform the following functions: calculate the sum of the cross products of the vectors formed by each vertex of the electronic fence boundary to the next vertex and to the real-time position of the container truck; if the sum of the cross products is not zero, determine that the container truck is located inside the boundary of the electronic fence; if the sum of the cross products is zero, determine that the container truck is located outside the boundary of the electronic fence.

[0056] In some optional embodiments of this application, the processor 32 is also configured to perform the following functions: determine the range of the number of container trucks within each electronic fence; and determine the congestion level of the work area corresponding to each electronic fence based on the range.

[0057] In some other optional embodiments of this application, the display device 30 is used to perform the following functions: displaying the number of container trucks within each electronic fence in the navigation map and displaying the area corresponding to the electronic fence in the navigation map according to different colors, wherein different colors correspond to different congestion levels.

[0058] As an optional embodiment of this application, the processor 32 is also configured to perform the following functions: acquire historical data, wherein the historical data includes the number of container trucks within each electronic fence during a historical time period; input the historical data and the real-time location of each container truck into a machine learning model for processing to obtain the change in the number of container trucks within each electronic fence within a future preset time period; determine the congestion situation of each work area within a future preset time period based on the change in the number of container trucks within each electronic fence within a future preset time period; and display the congestion situation of each work area within a future preset time period on a navigation map.

[0059] This application also provides an electronic device, including: at least one processor; and a memory communicatively connected to the at least one processor. The memory stores a computer program executable by the at least one processor, which, when executed by the at least one processor, causes the electronic device to perform the methods of this application embodiment.

[0060] This application also provides a non-transitory machine-readable medium storing a computer program, wherein the computer program, when executed by a computer's processor, is used to cause the computer to perform the method of this application embodiment.

[0061] This application also provides a computer program product, including a computer program, wherein the computer program, when executed by a computer's processor, is used to cause the computer to perform the methods of this application embodiment.

[0062] refer to Figure 4 The present invention describes a structural block diagram of an electronic device that can serve as a server or client in embodiments of this application, which is an example of a hardware device that can be applied to various aspects of this application. The electronic device is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the application described and / or claimed herein.

[0063] like Figure 4As shown, the electronic device includes a computing unit 401, which can perform various appropriate actions and processes based on a computer program stored in a read-only memory (ROM) 402 or a computer program loaded from a storage unit 408 into a random access memory (RAM) 403. The RAM 403 may also store various programs and data required for the operation of the electronic device. The computing unit 401, ROM 402, and RAM 403 are interconnected via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0064] Multiple components in the electronic device are connected to I / O interface 405, including: input unit 406, output unit 407, storage unit 408, and communication unit 409. Input unit 406 can be any type of device capable of inputting information into the electronic device. Input unit 406 can receive input digital or character information and generate key signal inputs related to user settings and / or function control of the electronic device. Output unit 407 can be any type of device capable of presenting information and may include, but is not limited to, a display, speaker, video / audio output terminal, vibrator, and / or printer. Storage unit 408 may include, but is not limited to, disks and optical discs. Communication unit 409 allows the electronic device to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks, and may include, but is not limited to, modems, network cards, infrared communication devices, wireless communication transceivers, and / or chipsets, such as Bluetooth devices, WiFi devices, WiMax devices, cellular communication devices, and / or the like.

[0065] The computing unit 401 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 401 include, but are not limited to, CPUs, graphics processing units (GPUs), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any suitable processors, controllers, microcontrollers, etc. The computing unit 401 performs the various methods and processes described above. For example, in some embodiments, the method embodiments of this application can be implemented as a computer program tangibly contained in a machine-readable medium, such as storage unit 408. In some embodiments, part or all of the computer program can be loaded and / or installed on an electronic device via ROM 402 and / or communication unit 409. In some embodiments, the computing unit 401 can be configured to perform the methods described above by any other suitable means (e.g., by means of firmware).

[0066] Computer programs used to implement the methods of the embodiments of this application may be written in any combination of one or more programming languages. These computer programs may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0067] In the context of embodiments of this application, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable signal medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, or infrared systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0068] It should be noted that the term "comprising" and its variations used in the embodiments of this application are open-ended, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; and the term "some embodiments" means "at least some embodiments". The modifications of "one" and "multiple" mentioned in the embodiments of this application are illustrative and not restrictive. Those skilled in the art should understand that, unless explicitly indicated otherwise in the context, they should be understood as "one or more".

[0069] The user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in the embodiments of this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0070] The steps described in the method embodiments provided in this application can be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of protection of this application is not limited in this respect.

[0071] The term "embodiment" in this specification refers to a specific feature, structure, or characteristic described in connection with an embodiment that may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily imply the same embodiment, nor does it imply independence from or alternative to other embodiments. The various embodiments in this specification are described in a related manner, with reference to each other for similar or identical parts. In particular, for apparatus, device, and system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, and relevant details are referred to in the description of the method embodiments.

[0072] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of patent protection. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the appended claims.

Claims

1. An electronic fence based navigation method, characterized in that, The method comprises the following steps: displaying electronic fences on a navigation map, wherein the electronic fences correspond to a plurality of work areas in a yard; determining the number of container trucks in each electronic fence; determining the congestion of the work area corresponding to each electronic fence based on the number of container trucks in each electronic fence; displaying the congestion of each work area in the navigation map.

2. The method of claim 1, wherein, The method for determining the number of container trucks in each electronic fence comprises the following steps: obtaining the real-time position of each container truck according to the positioning device installed on the container truck; periodically comparing the real-time position of the container truck with the boundary of the electronic fence at a preset time interval to determine the positional relationship between the container truck and the electronic fence; if the real-time position of the container truck is inside the boundary of the electronic fence, increasing the number of container trucks inside the corresponding electronic fence by 1.

3. The method of claim 2, wherein, The method for periodically comparing the real-time position of the container truck with the boundary of the electronic fence at a preset time interval to determine the positional relationship between the container truck and the electronic fence comprises the following steps: determining a ray in any direction with the real-time position of the container truck as an endpoint; determining the number of intersection points between the ray and the boundary of the electronic fence; if the number of intersection points is odd, determining that the container truck is inside the boundary of the electronic fence; if the number of intersection points is even, determining that the container truck is outside the boundary of the electronic fence.

4. The method of claim 2, wherein, The method for periodically comparing the real-time position of the container truck with the boundary of the electronic fence at a preset time interval to determine the positional relationship between the container truck and the electronic fence further comprises the following steps: respectively calculating the total sum of the cross product of the vector formed by each vertex of the boundary of the electronic fence to the next vertex and to the real-time position of the container truck; if the total sum of the cross product is not zero, determining that the container truck is inside the boundary of the electronic fence; if the total sum of the cross product is zero, determining that the container truck is outside the boundary of the electronic fence.

5. The method of claim 1, wherein, The method for determining the congestion of the work area corresponding to each electronic fence based on the number of container trucks in each electronic fence comprises the following steps: determining the interval range to which the number of container trucks in each electronic fence belongs; determining the congestion level of the work area corresponding to each electronic fence according to the interval range.

6. The method of claim 1, wherein, The method for displaying the congestion of each work area in the navigation map comprises the following steps: displaying the number of container trucks in each electronic fence in the navigation map and displaying the area corresponding to the electronic fence in the navigation map in different colors, wherein different colors correspond to different congestion levels.

7. The method of claim 2, wherein, The method further comprises the following steps: obtaining historical data, wherein the historical data comprises the number of container trucks in each electronic fence in a historical time period; inputting the historical data and the real-time position of each container truck into a machine learning model for processing to obtain the change of the number of container trucks in each electronic fence in a future preset time period; determine congestion of each of the work areas in the future preset time period based on changes in the number of container trucks in each of the electronic fences in the future preset time period; display the congestion of each of the work areas in the future preset time period in the navigation map.

8. An electronic fence based navigation system characterized by, The method comprises the steps of: a display device configured to display electronic fences on a navigation map, wherein the areas corresponding to the electronic fences comprise a plurality of work areas in a container yard; a processor connected to the display device, configured to determine the number of container trucks in each of the electronic fences, determine the congestion of the work areas corresponding to each of the electronic fences based on the number of container trucks in each of the electronic fences, and send the congestion of the work areas corresponding to each of the electronic fences to the display device for display.

9. An electronic device comprising: A processor and a memory storing a program, characterized in that the program comprises instructions which, when executed by the processor, cause the processor to perform the method according to any one of claims 1 to 7.

10. A non-transitory machine-readable medium having stored thereon computer instructions, wherein: The computer instructions are used to make the computer perform the method according to any one of claims 1 to 7.

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