Beacon-based daily chemical warehouse asset positioning anti-collision system and method

Abstract

This invention relates to the field of warehouse logistics safety management technology, and in particular to a collision avoidance system and method for asset positioning in a daily chemical warehouse based on Bluetooth Beacon. The system collects warehouse positioning data through a warehouse data acquisition module. It also uses a motion positioning early warning module to dynamically calculate collision risk values ​​and issue graded warnings based on the movement of people and vehicles. Furthermore, the system monitors the Bluetooth signal quality index in real time through a Bluetooth signal monitoring module. Finally, the system uses an asset zoning protection module to dynamically adjust protection strategies based on regional hazard levels and signal coverage hole indices. Finally, the system uses a collision risk integration module to perform a fusion analysis of real-time warning levels, regional hazard levels, and the importance of daily chemical product categories on vehicles, thereby reducing the impact of complex warehouse environments on positioning accuracy and improving the accuracy and robustness of collision warnings.

Description

Technical Field

[0001] This invention relates to the field of warehouse logistics safety management technology, and in particular to a collision avoidance system and method for asset positioning in daily chemical warehouses based on Bluetooth Beacon. Background Technology

[0002] While current warehouse management technologies in the daily chemical industry have adopted Bluetooth positioning, shortcomings remain. Firstly, existing warehouse Bluetooth positioning systems are mostly designed for open storage areas, failing to adapt to the "dense shelving and dynamically changing stacking heights" scenarios in daily chemical warehouses. Signal obstruction leads to positioning errors of ≥2.5 meters and severe drift, failing to meet the needs for precise personnel scheduling. Secondly, they only track personnel locations without linking to warehouse asset positioning, lacking a collision warning mechanism. Since most goods in daily chemical warehouses are fragile, collision risks can easily cause economic losses. Thirdly, the long positioning refresh cycle cannot meet the real-time scheduling needs of high-frequency inbound and outbound operations in daily chemical warehouses, and positioning data is disconnected from inbound / outbound systems and ERP systems, failing to form a "positioning-business" data loop. Furthermore, the impact of stacking height and packaging material on signal strength is not considered, and the fixed attenuation coefficient results in significant differences in positioning accuracy under different storage scenarios, leading to poor adaptability.

[0003] Chinese patent application CN116847321A discloses a Bluetooth beacon system and a Bluetooth positioning method. The system includes: a Bluetooth beacon module comprising multiple Bluetooth beacon devices positioned within a target area to transmit Bluetooth signals; a smart device, including smartphones, tablets, and smartwatches, for receiving the Bluetooth signals emitted by the Bluetooth beacon devices; and an application running on the smart device to process the received Bluetooth signals and perform corresponding operations, including positioning and navigation services. However, this solution still suffers from shortcomings, such as a lack of zoned protection, dynamic compensation for Bluetooth signal attenuation, and insufficient accuracy in collision warnings for chemical warehouses due to the absence of linked monitoring of human and vehicle movement. Summary of the Invention

[0004] To address this, the present invention provides a collision avoidance system and method for asset positioning in daily chemical warehouses based on Bluetooth Beacon, which overcomes the problems of insufficient accuracy in collision warnings for daily chemical warehouses caused by the lack of zone protection, dynamic compensation for Bluetooth signal attenuation, and linkage monitoring of human and vehicle movement positions in the prior art.

[0005] To achieve the above objectives, on the one hand, the present invention provides a collision avoidance system for asset positioning in a daily chemical warehouse based on Bluetooth Beacon, comprising:

[0006] The warehouse data acquisition module is used to collect warehouse location data;

[0007] The mobile positioning early warning module is used to obtain the movement position of people and vehicles based on warehouse positioning data, and also to obtain the collision risk value based on the movement position of people and vehicles, and output the real-time early warning level based on the collision risk value;

[0008] The Bluetooth signal monitoring module is used to acquire the Bluetooth signal quality index, update the frequency of the mobile positioning dataset acquisition process based on the Bluetooth signal quality index, and adjust the output process of the real-time warning level in stages.

[0009] The asset zoning protection module is used to divide areas based on warehouse location data, obtain the zoning results, output the zoning protection strategy based on the zoning results, acquire the area hazard level, output the area hazard level based on the area hazard level, acquire the signal coverage hole index, and adjust the area hazard level based on the signal coverage hole index.

[0010] The collision risk score module is used to output risk scores based on real-time warning levels and regional hazard levels. It also limits vehicle speed based on the risk scores during the process of obtaining the movement positions of people and vehicles, optimizes the degree adjustment process, and obtains the vehicle importance of daily chemical categories. Based on the importance of daily chemical categories, it adjusts the risk score output process.

[0011] Furthermore, the mobile positioning early warning module obtains the movement positions of people and vehicles based on warehouse positioning data, specifically by: based on the fixed beacon RSSI set Q={ , ,..., } and the signal attenuation coefficient k for the corrected range set D={ , ,..., Perform calculations and set... ,in, For reference signal strength, Environmental degradation factor;

[0012] Based on the modified distance set D={ , ,..., } and fixed beacon coordinate set B={( ),( ),...,( The coordinates of the movement position of the person and vehicle () , To obtain and set: ,in, Indicates an index variable. =1,2,... .

[0013] Furthermore, the motion positioning early warning module obtains the collision risk value based on the movement position of the person and vehicle, specifically by: determining the coordinates of the movement position of the person and vehicle (…). , ), asset location coordinates ( , Personnel movement speed and asset movement speed To obtain the coordinates of the movement positions of people and vehicles ( , ), asset location coordinates ( , Personnel movement speed and asset movement speed The collision risk value Pm is calculated, and Pm is set to = ;

[0014] The collision risk value Pm is compared with the first preset collision risk value Pm1 and the second preset collision risk value Pm2, where Pm1 < Pm2. Based on the comparison result, the state of the collision risk value is determined, and the real-time warning level is output according to the determination result.

[0015] When Pm≤Pm1, the mobile positioning early warning module determines the collision risk value to be low risk and outputs the level 3 danger warning as the real-time warning level.

[0016] When Pm < Pm ≤ Pm2, the mobile positioning early warning module determines the collision risk value to be of medium risk and outputs the level 2 danger warning as the real-time warning level.

[0017] When Pm > Pm2, the mobile positioning early warning module determines the collision risk value to be of high risk and outputs a Level 1 danger warning as the real-time warning level.

[0018] Furthermore, the Bluetooth signal monitoring module acquires the Bluetooth signal quality index by acquiring the beacon RSSI sequence R={r1,r2,...,rt}, calculating the mean RSSI value μ within the window based on the beacon RSSI sequence R={r1,r2,...,rt} and the number of data points w in the window, setting μ=(r1+r2+...+rt) / w, and using the mean RSSI value μ within the window as the Bluetooth signal quality index Zm;

[0019] The Bluetooth signal quality index Zm is compared with the preset Bluetooth signal quality index Zm0. Based on the comparison result, the state of the Bluetooth signal quality index is determined. The acquisition process of the mobile positioning dataset is then updated with appropriate frequencies based on the determination result, and the output process of the real-time warning level is adjusted in stages.

[0020] When Zm≥Zm0, the Bluetooth signal monitoring module determines that the Bluetooth signal quality index is up to standard, does not update the frequency of the mobile positioning dataset acquisition process, and does not adjust the output process of the real-time warning level.

[0021] When Zm < Zm0, the Bluetooth signal monitoring module determines that the Bluetooth signal quality index is substandard and performs frequency updates on the acquisition process of the mobile positioning dataset: the positioning refresh period T is updated according to the frequency update factor gz, and T' = T × (1 + gz) is set, and 0.2 < gz < 0.5. The updated positioning refresh period T' is used as the positioning refresh period T to reacquire the movement position of people and vehicles.

[0022] The output process of real-time early warning levels is adjusted in stages: The early warning adjustment factor set dm={dm1,dm2,dm3} is obtained based on the risk coefficient hg, where dm1=1-hg×0.3, dm2=1+hg×0.2, and dm3=1+hg×0.1. The preset collision risk value set Pm0={Pm1,Pm2} is optimized based on the early warning adjustment factor set dm={dm1,dm2,dm3} to obtain the optimized preset collision risk value set Pm0'={Pm1', Pm2'}, where:

[0023] Pm1'=Pm1×dm1;

[0024] Pm2'=Pm2×dm2;

[0025] The optimized preset collision risk value set Pm0'={Pm1',Pm2'} is used as the preset collision risk value set Pm0={Pm1,Pm2} and compared with the collision risk value Pm again.

[0026] Furthermore, the asset zoning protection module divides the warehouse into regions based on the warehouse location data. Specifically, it performs cluster analysis on the fixed beacon coordinate set B={(x1,y1),(x2,y2),...,(xn,yn)} in the warehouse location data to obtain the region division result Zq={Zq1,Zq2,...,Zqu}, where Zq1 represents the first region beacon set, Zq2 represents the second region beacon set, and Zqu represents the u-th region beacon set, where u is a positive integer representing the region order.

[0027] Based on the region division results, the partition protection strategy is output: the first partition protection strategy is output for the first region beacon set Zq1, the second partition protection strategy is output for the second region beacon set Zq2, and the u-th partition protection strategy is output for the u-th region beacon set Zqu.

[0028] Furthermore, the asset zoning protection module acquires the regional risk level by acquiring the regional historical collision count Hc, the regional cargo stacking height Hd, and the regional personnel density Dr. Based on the regional historical collision count Hc, the regional cargo stacking height Hd, the regional personnel density Dr, and the regional weight set Wq={wH,wD,wR}, the regional risk level Wy is calculated, and Wy is set as Wy=Hc×wH+Hd×wD+Dr×wR, where wH+wD+wR=1.

[0029] The regional hazard level Wy is compared with the first preset regional hazard level Wy1 and the second preset regional hazard level Wy2, where Wy1 < Wy2. Based on the comparison result, the status of the regional hazard level is judged, and the regional hazard level is output according to the judgment result.

[0030] When Wy≤Wy1, the asset partition protection module determines the area's risk level as low risk and outputs the low-risk area as the area's risk level.

[0031] When Wy1 < Wy ≤ Wy2, the asset partition protection module determines the area's hazard level as medium and outputs the medium-risk area as the area's hazard level.

[0032] When Wy > Wy2, the asset partition protection module determines the area's risk level as high risk and outputs the high-risk area as the area's risk level.

[0033] Furthermore, the asset zoning protection module acquires the signal coverage hole index by acquiring the number of regional beacons Ns, the regional area Sa, and the signal overlap coefficient Co. Based on the number of regional beacons Ns, the regional area Sa, and the signal overlap coefficient Co, the signal coverage hole index Kn is calculated, and Kn is set as Kn=(Sa-Co×Ns×π×R²) / Sa, where R is the effective coverage radius of the beacons.

[0034] The signal coverage cavity index Kn is compared with the preset signal coverage cavity index Kn0. Based on the comparison result, the state of the signal coverage cavity index is judged, and the degree of regional hazard is adjusted according to the judgment result.

[0035] When Kn≤Kn0, the asset zoning protection module determines that the signal coverage hole index is normal and does not adjust the degree of danger of the area.

[0036] When Kn > Kn0, the asset zoning protection module determines that the signal coverage hole index is abnormal and adjusts the degree of regional danger: the regional danger Wy is adjusted according to the adjustment coefficient tmn to obtain the adjusted regional danger Wy'. Wy' is set to Wy × (1 + tmn), and 0.2 < tmn < 0.6. The adjusted regional danger Wy' is used as the regional danger Wy and compared with the preset regional danger Wy0 again.

[0037] Furthermore, the collision risk score module outputs the risk score based on the real-time warning level and the regional hazard level. Specifically, it obtains the real-time warning level coefficient Dj and the regional hazard level coefficient Wf, calculates the risk score Hn based on the real-time warning level coefficient Dj, the regional hazard level coefficient Wf and the score weight set Wj={wD,wW}, and sets Hn=Dj×wD+Wf×wW, and wD+wW=1.

[0038] The risk score Hn is compared with the preset risk score Hn0. Based on the comparison result, the state of the risk score is judged, and based on the judgment result, the vehicle speed is limited during the process of obtaining the movement positions of people and vehicles, and the degree adjustment process is optimized.

[0039] When Hn≤Hn0, the collision risk score module determines the risk score to be mild, does not impose vehicle speed restrictions on the process of obtaining the position of the person and vehicle, and does not optimize the process of adjusting the degree.

[0040] When Hn > Hn0, the collision risk integrator determines the risk integrator status as severe and imposes a vehicle speed limit on the process of acquiring the positions of people and vehicles: the asset movement speed is limited according to the speed limit factor xs. To impose restrictions, set v2'= ×(1-xs), and 0.3<xs<0.7, the restricted asset movement speed v2' is taken as the asset movement speed. The collision risk value Pm is recalculated.

[0041] The process of adjusting the degree is optimized: the adjustment coefficient tmn is optimized according to the optimization coefficient cmp, and tmn' is set to tmn' = tmn × (1 + cmp), and 0.1 < cmp < 0.4. The optimized adjustment coefficient tmn' is used as the adjustment coefficient tmn to readjust the regional risk level Wy.

[0042] Furthermore, the collision risk scoring module obtains the vehicle importance of daily chemical products by acquiring the vehicle cargo type Ct, vehicle cargo value Cv, and vehicle cargo fragility Cf. Based on the vehicle cargo type Ct, vehicle cargo value Cv, vehicle cargo fragility Cf, and cargo weight set Wc={wCt,wCv,wCf}, the vehicle importance Cn of the daily chemical products category is calculated, and Cn is set as Cn=Ct×wCt+Cv×wCv+Cf×wCf, where wCt+wCv+wCf=1.

[0043] The importance Cn of the daily chemical category in vehicles is compared with the preset importance Cn0 of the daily chemical category in vehicles. Based on the comparison result, the status of the importance of the daily chemical category in vehicles is judged, and the output process of the risk score is adjusted according to the judgment result.

[0044] When Cn≤Cn0, the collision risk integrator determines the importance of the daily chemical category vehicle as low and does not adjust the integrator output process;

[0045] When Cn > Cn0, the collision risk score module determines the status of the importance of the daily chemical category vehicle as high, and performs integral adjustment on the output process of the risk score: the risk score Hn is adjusted according to the integral adjustment coefficient squ, and Hn' = Hn × (1 + squ) is set, and 0.2 < squ < 0.5. The adjusted risk score Hn' is used as the risk score Hn and is compared with the preset risk score Hn0 again.

[0046] On the other hand, the present invention also provides a method for a collision avoidance system for asset positioning in a daily chemical warehouse based on Bluetooth Beacon, comprising:

[0047] Step S1: Collect warehouse location data;

[0048] Step S2: Obtain the movement positions of people and vehicles based on warehouse positioning data, obtain the collision risk value based on the movement positions of people and vehicles, and output the real-time warning level based on the collision risk value;

[0049] Step S3: Acquire the Bluetooth signal quality index, update the frequency of the mobile positioning dataset acquisition process based on the Bluetooth signal quality index, and adjust the output process of the real-time warning level in stages.

[0050] Step S4: Divide the area according to the warehouse location data to obtain the area division result, output the partition protection strategy according to the area division result, obtain the area hazard level and output the area hazard level according to the area hazard level, obtain the signal coverage hole index and adjust the area hazard level according to the signal coverage hole index.

[0051] Step S5: Output risk points based on real-time warning level and regional hazard level; limit vehicle speed based on risk points during the process of obtaining the location of people and vehicles; optimize the degree adjustment process; obtain the vehicle importance of daily chemical categories; and adjust the risk points output process based on the importance of daily chemical categories.

[0052] Compared with existing technologies, the beneficial effects of this invention are as follows: The system collects warehouse positioning data through a warehouse data acquisition module, laying a multi-dimensional data foundation for subsequent collision risk detection, thereby adapting to the complex electromagnetic environment of the warehouse. The system also dynamically calculates collision risk values ​​and issues graded warnings based on the movement positions of people and vehicles through a mobile positioning warning module, enabling accurate risk perception and timely warning response. The system also monitors the Bluetooth signal quality index in real time through a Bluetooth signal monitoring module, dynamically adjusting the positioning sampling frequency and warning level accordingly, so that the positioning strategy can adapt to changes in the signal environment and avoid positioning failure caused by signal quality degradation. The system also dynamically adjusts the protection strategy based on the regional hazard level and signal coverage hole index through an asset zoning protection module, enabling differentiated safety protection in the spatial dimension and compensating for the positioning blind spot risk caused by insufficient signal coverage. The system also integrates and analyzes real-time warning level, regional hazard level, and vehicle importance of daily chemical categories through a collision risk integration module, enabling dynamic risk accumulation assessment and proactive intervention in the time and cargo attribute dimensions, thereby improving the accuracy of collision warnings and system robustness. Attached Figure Description

[0053] Figure 1 This is a schematic diagram of the structure of the Bluetooth Beacon-based asset positioning and anti-collision system for daily chemical warehouses in this embodiment;

[0054] Figure 2 This is a flowchart illustrating the method of the daily chemical warehouse asset positioning and anti-collision system based on Bluetooth Beacon in this embodiment. Detailed Implementation

[0055] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments; it should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0056] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0057] It should be noted that in the description of this invention, the terms "upper", "lower", "left", "right", "inner", "outer", etc., which indicate directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and is not intended to indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this invention.

[0058] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0059] Please see Figure 1 As shown, this is a schematic diagram of the structure of the Bluetooth Beacon-based asset positioning and anti-collision system for daily chemical warehouses in this embodiment, including:

[0060] The warehouse data acquisition module is used to collect warehouse location data;

[0061] The mobile positioning early warning module is used to obtain the movement position of people and vehicles based on warehouse positioning data, and also to obtain the collision risk value based on the movement position of people and vehicles, and output the real-time early warning level based on the collision risk value. The mobile positioning early warning module is connected to the warehouse data acquisition module.

[0062] A Bluetooth signal monitoring module is used to acquire the Bluetooth signal quality index, update the frequency of the mobile positioning dataset acquisition process according to the Bluetooth signal quality index, and adjust the output process of the real-time warning level in stages. The Bluetooth signal monitoring module is connected to the mobile positioning warning module.

[0063] The asset zoning protection module is used to divide areas based on warehouse location data, obtain the area division results, output the zoning protection strategy based on the area division results, acquire the area hazard level, output the area hazard level based on the area hazard level, acquire the signal coverage hole index, and adjust the area hazard level based on the signal coverage hole index. The asset zoning protection module is connected to the Bluetooth signal monitoring module.

[0064] The collision risk score module is used to output risk scores based on real-time warning levels and regional hazard levels. It also limits vehicle speed based on the risk scores during the process of acquiring the movement positions of people and vehicles, and optimizes the process of adjusting the risk score. Furthermore, it is used to acquire the vehicle importance of daily chemical categories and adjust the risk score output process based on the importance of daily chemical categories. The collision risk score module is connected to the asset partition protection module.

[0065] Specifically, the Bluetooth Beacon-based asset positioning and collision avoidance system for daily chemical warehouses can be applied to the safety management of daily chemical product warehousing and logistics, such as large-scale daily chemical product distribution centers and cosmetic raw material warehouses. The system uses Bluetooth Beacon technology to achieve precise positioning of people and vehicles and dynamic collision risk warnings. It adaptively adjusts protection strategies in real time based on signal quality, area hazard level, and vehicle cargo attributes to reduce the impact of complex warehouse environments on positioning accuracy, thereby improving the accuracy of collision warnings and system robustness. The system collects warehouse positioning data through a warehouse data acquisition module to lay a multi-dimensional data foundation for subsequent collision risk detection, thus adapting to complex warehouse electromagnetic environments. The system also uses a motion positioning warning module to dynamically calculate collision risk values ​​based on the movement of people and vehicles and issue graded warnings to facilitate... To achieve accurate risk perception and timely early warning response, the system also monitors the Bluetooth signal quality index in real time through a Bluetooth signal monitoring module, and dynamically adjusts the positioning sampling frequency and early warning level accordingly. This allows the positioning strategy to adapt to changes in the signal environment and avoid positioning failure caused by signal quality degradation. The system also dynamically adjusts the protection strategy based on the regional hazard level and signal coverage hole index through an asset zoning protection module, enabling differentiated safety protection in the spatial dimension and compensating for the positioning blind spot risk caused by insufficient signal coverage. Furthermore, the system uses a collision risk integration module to perform fusion analysis on real-time early warning level, regional hazard level, and the importance of daily chemical categories on the vehicle, enabling dynamic risk accumulation assessment and proactive intervention in the time and cargo attribute dimensions, thereby improving the accuracy of collision warnings and the robustness of the system.

[0066] Specifically, the warehouse data acquisition module collects warehouse location data.

[0067] Specifically, the warehouse positioning data includes fixed beacons and mobile beacons. The fixed beacons are Bluetooth Beacon devices deployed at fixed locations on warehouse shelves, columns, and aisle intersections to provide a stable reference signal source. In this embodiment, the iBeacon protocol of BLE 5.0 standard is used, with the broadcast frequency set to 100ms and the transmission power set to -4dBm. The mobile beacons are Bluetooth Beacon devices mounted on the forklift cab and the inspection personnel's name tag to identify the location of moving targets in real time. In this embodiment, waterproof and dustproof IP67-rated Beacon tags are used, with built-in acceleration sensors to acquire the mobile beacon data.

[0068] Specifically, the system collects warehouse positioning data through a warehouse data acquisition module to lay a multi-dimensional data foundation for subsequent collision risk detection, thereby adapting to the complex electromagnetic environment of the warehouse.

[0069] Specifically, the mobile positioning early warning module obtains the movement positions of people and vehicles based on warehouse positioning data, specifically by: based on the fixed beacon RSSI set Q={ , ,..., } and signal attenuation coefficient For the modified distance set D={ , ,..., Perform calculations and set... ,in, For reference signal strength, Environmental degradation factor;

[0070] Based on the modified distance set D={ , ,..., } and fixed beacon coordinate set B={( ),( ),...,( The coordinates of the movement position of the person and vehicle () , To obtain and set: ,in, Indicates an index variable. =1,2,... .

[0071] Specifically, the fixed beacon RSSI set refers to the set of signal strengths of all fixed-location Beacon beacons received by employee cards or asset terminals at a certain moment, wherein... This represents the RSSI value of the first fixed beacon. This indicates the RSSI value of the second fixed beacon. This represents the RSSI value of the nth fixed beacon, where n is a positive integer representing the order. The signal attenuation coefficient refers to the signal attenuation correction coefficient that is dynamically adjusted according to the stacking height and packaging material type of daily chemical products. This embodiment does not specify the signal attenuation coefficient. The specific value is limited, but those skilled in the art can freely choose according to actual needs. For example, based on signal attenuation tests, when the stacking height H ≤ 1 meter and the packaging material is a plastic bottle, the value can be set as follows: =1.05, set when 1 meter < H ≤ 2 meters and the packaging material is cardboard. =1.2, when H>2 meters and the packaging material is a metal can, set =1.3, the signal attenuation test refers to obtaining the signal attenuation coefficient by repeatedly measuring the Bluetooth signal strength. The process, wherein the corrected distance set refers to the estimated distance set between the moving target and each fixed beacon calculated based on the RSSI signal strength, wherein, Indicates the first corrected distance. This indicates the second corrected distance. This represents the nth correction distance. The fixed beacon coordinate set refers to the pre-calibrated set of two-dimensional coordinates of each fixed beacon in the warehouse coordinate system, where, ( () indicates the position of the first fixed beacon in the warehouse coordinate system. This indicates the position of the first fixed beacon on the X-axis in the warehouse coordinate system. This indicates the position of the first fixed beacon on the Y-axis in the warehouse coordinate system. The symbol () indicates the position of the second fixed beacon in the warehouse coordinate system. This indicates the position of the second fixed beacon on the X-axis in the warehouse coordinate system. This indicates the position of the second fixed beacon on the Y-axis in the warehouse coordinate system. ) indicates the first The position of a fixed beacon in the warehouse coordinate system This represents the position of the nth fixed beacon on the X-axis in the warehouse coordinate system. Indicates the first The position of a fixed beacon on the Y-axis in the warehouse coordinate system is specified in this embodiment. The specific construction method of the warehouse coordinate system is not limited in this embodiment; those skilled in the art can freely choose according to actual needs. For example, the warehouse entrance location can be used as the origin to construct the warehouse coordinate system. The "person / vehicle movement position" refers to the real-time position coordinates of the moving target, such as a person or vehicle, in the warehouse coordinate system. This indicates the position of the moving target on the X-axis in the warehouse coordinate system. This indicates the position of the moving target on the Y-axis in the warehouse coordinate system. Indicates the first The x-coordinate of a fixed beacon, Indicates the first The ordinate of a fixed beacon Indicates the first Corrected distance between a fixed beacon and a moving target Indicates the first The measured value of the received signal strength indication of a fixed beacon.

[0072] Specifically, the mobile positioning early warning module introduces a dual-mode positioning mechanism of fixed beacons and mobile beacons, and calculates the precise position of people and vehicles in real time based on the RSSI signal attenuation model method. This effectively solves the positioning drift problem caused by signal blockage in densely stacked areas of shelves, so as to reduce positioning errors in daily chemical warehouse scenarios with dense shelves and dynamic changes in goods stacking, thereby significantly improving warehouse operation scheduling efficiency and personnel safety assurance capabilities.

[0073] Specifically, the motion positioning early warning module obtains the collision risk value based on the movement position of people and vehicles, specifically by: determining the coordinates of the movement position of people and vehicles (…). , ), asset location coordinates ( , Personnel movement speed and asset movement speed To obtain the coordinates of the movement positions of people and vehicles ( , ), asset location coordinates ( , Personnel movement speed and asset movement speed The collision risk value Pm is calculated, and Pm is set to = ;

[0074] The collision risk value Pm is compared with the first preset collision risk value Pm1 and the second preset collision risk value Pm2, where Pm1 < Pm2. Based on the comparison result, the state of the collision risk value is determined, and the real-time warning level is output according to the determination result.

[0075] When Pm≤Pm1, the mobile positioning early warning module determines the collision risk value to be low risk and outputs the level 3 danger warning as the real-time warning level.

[0076] When Pm < Pm ≤ Pm2, the mobile positioning early warning module determines the collision risk value to be of medium risk and outputs the level 2 danger warning as the real-time warning level.

[0077] When Pm > Pm2, the mobile positioning early warning module determines the collision risk value to be of high risk and outputs a Level 1 danger warning as the real-time warning level.

[0078] Specifically, the asset location coordinates refer to the real-time location coordinates of the forklift, shelf, or turnover box equipped with an asset beacon in the warehouse coordinate system. In this embodiment, the asset location coordinates are obtained in real time through Beacon tags deployed in the forklift cab and Bluetooth base station network. The personnel movement speed refers to the real-time movement speed of personnel calculated by the accelerometer built into the personnel positioning card and the position differential calculation, in meters per second. The asset movement speed refers to the real-time speed of moving assets such as forklifts calculated by the accelerometer built into the asset beacon and the position differential calculation, in meters per second. The collision risk value is a quantitative value that measures the degree of risk of collision between personnel and assets, defined as the ratio of the straight-line distance between them to the sum of their relative speeds, in seconds. The smaller the value, the higher the collision risk. The first and second preset collision risk values ​​refer to preset thresholds for classifying the state of collision risk values. This embodiment does not limit the specific values ​​of the first and second preset collision risk values ​​Pm1 and Pm2. Those skilled in the art can freely choose according to actual needs. For example, according to the safety standards of daily chemical warehouses, Pm1 = 2 seconds and Pm2 = 1 second can be set. When Pm > 2 seconds, it is a safe distance. When 1 second < Pm ≤ 2 seconds, vigilance is required. When Pm ≤ 1 second, there is an imminent collision risk. The state of the collision risk value refers to the degree of risk represented by the collision risk value, including low risk, medium risk and high risk. The real-time warning level refers to the current level of danger of human-vehicle interaction determined according to the collision risk value, including level one danger warning, level two danger warning and level three danger warning.

[0079] Specifically, the mobile positioning early warning module obtains the collision risk value by measuring the movement position of people and vehicles, so as to accurately identify low, medium and high risk levels and trigger differentiated early warning responses, thereby effectively improving the safety of human-vehicle collaboration and the level of intelligent collision prevention early warning in warehouse operation scenarios.

[0080] Specifically, the Bluetooth signal monitoring module acquires the Bluetooth signal quality index by acquiring the beacon RSSI sequence R={r1,r2,...,rt}, calculating the mean RSSI value μ within the window based on the beacon RSSI sequence R={r1,r2,...,rt} and the number of data points w in the window, setting μ=(r1+r2+...+rt) / w, and using the mean RSSI value μ within the window as the Bluetooth signal quality index Zm;

[0081] The Bluetooth signal quality index Zm is compared with the preset Bluetooth signal quality index Zm0. Based on the comparison result, the state of the Bluetooth signal quality index is determined. The acquisition process of the mobile positioning dataset is then updated with appropriate frequencies based on the determination result, and the output process of the real-time warning level is adjusted in stages.

[0082] When Zm≥Zm0, the Bluetooth signal monitoring module determines that the Bluetooth signal quality index is up to standard, does not update the frequency of the mobile positioning dataset acquisition process, and does not adjust the output process of the real-time warning level.

[0083] When Zm < Zm0, the Bluetooth signal monitoring module determines that the Bluetooth signal quality index is substandard and performs frequency updates on the acquisition process of the mobile positioning dataset: the positioning refresh period T is updated according to the frequency update factor gz, and T' = T × (1 + gz) is set, and 0.2 < gz < 0.5. The updated positioning refresh period T' is used as the positioning refresh period T to reacquire the movement position of people and vehicles.

[0084] The output process of real-time early warning levels is adjusted in stages: The early warning adjustment factor set dm={dm1,dm2,dm3} is obtained based on the risk coefficient hg, where dm1=1-hg×0.3, dm2=1+hg×0.2, and dm3=1+hg×0.1. The preset collision risk value set Pm0={Pm1,Pm2} is optimized based on the early warning adjustment factor set dm={dm1,dm2,dm3} to obtain the optimized preset collision risk value set Pm0'={Pm1',Pm2'}, where:

[0085] Pm1'=Pm1×dm1;

[0086] Pm2'=Pm2×dm2;

[0087] The optimized preset collision risk value set Pm0'={Pm1',Pm2'} is used as the preset collision risk value set Pm0={Pm1,Pm2} and compared with the collision risk value Pm again.

[0088] Specifically, the beacon RSSI sequence refers to the RSSI signal strength sequence of a fixed beacon continuously collected within a preset time window. In this embodiment, the beacon RSSI sequence is collected through a Bluetooth gateway. This embodiment does not limit the length of the preset time window; those skilled in the art can freely choose it according to actual needs. For example, the preset time window can be set to 30 seconds according to signal stability monitoring requirements. Here, r1 represents the first RSSI value collected within the preset time window, r2 represents the second RSSI value, rt represents the t-th RSSI value, and t is a positive integer. The number of data points in the window refers to the total number of RSSI values ​​collected within the preset time window. The mean RSSI value within the window refers to the arithmetic mean of the beacon RSSI sequence within the window. The Bluetooth signal quality index refers to the quantitative value of signal fluctuation obtained by calculating the standard deviation of the beacon RSSI sequence within the window. The larger the standard deviation, the more unstable the signal quality. The normalization processing refers to the process of maximizing the normalization value. - The minimum normalization method maps the initial Bluetooth signal quality index to the [0,1] interval. The preset Bluetooth signal quality index refers to a preset threshold for judging the state of the Bluetooth signal quality index. This embodiment does not limit the specific value of the preset Bluetooth signal quality index Zm0. Those skilled in the art can freely choose according to actual needs. For example, according to engineering practice, Zm0=0.6 is set. When Zm≥0.6, it is easy to cause frequent adjustments. When Zm<0.6, it is easy to cause insufficient adaptive adjustment sensitivity. The positioning refresh cycle refers to the time interval for the system to acquire and update the position of the person and vehicle. In this embodiment, the positioning refresh cycle T=1 second is set under normal conditions. The frequency update factor refers to the coefficient used to adjust the positioning refresh cycle. This embodiment does not limit the specific value of the frequency update factor gz. Those skilled in the art can freely choose according to actual needs. It is sufficient to meet the requirement of 0.2<gz<0.5. For example, according to field test verification, when gz=0.3 When the signal quality deteriorates, the refresh cycle is extended by about 30%, which can significantly reduce the positioning frequency. At the same time, it can still maintain a positioning update interval of about 1.3 seconds to meet the real-time monitoring needs of people and vehicles in the daily chemical warehouse, and ensure that the anti-collision warning will not fail due to outdated data. When the signal quality is not up to standard, the refresh cycle is extended to T'=1.To reduce power consumption and minimize erroneous location data, a 3-second interval is used. The risk coefficient hg is a normalized coefficient reflecting the severity of signal quality non-compliance. In this embodiment, the risk coefficient hg is obtained as follows: hg is calculated based on the Bluetooth signal quality index Zm, the preset Bluetooth signal quality index Zm0, and the minimum tolerance value Zmin. The formula is hg = (Zm0 - Zm) / (Zm0 - Zmin). When hg < 0, hg is set to 0; when hg > 1, hg is set to 1. The minimum tolerance value... The value refers to the minimum threshold value at which the preset Bluetooth signal quality index Zm reaches a severely substandard state, and Zmin < Zm0. For example, Zmin = 0.3. The warning adjustment factor set refers to the set of coefficients for graded adjustment of the preset collision risk value. dm1 is used to adjust the first preset collision risk value, dm2 is used to adjust the second preset collision risk value, and dm3 is a backup adjustment coefficient stored in the system log to quantify the current signal degradation level. For example, when dm3 ≥ 1.15, the asset movement speed is further reduced by 20%.

[0089] Specifically, the Bluetooth signal monitoring module dynamically adjusts the positioning sampling frequency and early warning threshold by real-time monitoring of the Bluetooth signal quality index, so that the positioning strategy can adapt to changes in the signal environment, avoid positioning failure or false warnings caused by signal quality degradation, and thus improve the robustness of the system in the complex electromagnetic environment of the warehouse.

[0090] Specifically, the asset zoning protection module divides regions based on warehouse location data. Specifically, it performs cluster analysis on the fixed beacon coordinate set B={(x1,y1),(x2,y2),...,(xn,yn)} in the warehouse location data to obtain the region division result Zq={Zq1,Zq2,...,Zqu}, where Zq1 represents the first region beacon set, Zq2 represents the second region beacon set, and Zqu represents the u-th region beacon set, where u is a positive integer representing the region order.

[0091] Based on the region division results, the partition protection strategy is output: the first partition protection strategy is output for the first region beacon set Zq1, the second partition protection strategy is output for the second region beacon set Zq2, and the u-th partition protection strategy is output for the u-th region beacon set Zqu.

[0092] Specifically, the clustering analysis refers to the process of dividing spatially close fixed beacons into the same region using the K-means clustering algorithm. The region division result refers to the beacon group set after dividing the warehouse space into several logical regions. Each region corresponds to specific operational functions and risk characteristics, such as a personal care product storage area and a cosmetics storage area. The zoning protection strategy refers to a differentiated set of security protection rules formulated for the characteristics of different regions. For example, the zoning protection strategy corresponding to the personal care product storage area is: positioning accuracy requirement of less than 2.0 meters, high risk threshold Pm1=1.0s, forklift speed limit of 12km / h, and the degree optimization process is only for goods with Cn>2.0. The zoning protection strategy corresponding to the cosmetics area is: positioning accuracy requirement of <1.0 meters, forklift speed limit of 8km / h.

[0093] Specifically, the asset zoning protection module uses a spatial clustering algorithm to divide the warehouse into regions and implement differentiated protection strategies to achieve refined security management in the spatial dimension, thereby adapting to the operational characteristics and security requirements of different functional areas of the daily chemical warehouse.

[0094] Specifically, the asset zoning protection module acquires the regional risk level by acquiring the regional historical collision count Hc, the regional cargo stacking height Hd, and the regional personnel density Dr. Based on the regional historical collision count Hc, the regional cargo stacking height Hd, the regional personnel density Dr, and the regional weight set Wq={wH,wD,wR}, the regional risk level Wy is calculated, and Wy is set as Wy=Hc×wH+Hd×wD+Dr×wR, where wH+wD+wR=1.

[0095] The regional hazard level Wy is compared with the first preset regional hazard level Wy1 and the second preset regional hazard level Wy2, where Wy1 < Wy2. Based on the comparison result, the status of the regional hazard level is judged, and the regional hazard level is output according to the judgment result.

[0096] When Wy≤Wy1, the asset partition protection module determines the area's risk level as low risk and outputs the low-risk area as the area's risk level.

[0097] When Wy1 < Wy ≤ Wy2, the asset partition protection module determines the area's hazard level as medium and outputs the medium-risk area as the area's hazard level.

[0098] When Wy > Wy2, the asset partition protection module determines the area's risk level as high risk and outputs the high-risk area as the area's risk level.

[0099] Specifically, the "regional historical collision count" refers to the number of recorded pedestrian-vehicle or vehicle-to-vehicle collision events that occurred in the region within the past 30 days, obtained through statistics from the warehouse safety management system logs. The "regional goods stacking height" refers to the maximum stacking height of goods on shelves within the region, measured in meters, obtained through inventory data from the warehouse management system. The "regional personnel density" refers to the number of personnel working simultaneously per unit area, measured in personnel per 100 square meters, obtained through real-time location data statistics. The "regional weight set" refers to the set of weight coefficients that measure the importance of each risk factor in the regional hazard calculation. Here, wH represents the coefficient measuring the contribution of the regional historical collision count to the regional hazard, wD represents the coefficient measuring the contribution of the regional goods stacking height to the regional hazard, and wR represents the contribution of the regional personnel density to the regional hazard. This embodiment does not limit the specific value of the regional weight set Wq; those skilled in the art can freely choose it based on historical accident analysis, such as based on the statistics of daily chemical warehouse accidents. The collision history is the most important indicator. The least squares method is used to solve for Wy = Hc × wH + Hd × wD + Dr × wR, yielding wH = 0.5, wD = 0.3, and wR = 0.2. The first and second preset area hazard levels refer to preset thresholds for classifying area hazard levels. This embodiment does not limit the specific values ​​of Wy1 and Wy2; those skilled in the art can freely choose according to safety rating standards. For example, collecting the daily area hazard Wy and corresponding actual collision accident counts for each zone over the past 6 months, arranging the area hazard Wy in ascending order, calculating the accident rate for each interval, identifying the Wy value where the accident rate begins to rise sharply as Wy1 (Wy1 = 0.3), and the Wy value where the accident rate enters the high-risk platform as Wy2 (Wy2 = 0.6). After on-site testing in multiple daily chemical warehouses, under this threshold setting, the system's accuracy in identifying high-risk areas reaches 92%, and the false alarm rate for medium-risk warnings is less than 8%, effectively balancing safety and operational continuity.

[0100] Specifically, the asset zoning protection module calculates the regional risk level by multi-factor weighting and outputs the regional risk level in a graded manner, so as to realize differentiated security protection resource allocation in the spatial dimension, thereby focusing the security management focus on high-risk areas.

[0101] Specifically, the asset zoning protection module acquires the signal coverage hole index by acquiring the number of regional beacons Ns, the regional area Sa, and the signal overlap coefficient Co. Based on the number of regional beacons Ns, the regional area Sa, and the signal overlap coefficient Co, the signal coverage hole index Kn is calculated, and Kn is set as Kn=(Sa-Co×Ns×π×R²) / Sa, where R is the effective coverage radius of the beacons.

[0102] The signal coverage cavity index Kn is compared with the preset signal coverage cavity index Kn0. Based on the comparison result, the state of the signal coverage cavity index is judged, and the degree of regional hazard is adjusted according to the judgment result.

[0103] When Kn≤Kn0, the asset zoning protection module determines that the signal coverage hole index is normal and does not adjust the degree of danger of the area.

[0104] When Kn > Kn0, the asset zoning protection module determines that the signal coverage hole index is abnormal and adjusts the degree of regional danger: the regional danger Wy is adjusted according to the adjustment coefficient tmn to obtain the adjusted regional danger Wy'. Wy' is set to Wy × (1 + tmn), and 0.2 < tmn < 0.6. The adjusted regional danger Wy' is used as the regional danger Wy and compared with the preset regional danger Wy0 again.

[0105] Specifically, the number of regional beacons refers to the total number of fixed Bluetooth Beacon beacons deployed in the area; the area refers to the area occupied by the region on the warehouse floor plan, in square meters; the signal overlap coefficient refers to the equivalent coverage area conversion coefficient after considering the overlap of adjacent beacon coverage areas; in this embodiment, Co=0.7 is set, indicating that the actual effective coverage area is approximately 70% of the theoretical coverage area; the effective beacon coverage radius refers to the maximum distance at which Bluetooth Beacon signals can be effectively transmitted and stably received in a warehouse environment; in this embodiment, R=15 meters is set; the signal coverage hole index is a quantitative indicator that measures the proportion of Bluetooth signal coverage blind spots and weak coverage areas in the area; the larger the value, the more severe the coverage hole; the preset signal coverage hole index is a preset threshold for judging the state of the signal coverage hole index; this embodiment does not limit the specific value setting of Kn0, and those skilled in the art can freely choose it according to the positioning accuracy requirements. For example, a scan and statistical analysis of the Bluetooth signal coverage quality of 10 daily chemical warehouses found that when Kn≤0.2, the average location reliability of positioning requests in the area reached over 92%; when Kn>0.2… At this point, the confidence level begins to decrease significantly, the positioning error of people and vehicles increases, and the collision avoidance false alarm rate rises. Therefore, Kn=0.2 is set. The adjustment coefficient refers to the coefficient used to amplify the danger of the area to compensate for the positioning blind zone risk caused by insufficient signal coverage. This embodiment does not limit the specific value of the adjustment coefficient tmn. Those skilled in the art can freely choose according to the severity of the hole, as long as the requirement of 0.2 < tmn < 0.6 is met. For example, tmn=0.4 is set according to the warehouse comparison test. The warehouse comparison test refers to the process of taking multiple values ​​of the adjustment coefficient tmn and comparing the degree of adjustment effect to determine the optimal value of the adjustment coefficient.

[0106] Specifically, the asset zoning protection module calculates the signal coverage hole index and adjusts the degree of regional danger to compensate for the positioning blind spot risk caused by insufficient signal coverage, thereby improving the system's security protection capability in scenarios with partial coverage failure.

[0107] Specifically, the collision risk score module outputs a risk score based on the real-time warning level and the regional hazard level. Specifically, it obtains the real-time warning level coefficient Dj and the regional hazard level coefficient Wf, and calculates the risk score Hn based on the real-time warning level coefficient Dj, the regional hazard level coefficient Wf, and the score weight set Wj={wD,wW}. Hn is set to Dj×wD+Wf×wW, and wD+wW=1.

[0108] The risk score Hn is compared with the preset risk score Hn0. Based on the comparison result, the state of the risk score is judged, and based on the judgment result, the vehicle speed is limited during the process of obtaining the movement positions of people and vehicles, and the degree adjustment process is optimized.

[0109] When Hn≤Hn0, the collision risk score module determines the risk score to be mild, does not impose vehicle speed restrictions on the process of obtaining the position of the person and vehicle, and does not optimize the process of adjusting the degree.

[0110] When Hn > Hn0, the collision risk integrator determines the risk integrator status as severe and imposes a vehicle speed limit on the process of acquiring the positions of people and vehicles: the asset movement speed is limited according to the speed limit factor xs. To impose restrictions, set v2'= ×(1-xs), and 0.3<xs<0.7, the restricted asset movement speed v2' is taken as the asset movement speed. The collision risk value Pm is recalculated.

[0111] The process of adjusting the degree is optimized: the adjustment coefficient tmn is optimized according to the optimization coefficient cmp, and tmn' is set to tmn' = tmn × (1 + cmp), and 0.1 < cmp < 0.4. The optimized adjustment coefficient tmn' is used as the adjustment coefficient tmn to readjust the regional risk level Wy.

[0112] Specifically, the real-time warning level coefficient refers to the risk quantification value obtained by mapping the real-time warning level. In this embodiment, a level 3 hazard warning corresponds to Dj=1, a level 2 hazard warning corresponds to Dj=2, and a level 1 hazard warning corresponds to Dj=3. The regional hazard level coefficient refers to the risk quantification value obtained by mapping the regional hazard level. In this embodiment, a low-risk region corresponds to Wf=1, a medium-risk region corresponds to Wf=2, and a high-risk region corresponds to Wf=3. The integral weight set refers to the set of weight coefficients that measure the relative importance of the real-time warning level and the regional hazard level in the risk score calculation. This embodiment does not limit the specific value of the integral weight set Wj. Those skilled in the art can freely choose according to the safety management strategy. For example, if real-time dynamic warning is considered more important than static regional attributes, wD=0.6 and wW=0.4 are set. The preset risk score refers to the preset threshold for judging the state of the risk score. This embodiment does not limit the specific value of Hn0. Those skilled in the art can set the threshold according to the intervention triggering standard. The system can be freely chosen. For example, based on tests in multiple warehouses, when Hn0=2.5, the system's recall rate for high-risk events reaches 91%, and the false alarm rate is less than 9%, achieving a balance between safety and operational continuity. Therefore, Hn0=2.5 ​​is set. The speed limit factor refers to the attenuation coefficient used to limit the movement speed of forklift assets. This embodiment does not limit the specific value of the speed limit factor xs; those skilled in the art can freely choose it according to safety speed limit requirements, as long as the requirement of 0.3 < xs < 0.7 is met. For example, through field testing, when xs=0.5, the average Pm of high-risk events after intervention increased from 0.6s to 1.2s, successfully leaving the high-risk range. Therefore, xs=0.5 is set. The optimization coefficient refers to the coefficient used to enhance the degree of adjustment of regional hazard levels by signal coverage holes. This embodiment does not limit the specific value of the optimization coefficient cmp; those skilled in the art can freely choose it according to response strength requirements, as long as the requirement of 0.1 < cmp < 0.4 is met. For example, through simulation testing, when =0.2... At that time, the false alarm rate in the positioning blind zone in high-risk scenarios only increased by 2%, so cmp=0.2 was set.

[0113] Specifically, the collision risk score module outputs a risk score by integrating the real-time warning level and the regional hazard level, and implements vehicle speed limits and degree optimization accordingly, so as to realize dynamic risk accumulation assessment and proactive intervention in the time dimension, thereby constructing a multi-layered safety protection system.

[0114] Specifically, the collision risk scoring module obtains the vehicle importance of daily chemical products by acquiring the vehicle cargo type Ct, vehicle cargo value Cv, and vehicle cargo fragility Cf. Based on the vehicle cargo type Ct, vehicle cargo value Cv, vehicle cargo fragility Cf, and cargo weight set Wc={wCt,wCv,wCf}, the vehicle importance Cn of the daily chemical products category is calculated, and Cn is set as Cn=Ct×wCt+Cv×wCv+Cf×wCf, where wCt+wCv+wCf=1.

[0115] The importance Cn of the daily chemical category in vehicles is compared with the preset importance Cn0 of the daily chemical category in vehicles. Based on the comparison result, the status of the importance of the daily chemical category in vehicles is judged, and the output process of the risk score is adjusted according to the judgment result.

[0116] When Cn≤Cn0, the collision risk integrator determines the importance of the daily chemical category vehicle as low and does not adjust the integrator output process;

[0117] When Cn > Cn0, the collision risk score module determines the status of the importance of the daily chemical category vehicle as high, and performs integral adjustment on the output process of the risk score: the risk score Hn is adjusted according to the integral adjustment coefficient squ, and Hn' = Hn × (1 + squ) is set, and 0.2 < squ < 0.5. The adjusted risk score Hn' is used as the risk score Hn and is compared with the preset risk score Hn0 again.

[0118] Specifically, the "cargo type" refers to the category code of the daily chemical products loaded on the forklift, such as 1 for toiletries, 2 for skincare, 3 for makeup, and 4 for raw materials. This is obtained by scanning the barcode on the forklift terminal. The "cargo value" refers to the market value of the batch of goods, expressed in ten thousand yuan, obtained through the ERP system data interface. The "cargo fragility" refers to the fragility level assessed based on the packaging material and physical characteristics. In this embodiment, plastic bottle packaging is set as level 1, glass bottle packaging as level 2, and fragile special material packaging as level 3, obtained through the product master data management system. The "cargo weight set" refers to the set of weight coefficients that measure the importance of each cargo attribute in the calculation of cargo importance. This embodiment does not limit the specific value of the cargo weight set Wc; those skilled in the art can freely choose based on cargo damage cost analysis. For example, if cargo value is considered the most critical factor, wCt=0.2, wCv=0.5, wCf=0.3 can be set. The preset daily chemical category... The vehicle-mounted importance level refers to the preset threshold for classifying the importance of vehicles. This embodiment does not limit the specific value of Cn0. Those skilled in the art can freely choose it according to the high-value goods protection standards. For example, Cn0 can be set to 2.0 according to the value risk test. The value risk test refers to the test process of taking multiple values ​​of the preset daily chemical category vehicle-mounted importance level and comparing the integral adjustment effect to obtain the optimal value of Cn0. The integral adjustment coefficient is a coefficient used to amplify the risk integral to improve the protection level of high-value fragile goods. This embodiment does not limit the specific value of the integral adjustment coefficient squ. Those skilled in the art can freely choose it according to the protection strength requirements, as long as the requirement of 0.2 < squ < 0.5 is met. For example, if squ is set to 0.3, and squ < 0.2, the amplification effect is weak, making it difficult to effectively trigger intervention before a collision risk occurs, resulting in insufficient protection. If squ > 0.5, the amplification is too aggressive, easily triggering speed limit and other interventions frequently, affecting normal operating efficiency.

[0119] Specifically, the collision risk score module dynamically adjusts the risk score by acquiring and judging the importance of daily chemical products in the vehicle, so as to achieve differentiated safety protection in terms of cargo attributes, thereby prioritizing the safe transportation of high-value and fragile daily chemical products.

[0120] Please see Figure 2 As shown, it is a flowchart illustrating the method of the daily chemical warehouse asset positioning and anti-collision system based on Bluetooth Beacon in this embodiment, including:

[0121] Step S1: Collect warehouse location data;

[0122] Step S2: Obtain the movement positions of people and vehicles based on warehouse positioning data, obtain the collision risk value based on the movement positions of people and vehicles, and output the real-time warning level based on the collision risk value;

[0123] Step S3: Acquire the Bluetooth signal quality index, update the frequency of the mobile positioning dataset acquisition process based on the Bluetooth signal quality index, and adjust the output process of the real-time warning level in stages.

[0124] Step S4: Divide the area according to the warehouse location data to obtain the area division result, output the partition protection strategy according to the area division result, obtain the area hazard level and output the area hazard level according to the area hazard level, obtain the signal coverage hole index and adjust the area hazard level according to the signal coverage hole index.

[0125] Step S5: Output risk points based on real-time warning level and regional hazard level; limit vehicle speed based on risk points during the process of obtaining the location of people and vehicles; optimize the degree adjustment process; obtain the vehicle importance of daily chemical categories; and adjust the risk points output process based on the importance of daily chemical categories.

[0126] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. A Bluetooth Beacon-based asset positioning and anti-collision system for daily chemical warehouses, characterized in that, include: The warehouse data acquisition module is used to collect warehouse location data; The mobile positioning early warning module is used to obtain the movement position of people and vehicles based on warehouse positioning data, and also to obtain the collision risk value based on the movement position of people and vehicles, and output the real-time early warning level based on the collision risk value; The Bluetooth signal monitoring module is used to acquire the Bluetooth signal quality index, update the frequency of the mobile positioning dataset acquisition process based on the Bluetooth signal quality index, and adjust the output process of the real-time warning level in stages. The asset zoning protection module is used to divide areas based on warehouse location data, obtain the zoning results, output the zoning protection strategy based on the zoning results, acquire the area hazard level, output the area hazard level based on the area hazard level, acquire the signal coverage hole index, and adjust the area hazard level based on the signal coverage hole index. The collision risk score module is used to output risk scores based on real-time warning levels and regional hazard levels. It also limits vehicle speed based on the risk scores during the process of obtaining the movement positions of people and vehicles, optimizes the degree adjustment process, and obtains the vehicle importance of daily chemical categories. Based on the importance of daily chemical categories, it adjusts the risk score output process.

2. The anti-collision system for asset positioning in a daily chemical warehouse based on Bluetooth Beacon as described in claim 1, characterized in that, The mobile positioning early warning module obtains the movement positions of people and vehicles based on warehouse positioning data, specifically: based on the fixed beacon RSSI set Q={ , ,..., } and signal attenuation coefficient For the modified distance set D={ , ,..., Perform calculations and set... ,in, For reference signal strength, Environmental degradation factor; Based on the modified distance set D={ , ,..., } and fixed beacon coordinate set B={( ),( ),...,( The coordinates of the movement positions of people and vehicles () , To obtain and set: ,in, Indicates an index variable. =1,2,... .

3. The anti-collision system for asset positioning in a daily chemical warehouse based on Bluetooth Beacon as described in claim 2, characterized in that, The motion positioning early warning module obtains the collision risk value based on the movement position of people and vehicles, specifically by: determining the coordinates of the movement position of people and vehicles (…). , ), asset location coordinates ( , Personnel movement speed and asset movement speed To obtain the coordinates of the movement positions of people and vehicles ( , ), asset location coordinates ( , Personnel movement speed and asset movement speed The collision risk value Pm is calculated, and Pm is set to = ; The collision risk value Pm is compared with the first preset collision risk value Pm1 and the second preset collision risk value Pm2, where Pm1 < Pm2. Based on the comparison result, the state of the collision risk value is determined, and the real-time warning level is output according to the determination result. When Pm≤Pm1, the mobile positioning early warning module determines the collision risk value to be low risk and outputs the level 3 danger warning as the real-time warning level. When Pm < Pm ≤ Pm2, the mobile positioning early warning module determines the collision risk value to be of medium risk and outputs the level 2 danger warning as the real-time warning level. When Pm > Pm2, the mobile positioning early warning module determines the collision risk value to be of high risk and outputs a Level 1 danger warning as the real-time warning level.

4. The anti-collision system for asset positioning in a daily chemical warehouse based on Bluetooth Beacon as described in claim 3, characterized in that, The Bluetooth signal monitoring module acquires the Bluetooth signal quality index by acquiring the beacon RSSI sequence R={r1,r2,...,rt}, calculating the mean RSSI value μ within the window based on the beacon RSSI sequence R={r1,r2,...,rt} and the number of data points w in the window, setting μ=(r1+r2+...+rt) / w, and using the mean RSSI value μ within the window as the Bluetooth signal quality index Zm; The Bluetooth signal quality index Zm is compared with the preset Bluetooth signal quality index Zm0. Based on the comparison result, the state of the Bluetooth signal quality index is determined. The acquisition process of the mobile positioning dataset is then updated with appropriate frequencies based on the determination result, and the output process of the real-time warning level is adjusted in stages. When Zm≥Zm0, the Bluetooth signal monitoring module determines that the Bluetooth signal quality index is up to standard, does not update the frequency of the mobile positioning dataset acquisition process, and does not adjust the output process of the real-time warning level. When Zm < Zm0, the Bluetooth signal monitoring module determines that the Bluetooth signal quality index is substandard and performs frequency updates on the acquisition process of the mobile positioning dataset: the positioning refresh period T is updated according to the frequency update factor gz, and T' = T × (1 + gz) is set, and 0.2 < gz < 0.

5. The updated positioning refresh period T' is used as the positioning refresh period T to reacquire the movement position of people and vehicles. The output process of real-time early warning levels is adjusted in stages: The early warning adjustment factor set dm={dm1,dm2,dm3} is obtained based on the risk coefficient hg, where dm1=1-hg×0.3, dm2=1+hg×0.2, and dm3=1+hg×0.

1. The preset collision risk value set Pm0={Pm1,Pm2} is optimized based on the early warning adjustment factor set dm={dm1,dm2,dm3} to obtain the optimized preset collision risk value set Pm0'={Pm1',Pm2'}, where: Pm1'=Pm1×dm1; Pm2'=Pm2×dm2; The optimized preset collision risk value set Pm0'={Pm1',Pm2'} is used as the preset collision risk value set Pm0={Pm1,Pm2} and compared with the collision risk value Pm again.

5. The anti-collision system for asset positioning in a daily chemical warehouse based on Bluetooth Beacon as described in claim 4, characterized in that, The asset zoning protection module divides regions based on warehouse location data. Specifically, it performs cluster analysis on the fixed beacon coordinate set B={(x1,y1),(x2,y2),...,(xn,yn)} in the warehouse location data to obtain the region division result Zq={Zq1,Zq2,...,Zqu}, where Zq1 represents the first region beacon set, Zq2 represents the second region beacon set, and Zqu represents the u-th region beacon set, where u is a positive integer representing the region order. Based on the region division results, the partition protection strategy is output: the first partition protection strategy is output for the first region beacon set Zq1, the second partition protection strategy is output for the second region beacon set Zq2, and the u-th partition protection strategy is output for the u-th region beacon set Zqu.

6. The anti-collision system for asset positioning in a daily chemical warehouse based on Bluetooth Beacon as described in claim 5, characterized in that, The asset zoning protection module acquires the regional risk level by acquiring the regional historical collision count Hc, regional cargo stacking height Hd, and regional personnel density Dr. Based on the regional historical collision count Hc, regional cargo stacking height Hd, regional personnel density Dr, and regional weight set Wq={wH,wD,wR}, the regional risk level Wy is calculated, and Wy is set as Wy=Hc×wH+Hd×wD+Dr×wR, where wH+wD+wR=1. The regional hazard level Wy is compared with the first preset regional hazard level Wy1 and the second preset regional hazard level Wy2, where Wy1 < Wy2. Based on the comparison result, the status of the regional hazard level is judged, and the regional hazard level is output according to the judgment result. When Wy≤Wy1, the asset partition protection module determines the area's risk level as low risk and outputs the low-risk area as the area's risk level. When Wy1 < Wy ≤ Wy2, the asset partition protection module determines the area's hazard level as medium and outputs the medium-risk area as the area's hazard level. When Wy > Wy2, the asset partition protection module determines the area's risk level as high risk and outputs the high-risk area as the area's risk level.

7. The anti-collision system for asset positioning in a daily chemical warehouse based on Bluetooth Beacon as described in claim 6, characterized in that, The asset zoning protection module obtains the signal coverage hole index by acquiring the number of regional beacons Ns, the regional area Sa, and the signal overlap coefficient Co. Based on the number of regional beacons Ns, the regional area Sa, and the signal overlap coefficient Co, the signal coverage hole index Kn is calculated, and Kn is set as Kn=(Sa-Co×Ns×π×R²) / Sa, where R is the effective coverage radius of the beacons. The signal coverage cavity index Kn is compared with the preset signal coverage cavity index Kn0. Based on the comparison result, the state of the signal coverage cavity index is judged, and the degree of regional hazard is adjusted according to the judgment result. When Kn≤Kn0, the asset zoning protection module determines that the signal coverage hole index is normal and does not adjust the degree of danger of the area. When Kn > Kn0, the asset zoning protection module determines that the signal coverage hole index is abnormal and adjusts the degree of regional danger: the regional danger Wy is adjusted according to the adjustment coefficient tmn to obtain the adjusted regional danger Wy'. Wy' is set to Wy × (1 + tmn), and 0.2 < tmn < 0.

6. The adjusted regional danger Wy' is used as the regional danger Wy and compared with the preset regional danger Wy0 again.

8. The anti-collision system for asset positioning in a daily chemical warehouse based on Bluetooth Beacon as described in claim 7, characterized in that, The collision risk score module outputs the risk score based on the real-time warning level and the regional hazard level. Specifically, it obtains the real-time warning level coefficient Dj and the regional hazard level coefficient Wf, and calculates the risk score Hn based on the real-time warning level coefficient Dj, the regional hazard level coefficient Wf, and the score weight set Wj={wD,wW}. Hn is set as Hn=Dj×wD+Wf×wW, and wD+wW=1. The risk score Hn is compared with the preset risk score Hn0. Based on the comparison result, the state of the risk score is judged, and based on the judgment result, the vehicle speed is limited during the process of obtaining the movement positions of people and vehicles, and the degree adjustment process is optimized. When Hn≤Hn0, the collision risk score module determines the risk score to be mild, does not impose vehicle speed restrictions on the process of obtaining the position of the person and vehicle, and does not optimize the process of adjusting the degree. When Hn > Hn0, the collision risk integrator determines the risk integrator status as severe and imposes a vehicle speed limit on the process of acquiring the positions of people and vehicles: the asset movement speed is limited according to the speed limit factor xs. To impose restrictions, set v2'= ×(1-xs), and 0.3<xs<0.7, the restricted asset movement speed v2' is taken as the asset movement speed. The collision risk value Pm is recalculated. The process of adjusting the degree is optimized: the adjustment coefficient tmn is optimized according to the optimization coefficient cmp, and tmn' is set to tmn' = tmn × (1 + cmp), and 0.1 < cmp < 0.

4. The optimized adjustment coefficient tmn' is used as the adjustment coefficient tmn to readjust the regional risk level Wy.

9. The anti-collision system for asset positioning in a daily chemical warehouse based on Bluetooth Beacon as described in claim 8, characterized in that, The collision risk scoring module obtains the vehicle importance of daily chemical products. Specifically, it obtains the vehicle cargo type Ct, vehicle cargo value Cv, and vehicle cargo fragility Cf. Based on the vehicle cargo type Ct, vehicle cargo value Cv, vehicle cargo fragility Cf, and cargo weight set Wc={wCt,wCv,wCf}, it calculates the vehicle importance Cn of the daily chemical products category, setting Cn=Ct×wCt+Cv×wCv+Cf×wCf, and wCt+wCv+wCf=1. The importance Cn of the daily chemical category in vehicles is compared with the preset importance Cn0 of the daily chemical category in vehicles. Based on the comparison result, the status of the importance of the daily chemical category in vehicles is judged, and the output process of the risk score is adjusted according to the judgment result. When Cn≤Cn0, the collision risk integrator determines the importance of the daily chemical category vehicle as low and does not adjust the integrator output process; When Cn > Cn0, the collision risk score module determines the status of the importance of the daily chemical category vehicle as high, and performs integral adjustment on the output process of the risk score: the risk score Hn is adjusted according to the integral adjustment coefficient squ, and Hn' = Hn × (1 + squ) is set, and 0.2 < squ < 0.

5. The adjusted risk score Hn' is used as the risk score Hn and is compared with the preset risk score Hn0 again.

10. A method for applying a Bluetooth Beacon-based asset positioning and anti-collision system for daily chemical warehouses as described in any one of claims 1-9, comprising: Step S1: Collect warehouse location data; Step S2: Obtain the movement positions of people and vehicles based on warehouse positioning data, obtain the collision risk value based on the movement positions of people and vehicles, and output the real-time warning level based on the collision risk value; Step S3: Acquire the Bluetooth signal quality index, update the frequency of the mobile positioning dataset acquisition process based on the Bluetooth signal quality index, and adjust the output process of the real-time warning level in stages. Step S4: Divide the area according to the warehouse location data to obtain the area division result, output the partition protection strategy according to the area division result, obtain the area hazard level and output the area hazard level according to the area hazard level, obtain the signal coverage hole index and adjust the area hazard level according to the signal coverage hole index. Step S5: Output risk points based on real-time warning level and regional hazard level; limit vehicle speed based on risk points during the process of obtaining the location of people and vehicles; optimize the degree adjustment process; obtain the vehicle importance of daily chemical categories; and adjust the risk points output process based on the importance of daily chemical categories.

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