Ship-port interaction operation abnormality early warning method and system based on multi-source big data collaboration

Abstract

The application provides a ship-port interaction operation abnormality early warning method and system based on multi-source big data cooperation, relates to data processing technology, processes an operation area in a ship-port area, generates an isolation area, and performs segmentation processing on an isolation contour of the isolation area to determine an isolation position of a mobile isolation device; an isolation line segment between adjacent isolation positions at an extension area is acquired, an isolation mode at the isolation line segment is determined based on a relationship between the isolation line segment and a shadow area; the corresponding mobile isolation device is adjusted based on the isolation mode at the isolation line segment to generate a warning line, and the isolation area can be dynamically adjusted in combination with a field environment, thereby improving the effectiveness of isolation early warning.

Description

Technical Field

[0001] This invention relates to data processing technology, and in particular to a method and system for early warning of anomalies in ship-port interactive operations based on multi-source big data collaboration. Background Technology

[0002] With the booming development of port logistics and trade, the frequency and complexity of ship-port interaction operations are increasing, often involving the coordination of multiple devices and complex human-machine interactions. To ensure operational safety and prevent unauthorized personnel or vehicles from entering dangerous areas, establishing effective operational isolation zones and early warning mechanisms is a crucial aspect of ship-port safety management, playing an irreplaceable role in reducing accident risks and ensuring operational order.

[0003] Currently, most existing isolation and early warning methods for ship and port operation areas rely on static physical isolation measures such as manually placing isolation barriers, warning tapes, or setting up fixed fences. These traditional methods often rely on experience to create mechanical barriers, failing to adapt flexibly to real-time environmental changes at the work site, such as obstructed views due to cargo stacking, and light and shadow effects. This results in safety loopholes in the isolation, leading to poor security and reducing the effectiveness of isolation and early warning systems as well as the overall safety of the work site.

[0004] Therefore, how to dynamically adjust the isolation area based on the on-site environment to improve the effectiveness of isolation and early warning has become an urgent problem to be solved. Summary of the Invention

[0005] This invention provides a method and system for early warning of abnormalities in ship-port interactive operations based on multi-source big data collaboration. It can dynamically adjust the isolation area according to the on-site environmental conditions, thereby improving the effectiveness of isolation early warning.

[0006] A first aspect of the present invention provides a method for early warning of anomalies in ship-port interaction operations based on multi-source big data collaboration, comprising: The working area within the port area is processed to generate an isolation area, and the isolation outline of the isolation area is segmented to determine the isolation position of the mobile isolation device. Obtain the isolation line segments between adjacent isolation positions in the extended area, and determine the isolation mode at the isolation line segments based on the relationship between the isolation line segments and the shaded area; Based on the isolation pattern at the isolation line segment, the corresponding mobile isolation device is adjusted to generate a warning line.

[0007] Optionally, in one possible implementation of the first aspect, the process of processing the work area within the port area to generate an isolation area, and segmenting the isolation outline of the isolation area to determine the isolation position of the mobile isolation device, includes: The operational areas within the port area are merged to obtain the initial merged area; When it is determined that there is an obstacle at the region outline of the initial merging area, the obstacle area of ​​the corresponding obstacle is merged with the initial merging area to obtain an isolated area; The isolated region is segmented based on the inflection point to obtain multiple segmentation lines and segmentation curves; Construct an extended contour line corresponding to the segmentation curve, and connect the segmentation line with the extended contour line to obtain the extended region; The isolation position of the mobile isolation device is determined based on the line segment distance of the straight line segments in the extended region.

[0008] Optionally, in one possible implementation of the first aspect, constructing the extended contour line corresponding to the segmentation curve includes: The port area is processed into coordinates to obtain the extreme values ​​of the segmentation curve, and a bounding rectangle is constructed based on the extreme values ​​of the coordinates to enclose the segmentation curve. The outline of the region within the isolation area in the enclosing rectangle is used as the inner outline, and the outlines of the remaining regions in the enclosing rectangle are used as the extended outline.

[0009] Optionally, in one possible implementation of the first aspect, determining the isolation position of the mobile isolation device based on the line segment distance of the straight line segments in the extended region includes: Based on the inflection point, obtain the straight line segments in the extended region, and the line segment distance of the straight line segments; The number of equal segments is obtained by rounding up the ratio of the line segment distance to the preset distance. The straight line segment is divided into equal parts based on the number of equal parts to obtain equal division points. The equal division points and the endpoints of the straight line segment are used as the isolation positions of the movable isolation device.

[0010] Optionally, in one possible implementation of the first aspect, determining the isolation mode at the isolation segment based on the relationship between the isolation segment and the shaded area includes: The intersection is determined by the intersection of the shaded area and the isolation line segment within the port area; When the intersection of the judgments is an empty set, the corresponding isolation line segment is taken as a solid isolation line segment, and the isolation mode at the solid isolation line segment is set to solid isolation mode; When the intersection of the judgments is determined to be an isolation segment, the corresponding isolation segment is taken as a ray isolation segment, and the isolation mode at the ray isolation segment is set to ray isolation mode; The remaining isolation segments are designated as merged isolation segments, and the isolation modes at the merged isolation segments are set to ray isolation mode and solid isolation mode.

[0011] Optionally, in one possible implementation of the first aspect, adjusting the corresponding mobile isolation device based on the isolation pattern at the isolation segment to generate a warning line includes: When it is determined that the isolation mode at the isolation line segment has a physical isolation mode, the real-time wind speed of the port area and the line segment length of the corresponding isolation line segment are obtained; The set wind speed is retrieved from the preset wind speed comparison table based on the length of the line segment. The preset wind speed comparison table has a one-to-one correspondence between preset line segment intervals and preset wind speeds. When the real-time wind speed is greater than the set wind speed, the two movable isolation devices corresponding to the corresponding isolation line segment are used as physical adjustment devices. The physical adjustment devices are adjusted based on the real-time wind speed to obtain the physical warning line. When it is determined that the isolation mode at the isolation line segment has a ray isolation mode, the two movable isolation devices corresponding to the corresponding isolation line segment are used as ray adjustment devices. Based on the positional relationship, the ray adjustment devices are moved and adjusted to generate a ray warning line. The warning line is obtained based on the physical warning line and the ray warning line.

[0012] Optionally, in one possible implementation of the first aspect, adjusting the entity adjustment device based on real-time wind speed to obtain the entity warning line includes: The distance adjustment coefficient is obtained based on the ratio of the set wind speed to the real-time wind speed. The adjustment distance between the physical adjustment devices is obtained based on the product of the distance adjustment coefficient and the line segment length. A distance adjustment circle is constructed using the isolation line segment with a solid isolation mode as the diameter, and the arc in the distance adjustment circle located outside the extended area is used as the adjustment arc; Simultaneously, the physical adjustment device is controlled to move along the adjustment arc towards another physical adjustment device, and the straight-line distance between the physical adjustment devices is obtained in real time. When the straight-line distance is less than or equal to the adjustment distance, the position of the physical adjustment device is taken as the current position, and a physical warning line is constructed between the current positions.

[0013] Optionally, in one possible implementation of the first aspect, it also includes: The superimposed wind speed corresponding to the preset margin length is retrieved, and the margin wind speed is obtained based on the sum of the set wind speed and the superimposed wind speed. When the real-time wind speed is determined to be greater than the set wind speed but less than the margin wind speed, the physical adjustment device is controlled to release the physical warning line of the preset margin length.

[0014] Optionally, in one possible implementation of the first aspect, the movement and adjustment of the ray adjustment device based on positional relationships to obtain the ray warning line includes: Any one of the aforementioned radiation adjustment devices is designated as a radiation emitting device, and the remaining radiation adjustment devices are designated as radiation receiving devices; A transmission coordinate system is constructed with the isolation position of the ray emitting device as the origin, and the receiving coordinates of the isolation position of the ray receiving device in the transmission coordinate system are obtained. The first angle parameter of the receiving coordinates in the transmission coordinate system is then determined. A receiving coordinate system is constructed with the isolation position of the X-ray receiving device as the origin, and the emission coordinates of the isolation position of the X-ray emitting device in the receiving coordinate system are obtained. The second angle parameter of the emission coordinates in the receiving coordinate system is then determined. The emitting unit in the ray emitting device is moved and adjusted to the first angle parameter, the receiving unit in the ray receiving device is moved and adjusted to the second angle parameter, and the emitting unit is controlled to emit rays to generate a ray warning line.

[0015] A second aspect of the present invention provides an early warning system for abnormal ship-port interaction operations based on multi-source big data collaboration, comprising: The segmentation module is used to process the work area within the port area, generate isolation areas, segment the isolation outline of the isolation areas, and determine the isolation position of the mobile isolation device. The acquisition module is used to acquire the isolation line segments between adjacent isolation positions in the extended area, and determine the isolation mode at the isolation line segments based on the relationship between the isolation line segments and the shaded area. An adjustment module is used to adjust the corresponding mobile isolation device based on the isolation mode at the isolation line segment to generate a warning line.

[0016] A third aspect of the present invention provides a storage medium storing a computer program, which, when executed by a processor, is used to implement the first aspect of the present invention and various methods possibly involved in the first aspect.

[0017] The beneficial effects of this invention are as follows: 1. This invention dynamically adjusts the isolation area based on the on-site environmental conditions, thereby improving the effectiveness of isolation early warning. When adjusting the isolation area, the mobile isolation device is dynamically adjusted to adapt to the area that needs to be isolated. Subsequently, the rays and physical warning lines between the mobile isolation devices are customized according to the area shape to adapt to the actual situation of the port.

[0018] 2. This invention enables automated isolation deployment for irregular port and shipping operation surfaces. For the complex curved contours of port quay cranes and yard edges, this solution does not deploy directly along the edges. Instead, it transforms concave or convex curves that are difficult to close with string lines into regular straight-line extended contours, thus automating the setting of isolation positions and avoiding the influence of curved contours on isolation. Furthermore, it will subsequently customize the corresponding warning methods based on the actual shadows and line segments within the port.

[0019] 3. This invention ensures that the working space is not compressed while resisting wind. For strong wind environments in ports, when the real-time wind speed exceeds the withstand threshold of the physical warning tape, the moving isolation devices at both ends are controlled to move closer to each other along an adjusting arc. This strategy of moving along an outward-convex arc shortens the length of the warning tape to reduce wind resistance and tension, while ensuring that the robot always moves on the periphery of the expanded area, avoiding the problem of reduced internal working space due to the device retracting inward. Attached Figure Description

[0020] Figure 1 A flowchart of the method for early warning of abnormal ship-port interaction operations based on multi-source big data collaboration provided by the present invention; Figure 2 A schematic diagram of the extended contour lines provided by the present invention; Figure 3 A schematic diagram of the extended region provided by the present invention. Figure 4 This is a schematic diagram of the structure of the ship-port interactive operation anomaly early warning system based on multi-source big data collaboration provided by the present invention. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein.

[0023] It should be understood that in the various embodiments of the present invention, the sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0024] It should be understood that in this invention, "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or device.

[0025] It should be understood that in this invention, "multiple" refers to two or more. "And / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "Contains A, B, and C", "Contains A, B, and C" means that all three A, B, and C are contained; "Contains A, B, or C" means that one of A, B, and C is contained; "Contains A, B, and / or C" means that any one, two, or three of A, B, and C are contained.

[0026] It should be understood that in this invention, "B corresponding to A", "B corresponding to A", "A and B correspond", or "B and A correspond" means that B is associated with A, and B can be determined based on A. Determining B based on A does not mean determining B solely based on A; B can also be determined based on A and / or other information. Matching A and B is defined as a similarity between A and B that is greater than or equal to a preset threshold.

[0027] Depending on the context, "if" as used here can be interpreted as "when," "when," "in response to determination," or "in response to detection."

[0028] The technical solution of the present invention will be described in detail below with reference to specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0029] This invention provides a method for early warning of anomalies in ship-port interactive operations based on multi-source big data collaboration, such as... Figure 1 As shown, steps S1-S4 are included: S1, process the work area within the port area to generate an isolation area, segment the isolation outline of the isolation area, and determine the isolation position of the mobile isolation device.

[0030] It should be noted that the port operation site often has quay cranes, container yards, and wharf frontage, making the port area environment quite complex. When quay cranes are stacking containers, they are often close to fixed facilities such as gantry crane tracks and containers. The isolation areas in the existing technology are often fixed areas planned by personnel themselves, and it is impossible to customize and determine dynamic isolation areas according to the actual stacking of containers and other obstacles. In addition, the location of quay cranes is often concentrated for loading and unloading of multiple ships, and it is impossible to customize the treatment of multiple isolation areas according to the actual lifting situation.

[0031] The port area refers to the area corresponding to the port terminal, which can be a digital map containing all geographical information such as the terminal front, storage yard, and passageways. The mobile isolation device can be a mobile robot equipped with an infrared ray device and a receiving device that can adjust its position circumferentially, and has a cable reel inside that can be used to set up a warning line between two robots.

[0032] Therefore, we will customize the operating area within the port area to generate an isolation zone, and then segment the isolation outline of the isolation zone to determine the isolation location of the mobile isolation device.

[0033] In some embodiments, step S1 (processing the work area within the port area to generate an isolation area, segmenting the isolation outline of the isolation area, and determining the isolation position of the mobile isolation device) includes S11-S15: S11, merge the operating areas within the port area to obtain the initial merged area.

[0034] The operating area refers to the area within the port area used for operations, which may be the area where the quay crane is used for lifting and stacking containers.

[0035] It is easy to understand that there can be multiple operating areas within the port area, such as the hoisting area for quay cranes and the area for stacking containers. Since the quay cranes are relatively concentrated, we will merge the operating areas to obtain an initial merged area. That is, we will merge overlapping operating areas to obtain an initial merged area.

[0036] S12, when it is determined that there is an obstacle at the region outline of the initial merging region, the obstacle region of the corresponding obstacle is merged with the initial merging region to obtain an isolated region.

[0037] It should be noted that the edge of the work area is often adjacent to fixed facilities in the port, such as lighthouses, power distribution boxes, or temporary stacks. If these obstacles are not addressed and the cable is simply laid along the work area, the robot may encounter physical obstacles, making it impossible to position itself, or the warning tape may be easily damaged by friction or become entangled.

[0038] The initial merging area's outline is its boundary line; obstacles can be objects such as lighthouses or temporary stacks.

[0039] Understandably, when the region outline intersects with an obstacle, the region of the obstacle will be extracted and merged again with the initial merged region to obtain the isolated region.

[0040] S13, the isolated region is segmented based on the inflection point to obtain multiple segmentation lines and segmentation curves.

[0041] It should be noted that in order to guide the robots to enclose the isolation area, and since the isolation area is generally an irregular area composed of curves and straight lines, for straight line segments, the robots can be directly deployed at the corresponding straight line points for subsequent setting of physical warning lines or infrared rays between them. However, for curves, fitting is required to facilitate the subsequent setting of warning lines by the robots.

[0042] Among them, the inflection point can be a turning point.

[0043] Therefore, by segmenting the isolated area through inflection points, multiple dividing lines and curves enclosing the area are obtained.

[0044] S14, construct an extended contour line corresponding to the segmentation curve, and connect the segmentation line with the extended contour line to obtain the extended region.

[0045] In some embodiments, step S14 (constructing an extended contour line corresponding to the segmentation curve) includes S141-S142: S141, the port area is processed into coordinates to obtain the extreme values ​​of the segmentation curve, and a wrapping rectangle is constructed based on the extreme values ​​of the coordinates to enclose the segmentation curve.

[0046] It should be noted that the port operation area often presents a complex curved shape due to the irregular stacking of goods.

[0047] Therefore, we will obtain the coordinate extreme values ​​of the segmentation curve, that is, the maximum and minimum values ​​of the horizontal axis, and the maximum and minimum values ​​of the vertical axis, and construct a wrapping rectangle to wrap the segmentation curve based on the coordinate extreme values.

[0048] S142, the outline of the region within the isolation area in the wrapping rectangle is taken as the inner outline, and the outlines of the remaining regions in the wrapping rectangle are taken as the extended outline.

[0049] It should be noted that the constructed wrapping rectangle has four sides, some of which will pass through the interior of the work area, while others will extend outwards.

[0050] Therefore, we use the outline of the region within the isolated area of ​​the wrapping rectangle as the inner outline, and the outlines of the remaining regions within the wrapping rectangle as the extended outline, see [link to relevant documentation]. Figure 2 The curve is enclosed by a rectangle, with the portion inside the region designated as the inner contour line and the portion outside as the outer contour line. The outer contour line is then connected to the dividing line to obtain the extended region, which is subsequently isolated by the robot for later control. (See [link to documentation]). Figure 3 Connect the extended outline with the dividing line to obtain the extended region.

[0051] Through the above implementation method, all curved line segments are transformed into straight line segments that facilitate the robot's docking with physical warning lines and infrared rays.

[0052] S15, Based on the line segment distance of the straight line segments in the extended area, determine the isolation position of the mobile isolation device.

[0053] In some embodiments, step S15 (determining the isolation position of the movable isolation device based on the line segment distance of the straight line segments in the extended region) includes S151-S153: S151, Based on the inflection point, obtain the straight line segments in the extended region, and the line segment distance of the straight line segments.

[0054] It is not difficult to understand that the process involves traversing the inflection points on the outline of the extended region, and then splitting the straight lines in the extended region based on the inflection points to obtain the line segments and the line segment distances.

[0055] S152: The number of equal segments is obtained by rounding up the ratio of the line segment distance to the preset distance.

[0056] The preset distance can be set manually for the mobile isolation device, such as 10 meters. There is no limit to this. Neither physical warning lines nor infrared rays should be too long. Mobile isolation devices will be set at the corresponding inflection points, i.e., the endpoints of straight line segments, to facilitate the subsequent construction of warning lines.

[0057] Therefore, we will calculate the number of equal segments by rounding up the ratio of the line segment distance to the preset distance. For example, if the line segment distance is 20 meters, the calculated number of equal segments is 2.

[0058] S153, the straight line segment is divided into equal parts based on the number of equal parts to obtain equal parts points, and the equal parts points and the endpoints of the straight line segment are used as the isolation positions of the mobile isolation device.

[0059] It is easy to understand that by dividing the straight line segment into equal parts, the corresponding division points are obtained. For example, dividing the straight line segment into two equal parts will result in the division point located in the middle. Then, the endpoints of all the straight line segments and the positions of the division points are used as the isolation positions of the movable isolation device.

[0060] S2, obtain the isolation line segment between adjacent isolation positions in the extended area, and determine the isolation mode at the isolation line segment based on the relationship between the isolation line segment and the shaded area.

[0061] It should be noted that the current isolation methods are generally achieved by placing isolation strips with fixed personnel, but environmental factors are not taken into account. Because there are many equipment and containers at the bridgehead, there will be many shadow areas. In the deep shadow areas, ordinary colored warning strips are poorly visible and are easily overlooked by personnel. However, under strong light, the laser beam may become inconspicuous due to the strong ambient light. It is impossible to customize the appropriate isolation method for each isolation section according to different situations.

[0062] In some embodiments, step S2 (determining the isolation mode at the isolation segment based on the relationship between the isolation segment and the shaded area) includes S21-S24: S21, the intersection is determined based on the intersection of the shaded area and the isolation line segment within the port area.

[0063] The shaded area can be the area corresponding to the shadow cast by objects such as containers and quay cranes within the port area, and the isolation line segment is the path between two adjacent movable isolation devices.

[0064] It is easy to understand that if the intersection of subsequent judgments is empty, it means that there is no shadow at the isolation line segment. If it is completely within the shadow area, it means that the intersection of judgments is the isolation line segment, and the rest is partially within the shadow.

[0065] S22, when the intersection of the judgment is an empty set, the corresponding isolation line segment is taken as a solid isolation line segment, and the isolation mode at the solid isolation line segment is set to solid isolation mode.

[0066] Therefore, when the intersection of the judgments is an empty set, the corresponding isolation line segment is taken as a solid isolation line segment, and the isolation mode at the solid isolation line segment is set to solid isolation mode, that is, it is not located in the shadow area and is completely located in the light area. At this time, the warning line is more obvious, and a solid warning line will be pulled up at the solid isolation line segment later.

[0067] S23, when it is determined that the intersection of the judgment is an isolation segment, the corresponding isolation segment is taken as a ray isolation segment, and the isolation mode at the ray isolation segment is set to ray isolation mode.

[0068] Therefore, when the intersection is determined to be an isolation line segment, the corresponding isolation line segment is taken as a ray isolation line segment, and the isolation mode at the ray isolation line segment is set to ray isolation mode, that is, it is completely located in the shadow and displayed by means of laser, infrared, etc.

[0069] S24, the remaining isolation segments are used as fused isolation segments, and the isolation mode at the fused isolation segments is set to ray isolation mode and solid isolation mode.

[0070] It is easy to understand that when the part is in shadow, both methods are used.

[0071] S3, adjust the corresponding mobile isolation device based on the isolation mode at the isolation line segment to generate a warning line.

[0072] In some embodiments, step S3 (adjusting the corresponding mobile isolation device based on the isolation pattern at the isolation line segment to generate a warning line) includes S31-S35: S31, when it is determined that the isolation mode at the isolation line segment has a physical isolation mode, the real-time wind speed of the port area and the line segment length of the corresponding isolation line segment are obtained.

[0073] It should be noted that one of the most prominent characteristics of a harbor environment is strong winds. For physical isolation methods, i.e., using physical warning tapes between robots, wind is the biggest destructive factor. Existing technologies often overlook the real-time impact of environmental factors on equipment, resulting in warning tapes being easily blown off, tangled, or dragged away by excessive wind resistance during strong winds.

[0074] Among them, physical isolation mode refers to the mode of setting up physical isolation between mobile isolation devices, such as setting up physical warning tapes, barriers, etc. Real-time wind speed refers to the current wind force in the port, which can be collected by the wind speed sensor on the security weather station or the robot itself.

[0075] S32, based on the length of the line segment, retrieve the set wind speed from the preset wind speed comparison table, the preset wind speed comparison table has a one-to-one correspondence between preset line segment intervals and preset wind speeds.

[0076] It should be noted that the wind resistance of a solid isolation strip is inversely proportional to its length in a non-linear manner; the longer and tighter the warning strip is, the greater the impact of the wind.

[0077] The preset wind speed comparison table can be a table that is pre-stored on the server. The preset wind speed comparison table has a one-to-one correspondence between each preset line segment interval and the preset wind speed, that is, the maximum wind speed that the isolation zone of each length interval can withstand.

[0078] It is easy to understand that the server will determine the preset segment range in the preset wind speed comparison table where the segment length is located, and retrieve the preset wind speed corresponding to the preset segment range as the set wind speed.

[0079] S33, when the real-time wind speed is greater than the set wind speed, the two mobile isolation devices corresponding to the corresponding isolation line segment are used as physical adjustment devices. The physical adjustment devices are adjusted based on the real-time wind speed to obtain the physical warning line.

[0080] In some embodiments, step S33 (adjusting the physical adjustment device based on real-time wind speed to obtain the physical warning line) includes S331-S333: S331, based on the ratio of the set wind speed to the real-time wind speed, a distance adjustment coefficient is obtained, and based on the product of the distance adjustment coefficient and the line segment length, the adjustment distance between the physical adjustment devices is obtained.

[0081] It should be noted that since the current wind speed has exceeded the set wind speed, in order to prevent the warning tape from breaking or the mobile isolation device from shifting, we will move the two mobile isolation devices closer together to reduce the stress area of ​​the warning tape and reduce the risk.

[0082] It is easy to understand that the higher the real-time wind speed, the closer the distance should be. Therefore, we obtain the distance adjustment coefficient based on the ratio of the set wind speed to the real-time wind speed. Based on the product of the distance adjustment coefficient and the line segment length, we obtain the adjustment distance between the physical adjustment devices. That is, the higher the real-time wind speed, the shorter the distance between them.

[0083] S332, construct a distance adjustment circle with the isolation line segment having a solid isolation mode as the diameter, and use the arc in the distance adjustment circle located outside the extended area as the adjustment arc.

[0084] It should be noted that while the goal is to shorten the distance, if two robots move directly towards each other in a straight line, and other mobile isolation devices adjacent to these two continue to connect with them, it will cause the encroachment into the internal expansion area, resulting in the isolation circle shrinking, compressing the working space, and creating safety hazards. Current technology cannot specifically customize the movement of mobile isolation devices for the port situation and ensure that the expansion area does not shrink.

[0085] Therefore, we will use the isolation line segment of the physical isolation mode as the diameter, and construct a distance adjustment circle with the center point of the isolation line segment as the center. The arc in the distance adjustment circle located outside the extended area will be used as the adjustment arc.

[0086] S333, simultaneously control the physical adjustment device to move along the adjustment arc to another physical adjustment device, and obtain the straight-line distance between the physical adjustment devices in real time. When the straight-line distance is less than or equal to the adjustment distance, take the position of the physical adjustment device as the current position, and construct a physical warning line between the current positions.

[0087] Understandably, the system sends navigation commands to the two physical adjustment devices, directing them to move closer to each other along a planned adjustment arc trajectory. During the movement, the real-time positions of the two devices are collected, and the straight-line distance between them is calculated. When the straight-line distance is less than or equal to the adjustment distance, i.e., when the requirement for shortening the warning tape is met, the position of the corresponding physical adjustment device is taken as the current position, and a physical warning line is constructed between the current positions.

[0088] In this way, the working area is not reduced, and the control entity adjustment device can be moved adaptively while ensuring safety.

[0089] It should be noted that in daily use of warning tape, it is generally necessary to display more area while it is taut. However, when the wind speed is high enough to exceed the set wind speed but is still within a reasonable range, two robots can release a line of a pre-set length to make the warning line slack and increase its sag to relieve the force. This pre-set length can be set based on the height of the robot's line outlet from the ground or it can be a length set manually. There is no limitation here, as long as the warning line does not drag on the ground.

[0090] Based on the above embodiments, A1-A2 are also included: A1, retrieve the superimposed wind speed corresponding to the preset margin length, and obtain the margin wind speed based on the sum of the set wind speed and the superimposed wind speed.

[0091] The preset margin length can be a manually set margin length, or it can be set based on the height of the guy wire's outlet from the ground. Therefore, by adding a fixed length of warning tape, the corresponding wind speed that can be resisted can be determined, i.e., the superimposed wind speed. For example, the wind speed corresponding to the margin can be directly calculated and released using existing technology based on the catenary state equation.

[0092] Therefore, we will retrieve the superimposed wind speed corresponding to the preset margin length, and obtain the margin wind speed based on the sum of the set wind speed and the superimposed wind speed.

[0093] A2, when the real-time wind speed is greater than the set wind speed but less than the margin wind speed, control the physical adjustment device to release the physical warning line of the preset margin length.

[0094] It is easy to understand that when the wind speed is within a controllable range, the physical adjustment device is directly controlled to release the physical warning line of the preset margin length.

[0095] S34, when it is determined that the isolation mode at the isolation line segment has a ray isolation mode, the two movable isolation devices corresponding to the corresponding isolation line segment are used as ray adjustment devices, and the ray adjustment devices are moved and adjusted based on the positional relationship to generate a ray warning line.

[0096] In some embodiments, step S34 (moving and adjusting the ray adjustment device based on the positional relationship to obtain the ray warning line) includes S341-S344: S341, determine any one of the aforementioned radiation adjustment devices as a radiation emitting device, and designate the remaining radiation adjustment devices as radiation receiving devices.

[0097] S342, construct a transmission coordinate system with the isolation position of the ray emitting device as the origin, obtain the receiving coordinates of the isolation position of the ray receiving device in the transmission coordinate system, and determine the first angle parameter of the receiving coordinates in the transmission coordinate system.

[0098] It should be noted that in existing technologies, the positions of laser or infrared transmitters and receivers are often fixed. Even if there is a positional shift, the mobile device is used for adjustment. However, since the extended area of ​​our device is dynamically changing, it is impossible to align the receiver and transmitter if their positions are fixed. Therefore, our device allows for free angle adjustment when the receiver and transmitter are positioned around the ray adjustment device, thus ensuring that the transmitter and receiver correspond to each other.

[0099] Therefore, a coordinate system can be constructed with the ray emitting device and the ray emitting device as the coordinate origin respectively, and the relative positional relationship between the two can be calculated directly through the coordinates. For example, the angle with the coordinate axis and the quadrant in which they are located can be used to obtain the first angle parameter and the second angle parameter. The calculation of the relative position is an existing technology and will not be elaborated here.

[0100] S343, construct a receiving coordinate system with the isolation position of the X-ray receiving device as the origin, obtain the emission coordinates of the isolation position of the X-ray emitting device in the receiving coordinate system, and determine the second angle parameter of the emission coordinates in the receiving coordinate system.

[0101] S344, the emitting unit in the ray emitting device is moved and adjusted to the first angle parameter, the receiving unit in the ray receiving device is moved and adjusted to the second angle parameter, and the emitting unit is controlled to emit rays to generate a ray warning line.

[0102] It is easy to understand that the transmitting and receiving units at the control device correspond to each other to generate a ray warning line. The transmitting unit can be an infrared transmitting unit, and the receiving unit can be an infrared receiving unit or a laser. There are no restrictions here.

[0103] S35, obtain the warning line based on the physical warning line and the ray warning line.

[0104] See Figure 4 This is a schematic diagram of the structure of the ship-port interaction operation anomaly early warning system based on multi-source big data collaboration provided in an embodiment of the present invention. The ship-port interaction operation anomaly early warning system based on multi-source big data collaboration includes: The segmentation module is used to process the work area within the port area, generate isolation areas, segment the isolation outline of the isolation areas, and determine the isolation position of the mobile isolation device. The acquisition module is used to acquire the isolation line segments between adjacent isolation positions in the extended area, and determine the isolation mode at the isolation line segments based on the relationship between the isolation line segments and the shaded area. An adjustment module is used to adjust the corresponding mobile isolation device based on the isolation mode at the isolation line segment to generate a warning line.

[0105] The present invention also provides a readable storage medium storing a computer program, which, when executed by a processor, is used to implement the methods provided in the various embodiments described above.

[0106] The readable storage medium can be a computer storage medium or a communication medium. A communication medium includes any medium that facilitates the transfer of computer programs from one location to another. A computer storage medium can be any available medium accessible to a general-purpose or special-purpose computer. For example, a readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application-Specific Integrated Circuit (ASIC). Alternatively, the ASIC can be located in a user equipment. Of course, the processor and the readable storage medium can also exist as discrete components in a communication device. The readable storage medium can be a read-only memory (ROM), random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0107] The present invention also provides a program product including executable instructions stored in a readable storage medium. At least one processor of the device can read the executable instructions from the readable storage medium, and the at least one processor executes the executable instructions to cause the device to implement the methods provided in the various embodiments described above.

[0108] In the embodiments of the above-described device, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly manifested as execution by a hardware processor, or execution by a combination of hardware and software modules within the processor.

[0109] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for early warning of anomalies in ship-port interactive operations based on multi-source big data collaboration, characterized in that, include: The working area within the port area is processed to generate an isolation area, and the isolation outline of the isolation area is segmented to determine the isolation position of the mobile isolation device. Obtain the isolation line segments between adjacent isolation positions in the extended area, and determine the isolation mode at the isolation line segments based on the relationship between the isolation line segments and the shaded area; Based on the isolation pattern at the isolation line segment, the corresponding mobile isolation device is adjusted to generate a warning line.

2. The method according to claim 1, characterized in that, The process of processing the work area within the port area to generate an isolation zone, segmenting the isolation outline of the isolation zone, and determining the isolation position of the mobile isolation device includes: The operational areas within the port area are merged to obtain the initial merged area; When it is determined that there is an obstacle at the region outline of the initial merging area, the obstacle area of ​​the corresponding obstacle is merged with the initial merging area to obtain an isolated area; The isolated region is segmented based on the inflection point to obtain multiple segmentation lines and segmentation curves; Construct an extended contour line corresponding to the segmentation curve, and connect the segmentation line with the extended contour line to obtain the extended region; The isolation position of the mobile isolation device is determined based on the line segment distance of the straight line segments in the extended region.

3. The method according to claim 2, characterized in that, The construction of the extended contour line corresponding to the segmentation curve includes: The port area is processed into coordinates to obtain the extreme values ​​of the segmentation curve, and a bounding rectangle is constructed based on the extreme values ​​of the coordinates to enclose the segmentation curve. The outline of the region within the isolation area in the enclosing rectangle is used as the inner outline, and the outlines of the remaining regions in the enclosing rectangle are used as the extended outline.

4. The method according to claim 2, characterized in that, Determining the isolation position of the mobile isolation device based on the line segment distances of straight line segments in the extended region includes: Based on the inflection point, obtain the straight line segments in the extended region, and the line segment distance of the straight line segments; The number of equal segments is obtained by rounding up the ratio of the line segment distance to the preset distance. The straight line segment is divided into equal parts based on the number of equal parts to obtain equal division points. The equal division points and the endpoints of the straight line segment are used as the isolation positions of the movable isolation device.

5. The method according to claim 1, characterized in that, The step of determining the isolation mode at the isolation segment based on the relationship between the isolation segment and the shaded area includes: The intersection is determined by the intersection of the shaded area and the isolation line segment within the port area; When the intersection of the judgments is an empty set, the corresponding isolation line segment is taken as a solid isolation line segment, and the isolation mode at the solid isolation line segment is set to solid isolation mode; When the intersection of the judgments is determined to be an isolation segment, the corresponding isolation segment is taken as a ray isolation segment, and the isolation mode at the ray isolation segment is set to ray isolation mode; The remaining isolation segments are designated as merged isolation segments, and the isolation modes at the merged isolation segments are set to ray isolation mode and solid isolation mode.

6. The method according to claim 5, characterized in that, The isolation mode based on the isolation line segment adjusts the corresponding mobile isolation device to generate a warning line, including: When it is determined that the isolation mode at the isolation line segment has a physical isolation mode, the real-time wind speed of the port area and the line segment length of the corresponding isolation line segment are obtained; The set wind speed is retrieved from the preset wind speed comparison table based on the length of the line segment. The preset wind speed comparison table has a one-to-one correspondence between preset line segment intervals and preset wind speeds. When the real-time wind speed is greater than the set wind speed, the two movable isolation devices corresponding to the corresponding isolation line segment are used as physical adjustment devices. The physical adjustment devices are adjusted based on the real-time wind speed to obtain the physical warning line. When it is determined that the isolation mode at the isolation line segment has a ray isolation mode, the two movable isolation devices corresponding to the corresponding isolation line segment are used as ray adjustment devices. Based on the positional relationship, the ray adjustment devices are moved and adjusted to generate a ray warning line. The warning line is obtained based on the physical warning line and the ray warning line.

7. The method according to claim 6, characterized in that, The adjustment of the physical adjustment device based on real-time wind speed to obtain the physical warning line includes: The distance adjustment coefficient is obtained based on the ratio of the set wind speed to the real-time wind speed. The adjustment distance between the physical adjustment devices is obtained based on the product of the distance adjustment coefficient and the line segment length. A distance adjustment circle is constructed using the isolation line segment with a solid isolation mode as the diameter, and the arc in the distance adjustment circle located outside the extended area is used as the adjustment arc; Simultaneously, the physical adjustment device is controlled to move along the adjustment arc towards another physical adjustment device, and the straight-line distance between the physical adjustment devices is obtained in real time. When the straight-line distance is less than or equal to the adjustment distance, the position of the physical adjustment device is taken as the current position, and a physical warning line is constructed between the current positions.

8. The method according to claim 7, characterized in that, Also includes: The superimposed wind speed corresponding to the preset margin length is retrieved, and the margin wind speed is obtained based on the sum of the preset wind speed and the superimposed wind speed. When the real-time wind speed is determined to be greater than the set wind speed but less than the margin wind speed, the physical adjustment device is controlled to release the physical warning line of the preset margin length.

9. The method according to claim 6, characterized in that, The process of moving and adjusting the radiation adjustment device based on positional relationships to obtain a radiation warning line includes: Any one of the aforementioned radiation adjustment devices is designated as a radiation emitting device, and the remaining radiation adjustment devices are designated as radiation receiving devices; A transmission coordinate system is constructed with the isolation position of the ray emitting device as the origin, and the receiving coordinates of the isolation position of the ray receiving device in the transmission coordinate system are obtained. The first angle parameter of the receiving coordinates in the transmission coordinate system is then determined. A receiving coordinate system is constructed with the isolation position of the X-ray receiving device as the origin, and the emission coordinates of the isolation position of the X-ray emitting device in the receiving coordinate system are obtained. The second angle parameter of the emission coordinates in the receiving coordinate system is then determined. The emitting unit in the ray emitting device is moved and adjusted to the first angle parameter, the receiving unit in the ray receiving device is moved and adjusted to the second angle parameter, and the emitting unit is controlled to emit rays to generate a ray warning line.

10. An anomaly early warning system for ship-port interactive operations based on multi-source big data collaboration, characterized in that: include: The segmentation module is used to process the work area within the port area, generate isolation areas, segment the isolation outline of the isolation areas, and determine the isolation position of the mobile isolation device. The acquisition module is used to acquire the isolation line segments between adjacent isolation positions in the extended area, and determine the isolation mode at the isolation line segments based on the relationship between the isolation line segments and the shaded area. An adjustment module is used to adjust the corresponding mobile isolation device based on the isolation mode at the isolation line segment to generate a warning line.

Images