RTK and IMU-based fusion positioning safety operation management system for dock vehicles

Abstract

This utility model discloses a safe operation management system for dock vehicles based on RTK and IMU fusion positioning. The system includes a field layer, a management layer, and a service layer. The field layer includes an RTK differential positioning base station, a tractor head positioning communication control module, and a trailer positioning communication control module. The RTK differential positioning base station is communicatively connected to both the tractor head positioning communication control module and the trailer positioning communication control module. The management layer includes a management display module and an alarm module. The alarm module is communicatively connected to the management display module, which is also communicatively connected to both the tractor head positioning communication control module and the trailer positioning communication control module. The service layer includes a positioning engine and a data fusion node. The positioning engine is communicatively connected to both the data fusion node and the management display module. The system provided by this utility model combines RTK and IMU technologies to perform fusion positioning of the tractor head and trailer of dock vehicles, which can improve the safety and overall operational efficiency of dock vehicle operations.

Description

Technical Field

[0001] This utility model relates to the field of port management technology, and in particular to a port vehicle fusion positioning safety operation management system based on RTK and IMU. Background Technology

[0002] With the increasing prosperity of port trade activities, the volume and intensity of terminal operations have shown a continuous upward trend. Terminal vehicles frequently shuttle between terminal yards, loading and unloading areas and transportation channels, making traffic conditions increasingly complex and significantly increasing the risk of collisions between vehicles. This poses a great safety hazard to port operation and management, thereby increasing port operating costs and affecting port development. Therefore, it is necessary to combine positioning technology to effectively manage terminal vehicles.

[0003] Currently, RSSI positioning technology and NFER near-field positioning technology are generally used to manage vehicles at docks. However, there are many large motor vehicles at docks, and the vehicles and ships at docks have metal shells, which can cause significant electromagnetic interference to the surrounding environment and cause severe multipath effects during the propagation of radio signals. This makes it difficult for ordinary positioning technologies to work properly, thus failing to effectively manage dock vehicles. Utility Model Content

[0004] In view of this, the purpose of this utility model is to provide a safe operation management system for dock vehicles based on RTK and IMU fusion positioning. By combining RTK and IMU technologies to perform fusion positioning of the tractor and trailer of dock vehicles, the safety of dock vehicle operations and overall operational efficiency can be improved.

[0005] The RTK and IMU-based dock vehicle fusion positioning safety operation management system provided in this embodiment includes:

[0006] On-site level, management level, service level;

[0007] The field layer includes an RTK differential positioning base station, a tractor positioning and communication control module, and a trailer positioning and communication control module. The RTK differential positioning base station is communicatively connected to the tractor positioning and communication control module and the trailer positioning and communication control module, respectively. The management layer includes a management display module and an alarm module. The alarm module is communicatively connected to the management display module, and the management display module is communicatively connected to the tractor positioning and communication control module and the trailer positioning and communication control module, respectively. The service layer includes a positioning engine and a data fusion node. The positioning engine is communicatively connected to the data fusion node and the management display module, respectively. The data fusion node is communicatively connected to the control center.

[0008] Preferably, in the field layer, the RTK differential positioning base station is used to receive satellite signals, calculate differential positioning data through the satellite signals, and send the differential positioning data to the tractor positioning communication control module and the trailer positioning communication control module respectively; the tractor positioning communication control module and the trailer positioning communication control module are used to calculate the tractor positioning data and the trailer positioning data by receiving satellite signals and differential positioning data, and send the tractor positioning data and the trailer positioning data to the management display module.

[0009] Preferably, the tractor positioning and communication control module includes a first signal processing control unit, a first RFID identification device, a first RTK positioning terminal, a first IMU device, a first spread spectrum communication unit, and a first power management unit; the first signal processing control unit is communicatively connected to the first RFID identification device, the first RTK positioning terminal, the first IMU device, and the first spread spectrum communication unit; the first signal processing control unit is communicatively connected to the RTK differential positioning base station; and the first power management unit is electrically connected to the first signal processing control unit, the first RFID identification device, the first RTK positioning terminal, the first IMU device, and the first spread spectrum communication unit.

[0010] Preferably, the tractor positioning and communication control module further includes a voice unit, an emergency button unit, and a tractor indicator light, which are electrically connected to the first power management unit.

[0011] Preferably, the slide positioning communication control module includes a second signal processing control unit, a second RFID identification device, a second RTK positioning terminal, a second IMU device, a second spread spectrum communication unit, and a second power management unit; the second signal processing control unit is communicatively connected to the second RFID identification device, the second RTK positioning terminal, the second IMU device, and the second spread spectrum communication unit respectively; the second signal processing control unit is communicatively connected to the RTK differential positioning base station; and the second power management unit is electrically connected to the second signal processing control unit, the second RFID identification device, the second RTK positioning terminal, the second IMU device, and the second spread spectrum communication unit respectively.

[0012] Preferably, the slide positioning communication control module also includes a slide indicator light and a marker light. The slide indicator light and the marker light are electrically connected to the second power management unit, and both the slide indicator light and the marker light are mounted on the slide.

[0013] Preferably, in the management layer, the management display module is used to receive tractor head positioning data and trailer positioning data. The positioning display module is equipped with a GIS system, which can generate a GIS map. The GIS map can set up electronic fences and display the tractor head positioning data and trailer positioning data in real time. The alarm module is used to monitor the tractor head positioning data and trailer positioning data in real time. When the real-time position of the tractor head and the real-time position of the trailer are not within the electronic fence, an alarm prompt is issued.

[0014] Preferably, the management display module and the alarm module are communicatively connected to the first power management unit and the second power management unit, respectively. The first power management unit and the second power management unit can send power usage data to the management display module through transmission signals. The management display module can obtain power usage data by receiving transmission signals. When the power usage data is abnormal, the alarm module issues an alarm prompt.

[0015] Preferably, in the service layer, the positioning engine receives tractor positioning data and trailer positioning data from the management display module, adds basic data to the tractor positioning data and trailer positioning data, and sends the tractor positioning data and trailer positioning data to the data fusion node; the data fusion node receives and processes the tractor positioning data and trailer positioning data to obtain fused positioning data, and sends the fused positioning data to the control center.

[0016] The present invention provides the following beneficial effects:

[0017] The RTK and IMU-based terminal vehicle fusion positioning safety operation management system provided in this embodiment uses RTK and IMU technologies to perform fusion positioning of the tractor and trailer of terminal vehicles, which greatly improves the stability and accuracy of positioning. At the same time, it combines spread spectrum communication technology to improve signal transmission quality, solve the problems of electromagnetic interference and signal shielding in the terminal operation environment, and effectively realize the coordinated control of tractor and trailer and enhance operational safety.

[0018] Other features and advantages of this invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objectives and other advantages of this invention are realized and obtained through the structures particularly pointed out in the description, claims, and drawings.

[0019] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0020] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 A schematic diagram of the overall structure of the RTK and IMU-based dock vehicle fusion positioning safety operation management system provided in this embodiment of the utility model.

[0022] Figure 2 A schematic diagram of the tractor positioning and communication control module of the RTK and IMU-based dock vehicle fusion positioning safety operation management system provided in this embodiment of the present utility model.

[0023] Figure 3 A schematic diagram of the trailer positioning and communication control module of the RTK and IMU-based dock vehicle fusion positioning safety operation management system provided in this embodiment of the utility model. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0025] To facilitate understanding of this embodiment, in conjunction with Figure 1 This paper provides a detailed description of the RTK and IMU-based dock vehicle fusion positioning safety operation management system disclosed in the embodiments of this utility model.

[0026] Example 1

[0027] A safe operation management system for dock vehicles based on RTK and IMU fusion positioning includes: on-site layer, management layer, and service layer;

[0028] The field layer includes an RTK differential positioning base station, a tractor positioning and communication control module, and a trailer positioning and communication control module. The RTK differential positioning base station is connected to the tractor positioning and communication control module and the trailer positioning and communication control module, respectively.

[0029] The management layer includes a management display module and an alarm module. The alarm module is communicatively connected to the management display module, and the management display module is communicatively connected to the tractor positioning communication control module and the trailer positioning communication control module, respectively.

[0030] The service layer includes a positioning engine and a data fusion node. The positioning engine communicates with the data fusion node and the management display module, respectively. The data fusion node communicates with the control center.

[0031] Preferably, in the field layer, the RTK differential positioning base station is used to receive satellite signals, calculate differential positioning data through the satellite signals, and send the differential positioning data to the tractor positioning communication control module and the trailer positioning communication control module respectively; the tractor positioning communication control module and the trailer positioning communication control module are used to calculate the tractor positioning data and the trailer positioning data by receiving satellite signals and differential positioning data, and send the tractor positioning data and the trailer positioning data to the management display module.

[0032] In this embodiment, the RTK differential positioning base station can receive satellite signals from Beidou satellites and GPS satellites. The RTK differential positioning base station communicates with the tractor positioning communication control module and the trailer positioning communication control module through LoRa communication mode, which can effectively improve the reliability and efficiency of data transmission.

[0033] Both the tractor positioning communication control module and the trailer positioning communication control module use the Air724UG LTE Cat.1bis module. This LTE Cat.1bis module supports a maximum downlink rate of 10Mbps and a maximum uplink rate of 5Mbps. It has functions including ADC voltage acquisition and I2C data transmission, which can enhance signal reception and transmission capabilities, adapt to complex environments, and ensure stable communication.

[0034] The tractor's operating data includes its network status, operating posture, operating speed, operating time, and parking time. The network status includes whether the tractor is online or offline. The operating posture includes whether the tractor is attached to the trailer, unattached, turning left, turning right, reversing, and braking.

[0035] The trailer operation data includes the trailer's network status, trailer's operating posture, trailer's operating speed, trailer's operating time, and parking time. Among these, the trailer's network status includes whether the trailer is online or offline; the trailer's operating posture includes whether the tractor and trailer are connected, whether the tractor and trailer are disconnected, and whether the trailer is idle; when the trailer's parking time exceeds a set time, the trailer's operating posture is considered to be idle, and the set time can be 2 hours.

[0036] Combination Figure 2Preferably, the tractor positioning and communication control module includes a first signal processing control unit, a first RFID identification device, a first RTK positioning terminal, a first IMU device, a first spread spectrum communication unit, and a first power management unit; the first signal processing control unit is communicatively connected to the first RFID identification device, the first RTK positioning terminal, the first IMU device, and the first spread spectrum communication unit; the first signal processing control unit is communicatively connected to the RTK differential positioning base station; and the first power management unit is electrically connected to the first signal processing control unit, the first RFID identification device, the first RTK positioning terminal, the first IMU device, and the first spread spectrum communication unit.

[0037] Specifically, the first signal processing control unit is used to receive and process transmitted signals to calculate and obtain tractor positioning data, including tractor number, tractor real-time position, first RTK positioning terminal number, and tractor running data;

[0038] The first RFID identification device is used to identify and read the vehicle identification tag of the tractor to obtain the tractor number, and then send the tractor number to the first signal processing control unit through a transmission signal.

[0039] The first RTK positioning terminal has a first RTK positioning terminal number. The first RTK positioning terminal is used to receive satellite signals and differential positioning data, calculate the real-time position of the tractor head by combining the satellite signals and differential positioning data, and send the real-time position of the tractor head and the first RTK positioning terminal number to the first signal processing control unit through a transmission signal.

[0040] The first IMU device is used to collect tractor running data and transmit the tractor running data to the first signal processing and control unit via transmission signals;

[0041] The first spread spectrum communication unit is used to enhance the transmitted signal received by the first signal processing control unit;

[0042] The first battery management unit has a high-power mode and a low-power mode, which provides power to the tractor positioning and communication control module by switching between the high-power mode and the low-power mode.

[0043] In this embodiment, the input voltage range of the first power management unit is 3.3V to 4.3V, with the optimal input voltage being 4V. The first power management unit can be electrically connected to the cab power supply with a voltage of 24V and can accurately convert the voltage from 24V to 4V to make it compatible with the control equipment. When the voltage is stably adjusted to 4V, the tractor positioning communication control module can be automatically turned on to ensure the stability and functionality of the system.

[0044] In this embodiment, when the tractor positioning and communication control module is in normal working condition, the first battery management unit switches to normal mode to provide power to the tractor positioning and communication control module; when the tractor positioning and communication control module is in idle state, the first battery management unit switches to low power mode to reduce energy consumption and extend the device's battery life.

[0045] Furthermore, the tractor positioning and communication control module also includes a voice unit, an emergency button unit, and a tractor indicator light, which are electrically connected to the first power management unit.

[0046] Specifically, the voice unit can provide voice prompts and voice commands to the driver, the emergency button unit is equipped with an emergency button, and the driver can send an emergency signal to the control center by pressing the emergency button. The tractor head indicator light is installed on the tractor head and is used to reflect the tractor head's operating attitude and network status.

[0047] In this embodiment, the tractor head indicator light includes a tractor head running indicator light and a tractor head networking indicator light. The tractor head running indicator light is used to reflect the running posture of the tractor head, and the tractor head networking indicator light is used to reflect the networking status of the trailer.

[0048] In this embodiment, furthermore, when the tractor unit successfully connects to the network and the network connection status is stable, the tractor unit's network indicator light flashes rapidly, indicating that the tractor unit is online and can communicate normally; when the tractor unit fails to connect to the network or the network connection status is unstable, the tractor unit's network indicator light flashes slowly, indicating that the tractor unit is offline and cannot communicate normally.

[0049] Combination Figure 3 Preferably, the slide positioning communication control module includes a second signal processing control unit, a second RFID identification device, a second RTK positioning terminal, a second IMU device, a second spread spectrum communication unit, and a second power management unit; the second signal processing control unit is communicatively connected to the second RFID identification device, the second RTK positioning terminal, the second IMU device, and the second spread spectrum communication unit respectively; the second signal processing control unit is communicatively connected to the RTK differential positioning base station; and the second power management unit is electrically connected to the second signal processing control unit, the second RFID identification device, the second RTK positioning terminal, the second IMU device, and the second spread spectrum communication unit respectively.

[0050] Specifically, the second signal processing control unit receives and processes the transmitted signals to calculate and obtain the trailer positioning data, including the trailer number, the trailer real-time position, the second RTK positioning terminal number, and the trailer running data.

[0051] The second RFID identification device is used to identify and read the vehicle identification tag of the trailer to obtain the trailer number, and then send the trailer number to the first signal processing control unit through a transmission signal.

[0052] The second RTK positioning terminal has a second RTK positioning terminal number. The second RTK positioning terminal is used to receive satellite signals and differential positioning data, calculate the real-time position of the trailer by combining the satellite signals and differential positioning data, and send the real-time position of the trailer to the second signal processing control unit through transmission signals.

[0053] The second IMU device is used to collect the slide operation data and send the slide operation data to the second signal processing control unit through transmission signals;

[0054] The second spread spectrum communication unit is used to enhance the transmitted signals received by the second signal processing control unit;

[0055] The second battery management unit has a normal mode and a low-power mode, and provides power to the trailer positioning communication control module by switching between the normal mode and the low-power mode.

[0056] In this embodiment, the input voltage range of the second power management unit is 3.3V to 4.3V, with an optimal input voltage of 4V; the second power management unit includes a main power supply Vmain and an auxiliary power supply Vbat, such as... Figure 2 As shown, a 100uF tantalum capacitor with low ESR (ESR = 0.7Ω) and 100nF, 33pF, and 10pF filter capacitors are connected in parallel at the output of the auxiliary power supply Vbat. By shortening and widening the traces of the auxiliary power supply Vbat to reduce the equivalent impedance of the traces, it is ensured that no voltage drop occurs at the maximum RF transmit power.

[0057] In this embodiment, when the slide positioning and communication control module is in normal working condition, the second battery management unit switches to normal mode to provide power to the slide positioning and communication control module; when the slide positioning and communication control module is in idle state, the second battery management unit switches to low power mode to reduce energy consumption and extend the device's battery life.

[0058] Furthermore, the slide positioning and communication control module also includes a slide indicator light and a marker light. The slide indicator light and the marker light are electrically connected to the second power management unit, and both the slide indicator light and the marker light are mounted on the slide.

[0059] Specifically, the slide indicator light is used to reflect the slide's operating posture and network status, while the outline light is used to display the outline of the slide in low-light environments.

[0060] In this embodiment, the marker light is a long strip light group installed on both sides of the rear of the trailer. The trailer indicator light includes a trailer running indicator light and a trailer network indicator light, both of which are installed at the rear of the trailer. The trailer running indicator light is used to reflect the running posture of the trailer, and the trailer network indicator light is used to reflect the network status of the trailer.

[0061] In this embodiment, further, when the tractor head and the trailer are connected, the tractor head running indicator light and the trailer running indicator light illuminate simultaneously; when the trailer successfully connects to the network and the network connection status is stable, the trailer network indicator light flashes rapidly, indicating that the trailer is online and can communicate normally; when the trailer fails to connect to the network or the network connection status is unstable, the trailer network indicator light flashes slowly, indicating that the trailer is offline and cannot communicate normally.

[0062] Preferably, in the management layer, the management display module is used to receive tractor head positioning data and trailer positioning data. The positioning display module is equipped with a GIS system, which can generate a GIS map. The GIS map can set up electronic fences and display the tractor head positioning data and trailer positioning data in real time. The alarm module is used to monitor the tractor head positioning data and trailer positioning data in real time. When the real-time position of the tractor head and the real-time position of the trailer are not within the electronic fence, an alarm prompt is issued.

[0063] In this embodiment, the management display module is equipped with a display screen. The GIS map displays the tractor head positioning data and trailer positioning data in real time on the display screen, including: the GIS map displays the tractor head number, tractor head real-time location, first RTK positioning terminal number, tractor head operation data, trailer number, trailer real-time location, second RTK positioning terminal number, and trailer operation data on the display screen in real time, and distinguishes them by different identifiers; the GIS system is a Geographic Information System (GIS); the electronic fence is manually set on the GIS map, and its area, shape, and size are adjustable.

[0064] In this embodiment, the display screen can further show a voice sending window, through which staff can send reminder information to the voice unit of the vehicle where the target tractor or target trailer is located. The reminder information is pre-edited text, including but not limited to: Please return to the convoy; Please proceed to the dock front.

[0065] In this embodiment, the display screen can further display statistical reports based on the running time and parking time of the tractor head and the running time and parking time of the trailer.

[0066] Preferably, the management display module and the alarm module are communicatively connected to the first power management unit and the second power management unit, respectively. The first power management unit and the second power management unit can send power usage data to the management display module through transmission signals. The management display module can obtain power usage data by receiving transmission signals. When the power usage data is abnormal, the alarm module issues an alarm prompt.

[0067] In this embodiment, the power usage data includes, but is not limited to: the charging time, charging rate, and power of each device or unit connected to the first power management unit and the second power management unit; when the power usage data is abnormal, the alarm module issues an alarm prompt, including: when the power is too low, the alarm module issues an alarm prompt.

[0068] Preferably, in the service layer, the positioning engine receives tractor positioning data and trailer positioning data from the management display module, adds basic data to the tractor positioning data and trailer positioning data, and sends the tractor positioning data and trailer positioning data to the data fusion node; the data fusion node receives and processes the tractor positioning data and trailer positioning data to obtain fused positioning data, and sends the fused positioning data to the control center.

[0069] In this embodiment, the method by which the data fusion node processes the tractor positioning data and trailer positioning data after adding basic data to obtain fused positioning data includes: the data fusion node standardizes the data format of the tractor positioning data and trailer positioning data, removes redundant and erroneous data to obtain fused positioning data, and then sends the fused positioning data to the control center.

[0070] It should also be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0071] Finally, it should be noted that the above-described embodiments are merely specific implementations of this utility model, used to illustrate the technical solution of this utility model, and not to limit it. The protection scope of this utility model is not limited thereto. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the technical scope disclosed in this utility model. These modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model, and should all be covered within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A wharf vehicle fusion positioning safety operation management system based on RTK and IMU, characterized in that, include: On-site level, management level, service level; The field layer includes an RTK differential positioning base station, a tractor positioning and communication control module, and a trailer positioning and communication control module. The RTK differential positioning base station is communicatively connected to the tractor positioning and communication control module and the trailer positioning and communication control module, respectively. The management layer includes a management display module and an alarm module. The alarm module is communicatively connected to the management display module, and the management display module is communicatively connected to the tractor positioning and communication control module and the trailer positioning and communication control module, respectively. The service layer includes a positioning engine and a data fusion node. The positioning engine is communicatively connected to the data fusion node and the management display module, respectively. The data fusion node is communicatively connected to the control center.

2. The RTK and IMU based wharf vehicle fusion positioning safety operation management system according to claim 1, characterized in that, In the field layer, the RTK differential positioning base station is used to receive satellite signals, calculate differential positioning data through satellite signals, and send the differential positioning data to the tractor positioning communication control module and the trailer positioning communication control module respectively. The tractor positioning communication control module and the trailer positioning communication control module are used to calculate the tractor positioning data and the trailer positioning data by receiving satellite signals and differential positioning data, and send the tractor positioning data and the trailer positioning data to the management display module. 3.The RTK and IMU based wharf vehicle fusion positioning safety operation management system according to claim 1, characterized in that, The tractor positioning and communication control module includes a first signal processing control unit, a first RFID identification device, a first RTK positioning terminal, a first IMU device, a first spread spectrum communication unit, and a first power management unit. The first signal processing control unit is communicatively connected to the first RFID identification device, the first RTK positioning terminal, the first IMU device, and the first spread spectrum communication unit. The first signal processing control unit is communicatively connected to the RTK differential positioning base station. The first power management unit is electrically connected to the first signal processing control unit, the first RFID identification device, the first RTK positioning terminal, the first IMU device, and the first spread spectrum communication unit.

4. The RTK and IMU based wharf vehicle fusion positioning safety operation management system according to claim 3, characterized in that, The tractor positioning and communication control module also includes a voice unit, an emergency button unit, and a tractor indicator light, which are electrically connected to the first power management unit.

5. The RTK and IMU based wharf vehicle fusion positioning safety operation management system according to claim 1, characterized in that, The slide positioning communication control module includes a second signal processing control unit, a second RFID identification device, a second RTK positioning terminal, a second IMU device, a second spread spectrum communication unit, and a second power management unit. The second signal processing control unit is communicatively connected to the second RFID identification device, the second RTK positioning terminal, the second IMU device, and the second spread spectrum communication unit, respectively. The second signal processing control unit is communicatively connected to the RTK differential positioning base station. The second power management unit is electrically connected to the second signal processing control unit, the second RFID identification device, the second RTK positioning terminal, the second IMU device, and the second spread spectrum communication unit, respectively.

6. The RTK and IMU-based dock vehicle fusion positioning safety operation management system according to claim 5, characterized in that, The slide positioning and communication control module also includes slide indicator lights and marker lights. The slide indicator lights and marker lights are electrically connected to the second power management unit. Both the slide indicator lights and marker lights are mounted on the slide.

7. The RTK and IMU based port vehicle fusion positioning safety operation management system according to claim 1, characterized in that, In the management layer, the management display module is used to receive tractor head positioning data and trailer positioning data. The positioning display module is equipped with a GIS system, which can generate GIS maps. The GIS maps can set up electronic fences and display tractor head positioning data and trailer positioning data in real time. The alarm module is used to monitor tractor head positioning data and trailer positioning data in real time. When the real-time position of the tractor head and the real-time position of the trailer are not within the electronic fence, an alarm prompt is issued. 8.The RTK and IMU based wharf vehicle fusion positioning safety operation management system according to claim 1, characterized in that, The management display module and the alarm module are respectively connected to the first power management unit and the second power management unit. The first power management unit and the second power management unit can send power usage data to the management display module through transmission signals. The management display module can obtain power usage data by receiving transmission signals. When the power usage data is abnormal, the alarm module issues an alarm prompt. 9.The RTK and IMU based wharf vehicle fusion positioning safety operation management system according to claim 1, characterized in that, In the service layer, the positioning engine receives tractor positioning data and trailer positioning data from the management display module. After adding basic data to the tractor positioning data and trailer positioning data, it sends the tractor positioning data and trailer positioning data to the data fusion node. The data fusion node is used to receive and process the positioning data of the tractor head and the trailer to obtain fused positioning data, and then send the fused positioning data to the control center.

Images