840 results about "Electric fence" patented technology

The invention provides an unmanned aerial vehicle low-altitude intelligent traffic dynamic airspace management and control method and system, and relates to the technical field of intelligent control, and the method comprises the steps: taking an electronic fence geographic coordinate set as a monitoring reference boundary, fusing ADS-B data, meteorological information and an unmanned aerial vehicle equipment state, generating a real-time risk thermodynamic diagram, and outputting a grading alarm instruction; receiving a real-time risk thermodynamic diagram and a grading alarm instruction, and combining wind speed prediction and dynamic airspace occupation data; when the grading alarm instruction is triggered, executing the following operations: constructing a route feasible solution space by taking a no-fly zone and a high-risk zone in the risk thermodynamic diagram as constraint conditions; and iterating an evolutionary path population through selection, intersection and mutation operations of a genetic algorithm by taking the lowest energy consumption as an optimization target, so as to output a global final obstacle avoidance bypassing path, and issuing a route updating instruction to an unmanned aerial vehicle flight control system. According to the invention, the utilization of airspace resources is maximized on the premise of ensuring safety.

The invention provides an all-weather autonomous inspection method and system based on cluster task dynamic load balancing, and relates to the technical field of inspection monitoring, and the method comprises the steps: collecting the remaining electric quantity, the positioning position, the task queue length and the sensor health state of an unmanned aerial vehicle cluster in real time through an airborne terminal; fusing the meteorological data and the multi-source environment sensing data, and constructing a dynamic obstacle map and a meteorological influence model; dividing an inspection area into a plurality of sub-areas based on an electronic fence, dynamically adjusting the inspection priority of each sub-area, setting task weights of a water taking head and a raw water pipeline facility, and distributing inspection tasks according to the priorities; based on the remaining power of the unmanned aerial vehicle, the task priority, the current load and the meteorological data, a bipartite graph matching model of the unmanned aerial vehicle and the task is constructed, the matching weight is dynamically calculated, the optimal matching distribution of the unmanned aerial vehicle and the inspection task is completed, and the efficient inspection operation of the unmanned aerial vehicle cluster in the complex environment is realized.

The invention discloses an unmanned aerial vehicle aerial three-dimensional electronic fence construction method and system, and relates to the technical field of unmanned aerial vehicles, and the method comprises the following steps: dividing the region boundary of an electronic fence in a preset geographic range based on a geographic information system and a three-dimensional modeling technology, and calculating the range of the electronic fence; integrating the configured electronic fence to an unmanned aerial vehicle system, establishing a real-time communication and data exchange channel with the unmanned aerial vehicle, and receiving position information and flight state data fed back in the flight process of the unmanned aerial vehicle in real time; and monitoring the flight state of the unmanned aerial vehicle and the area boundary of the electronic fence in real time, and triggering an early warning mechanism when the unmanned aerial vehicle is found to have a boundary crossing behavior. According to the electronic fence system, the size, shape and position of the fence can be automatically adjusted according to the real-time flight state of the unmanned aerial vehicle and the environment change, the dynamic adjustment capability of the electronic fence is directly improved, and it is ensured that the unmanned aerial vehicle can always fly safely in the complex and changeable airspace environment.

The invention provides a safety early warning method and device for abnormal behavior trajectory analysis and a medium, and relates to the technical field of safety early warning, and the method comprises the steps: collecting behavior trajectory data of a target region through a multi-source sensing device, and carrying out the multi-dimensional feature extraction of a behavior trajectory data set; according to the stay frequency characteristics, carrying out abnormity determination on the track space-time distribution characteristics and the speed change characteristics, and constructing an abnormal behavior determination vector; performing wandering mode recognition based on the abnormal behavior judgment vector, determining an abnormal behavior level, and triggering a graded early warning mechanism according to the abnormal behavior level; and generating an abnormal behavior alarm signal according to the grading early warning mechanism, combining the abnormal behavior alarm signal with the electronic fence information of the target area to generate a safety early warning report, and pushing the report to a monitoring terminal. According to the invention, the technical problem of abnormal behavior recognition accuracy in the prior art can be solved, and the technical effect of improving the behavior judgment accuracy is achieved.

The embodiment of the invention discloses a level-to-level management strategy generation method and system for an electronic fence based on a 5G base station iron tower, and the method comprises the steps: collecting a multi-source heterogeneous monitoring data set covering an electronic fence warning region through sensor arrays disposed at different monitoring point positions of the 5G base station iron tower; the data comprise environment sensing data and target motion data; performing space-time correlation fusion processing on the data set to generate a basic analysis data set, determining a space relative relationship between the target motion data and the electronic fence boundary and potential influence of environment perception data on the motion behavior of the target object based on the basic analysis data set, and generating risk assessment information; a hierarchical management strategy is made according to the risk assessment information, strategy execution parameters are adjusted by continuously tracking a behavior evolution process of a target object in an electronic fence warning area to realize optimization iteration, and the accuracy and adaptability of electronic fence management are improved.

The invention discloses a personnel trajectory drawing method and system based on an AI algorithm. The method comprises the following steps: acquiring a positioning equipment signal and monitoring video data; performing dynamic Kalman filtering denoising processing on the positioning equipment signal to obtain first track data, and performing adaptive illumination compensation enhancement processing on the monitoring video data to obtain first video data; performing trajectory prediction compensation on the signal interruption segment based on an LSTM neural network; personnel motion posture features and scene semantic features are extracted; constructing a space-time correlation graph by adopting a graph convolutional neural network to obtain enhanced trajectory data; performing multi-scale trajectory reconstruction based on an improved Transform architecture to generate final personnel trajectory information; and outputting a visual trajectory report including trajectory precision evaluation, abnormal behavior marking and an electronic fence trigger event. According to the method, deep fusion of multi-source heterogeneous data and accurate reconstruction of the trajectory are realized, and continuity and reliability of personnel trajectory drawing in a complex scene are remarkably improved.

The invention relates to the technical field of intelligent traffic monitoring, in particular to a toll station pedestrian and non-motor vehicle intrusion intelligent early warning system and method, a terminal layer comprises a sensing terminal composed of a camera, a hard disk video recorder and the like, and an early warning terminal composed of a directional sound post and the like; an edge computing unit is deployed on the edge layer, targets are detected in real time, tracks are tracked and classified, and cloud rechecking is triggered by low-confidence targets; the cloud layer utilizes a visual language large model to recheck a target, pre-mark data, generate an electronic fence and store data; the system adopts a dynamic grading early warning module, three-level early warning is triggered according to a target track, a position and staying time, and automatic degradation is carried out along with the presence of a worker; in addition, through a closed-loop optimization mechanism, a positive / false alarm feedback iteration visual small model is collected. According to the invention, cloud side-end cooperation is realized, multiple models and algorithms are fused, high-precision detection, real-time response, dynamic self-adaption and self-optimization capabilities are realized, the intrusion risk can be effectively prevented, and the safety management level of the toll station is improved.

The invention provides a leasing equipment full life cycle monitoring method and system based on the Internet of Things, and belongs to the technical field of equipment operation and maintenance monitoring, and the method comprises the steps: obtaining real-time state data of leasing equipment in an operation process through a multi-source sensor; performing feature extraction on the real-time state data to obtain various feature vectors, and constructing a multi-dimensional feature vector set; inputting the multi-dimensional feature vector set into a random forest model, and judging whether the leasing equipment is in an abnormal state or not in combination with a space-time clustering algorithm; if yes, fault prediction is carried out on the leasing equipment in combination with an abnormal detection result, historical operation data and a baseline model, and a fault probability value of the leasing equipment is obtained; the future position of the leasing equipment is predicted based on the position data, an electronic fence boundary is set for the leasing equipment, if the future position exceeds the electronic fence boundary, an early warning notification of trajectory deviation is generated, and the system finally realizes trajectory and fault visual presentation in a thermodynamic diagram mode, so that the equipment operation and maintenance intelligence and management precision are improved.

The invention discloses a channel electronic fence calculation method and system based on an unmanned aerial vehicle. The method comprises the following steps: setting a channel basic fence according to geographic features of a channel; setting a lowest fence standard according to ship attributes; fusing the navigation channel basic fence and the lowest fence through a label priority mechanism to obtain a navigation electronic fence of the ship; acquiring channel monitoring data through an unmanned aerial vehicle group to obtain a real-time monitoring label; and dynamically adjusting the navigation electronic fence based on a preset rule engine and the real-time monitoring tag. According to the invention, dynamic adjustment of fence parameters is realized through linkage of the real-time monitoring label and the rule engine in cooperation with the unmanned aerial vehicle group; customizing a core protection area according to different types, loading states and maneuvering performance of cargo ships, passenger ships and the like; by constructing a multi-dimensional label system, multi-source data is converted into labels with unified semantics, and deep data fusion is achieved; and a machine learning model is introduced to dynamically calibrate the label, and a label system and a calibration rule are optimized.

The invention relates to a chemical plant dangerous area electronic fence generation method and system, and the method comprises the steps: obtaining the positioning data of a target person, the positioning data of production equipment, and the video monitoring data and environment sensing data of a target area, carrying out the recognition based on the video monitoring data, and obtaining the behavior data of the target person, the method comprises the steps of dividing a target area into virtual grids based on a dynamic grid algorithm, determining distribution of geographic features based on GIS geographic information of the target area, filtering impassable areas based on the distribution of the geographic features, aggregating and combining adjacent grids, generating a closed boundary, and establishing a risk level evaluation model to evaluate the risk level of each virtual grid. The boundary adjusting module is used for adjusting the minimum buffer area width of the closed boundary to obtain a final electronic fence boundary, and the electronic fence boundary is used for carrying out risk early warning. According to the invention, dynamic and accurate sensing and protection of the high-risk area in the chemical plant are realized.

The invention discloses a safety early warning method and system based on Beidou + UWB positioning, and relates to the technical field of personnel positioning and safety early warning, and the method comprises the steps: collecting positioning signal data in real time, and carrying out the preprocessing; based on real-time quality evaluation of a positioning signal source, adaptively adjusting a fusion weight, and generating a continuous high-precision positioning data sequence; predicting a future motion trail by using the trail prediction model, performing border crossing judgment in combination with electronic fence spatial data, and outputting a border crossing prediction mark; performing risk analysis by taking the track sequence and the border crossing mark as input and combining the spatial distance between the personnel and the electronic fence, the movement speed and the regional risk level, and outputting a risk score and a level mark thereof; and performing graded response according to the risk grades, and recording and feeding back safety early warning data. According to the invention, high-precision continuous positioning in a complex environment is realized, personnel border-crossing active early warning and risk grading response are supported, and the real-time performance, the accuracy and the intelligent level of safety supervision are remarkably improved.

The invention discloses a muck truck behavior research and judgment method, device and equipment based on virtual electronic fences, and relates to the technical field of vehicle state monitoring, the method comprises the following steps: obtaining real-time coordinate data of different sites, and generating dynamic electronic fences of the different sites according to the real-time coordinate data of the different sites; processing the multi-source driving data of the muck truck, and analyzing and recording the real-time driving state of the muck truck in combination with the dynamic electronic fences of the different sites; and based on the real-time driving state of the muck truck and the dynamic electronic fences of the different sites, studying and judging whether the muck truck has illegal behaviors or not. By establishing the dynamic electronic fence, a supervision blind area caused by mismatching of a traditional fence and a dynamic scene is solved, multi-source driving data is fused, the composite violation problem that a single data source is difficult to find is solved, matching calculation is performed on the driving state, violation behaviors are found immediately, evidence is stored immediately after finding, and the driving safety is improved. And the response time from behavior occurrence to supervision intervention is remarkably shortened.

The invention discloses a human-hat matching method, system and equipment based on an intelligent safety helmet, and relates to the technical field of biological feature recognition, and the human-hat matching method based on the intelligent safety helmet comprises the steps: determining a matching strategy according to a working area where the intelligent safety helmet is located; receiving a human-hat matching instruction, and generating a voice prompt-data acquisition instruction according to the matching strategy and the human-hat matching instruction; the voice prompt-data acquisition instruction is sent to the intelligent safety helmet located in a working electronic fence coverage area, so that the intelligent safety helmet sends a preset voice prompt and feeds back acquired identity data, and the intelligent safety helmet is in a power-on state and a wearing in-place state; and carrying out human-hat matching according to the matching strategy and the identity data to obtain a human-hat matching result. According to the invention, people-hat matching can be accurately carried out in construction areas under various working conditions, and the construction safety management level is effectively improved.

The invention belongs to the technical field of intelligent traffic monitoring, and relates to a vehicle track intelligent GIS electronic fence visualization system based on a GPS, and the system comprises a track data collection module which is used for obtaining the historical driving track point data of a plurality of vehicles in a preset time period; the aggregation area identification module is used for identifying a high-frequency aggregation area of the historical driving track point data; the elastic fence generation module is used for expanding a dynamic buffer area outwards by taking the boundary of the high-frequency aggregation area as a reference; the border crossing state judgment module is used for calculating the spatial relationship between the real-time position of the vehicle and the elastic electronic fence; the behavior analysis module is used for identifying repeated border-crossing road sections and high-incidence time periods; and the multi-source visualization module is used for overlapping and displaying the elastic electronic fence layer, the real-time vehicle position marking layer and the border-crossing thermodynamic layer on the GIS map. The problem that a closed-loop optimization mechanism based on data feedback cannot be formed is solved.

The invention relates to the technical field of geological data acquisition, and particularly discloses a lossless field real-time acquisition method and system for field data of land quality, and the method comprises the steps: receiving control information inputted by a manager, and creating a dynamic form; determining a sampling point position based on the pattern spot pattern, and synchronously determining an electronic fence of the sampling point position; and sending the sampling point position to the handheld end, obtaining the position of the handheld end in real time, sending the dynamic form to the handheld end when the position is included in the electronic fence, and obtaining land sampling data containing the height based on the dynamic form. According to the method, a management personnel-oriented platform is established, a dynamic form establishment environment is provided, and the form established by the management personnel is received, so that front-line sampling personnel can carry out data filling according to the form and convert an original handwriting mode into a selection mode or a typing mode, and the interaction efficiency is greatly improved.

The invention discloses a three-dimensional dynamic safety management and control method and system for power transmission and transformation hoisting operation, and relates to the technical field of construction safety, and the method comprises the steps: obtaining point cloud data of a target operation area through ground three-dimensional laser scanning; according to the point cloud data, a three-dimensional grid model is constructed through an oblique photography technology and a Beidou real-time dynamic carrier phase difference technology, and a semantic electronic fence is generated; according to a pure vision technology, through target detection, three-dimensional reconstruction and time sequence tracking, a hanging object 4D digital branch is constructed, and a hanging object prediction track is obtained; the shortest three-dimensional distance is calculated through an efficient collision detection algorithm according to the hanging object prediction track and the semantic electronic fence, multi-dimensional risk assessment is carried out, and graded early warning signals are generated; and carrying out comprehensive alarm prompting according to the graded early warning signal. According to the invention, a traditional passive protection mode depending on single threshold alarm is changed, and quantitative evaluation and predictive management and control of dynamic risks are realized.

The invention discloses a power line anomaly detection method and system based on an unmanned aerial vehicle. The method comprises the steps that a server analyzes a power line detection request to obtain a detection area and a detection time period; planning an initial detection track, generating a power line detection instruction based on the initial detection track, the detection area and the detection time period, and issuing the instruction to the unmanned aerial vehicle; the unmanned aerial vehicle executes an inspection task in the electronic fence, the initial detection track is dynamically corrected in the inspection process, and a flight time sequence image is collected; analyzing the flight time sequence image through a line anomaly detection model, and outputting a line anomaly detection result; an actual detection track is recorded, and abnormity marking is carried out on the actual detection track; and recording, encrypting and uploading an inspection log to the server. The method has the advantages that the detection efficiency, the intelligent level and the safety management capability of power line anomaly detection are greatly improved.

The invention relates to the technical field of wireless positioning, in particular to an intelligent positioning analysis method and system for a safety tool, and the method comprises the steps: collecting the video data and voice data of a high-altitude operation site in real time through a video collection module worn by an operator; the method comprises the following steps: acquiring far-end high-altitude operation video data through a ground camera, and when the far-end high-altitude operation video data is lower than a preset value, acquiring three-dimensional position data of personnel in real time through a wireless positioning module; establishing a three-dimensional electronic fence model on the monitoring platform, and synchronizing the three-dimensional position data to the three-dimensional electronic fence model; when the monitoring platform detects that the three-dimensional position data exceed the three-dimensional electronic fence, early warning is triggered; after early warning is triggered, video data and voice data of the aerial work site in the corresponding time period are obtained, personnel posture information in the video data is analyzed, and abnormal types are recognized in combination with voice keywords. Therefore, personnel supplementary positioning under the condition of low visibility can be realized, and the reliability of the positioning monitoring system is improved.

The invention relates to the technical field of VR panoramic road safety illegal behavior snapshot scheme design, in particular to a VR panoramic road safety illegal behavior snapshot method and system. The method comprises the following steps: acquiring an intersection panoramic video stream through a single panoramic device; illegal evidence obtaining is triggered based on space overlapping of the vehicle track and the electronic fence; synchronously judging a red light running behavior by combining a signal lamp state; identifying retrograde motion by comparing the motion vector with the lane direction vector; all-weather overspeed monitoring is realized by using a millimeter wave radar; and generating an evidence packet containing the two-dimensional panorama and the three-dimensional reconstruction model. The system is composed of a panoramic acquisition module, an electronic fence module, a behavior analysis module, an illegal evidence obtaining module and a data communication module. The method has the core advantages that all-intersection coverage is achieved through single equipment, the illegal recognition accuracy is improved through multi-source data fusion, the evidence effectiveness is enhanced through the three-dimensional reconstruction technology, and the law enforcement cost and the dispute risk are remarkably reduced.

The invention provides a transformer substation equipment alarm electronic fence construction method based on three-dimensional modeling, and relates to the technical field of three-dimensional modeling, which comprises the following steps: extracting three-dimensional point cloud data of transformer substation equipment, generating two-dimensional contour projection points, and constructing a reference fence line by adopting B-spline interpolation; after an electronic fence boundary is generated through external expansion, anchor points are uniformly sampled and positioned, and finally grid representation of the electronic fence is constructed based on the anchor points. Thus, the problem that a fence coverage area has a dead angle due to the fact that a common rectangular electronic fence on the periphery of the substation equipment cannot adapt to a complex equipment contour can be solved to a certain extent, precise modeling of the complex three-dimensional contour of the substation equipment is achieved, monitoring blind areas are avoided, and the protection precision and adaptability of the electronic fence are improved. Therefore, the safety protection capability of the substation is effectively improved.

The invention belongs to the technical field of intelligent navigation situation sensing, and particularly relates to an intelligent navigation situation multi-dimensional sensing terminal, which generates a forward sensing domain covering a water surface and an underwater area in a preset space-time range in front of a route based on a target ship route trajectory, identifies candidate obstacles in the domain through multi-sensor fusion, and obtains a target navigation situation. Constructing an obstacle original data set containing position, size and medium type, performing confidence cross validation with collaborative perception data of ships in an overlapped perception domain, removing low-confidence candidate obstacles, generating a verified obstacle list, and combining real-time draught, attitude and tide data of the ships to obtain an obstacle data set; a three-dimensional electronic fence is constructed for each obstacle in the list, whether the collision risk exists in the navigation relative to the target ship or not is judged, finally, the electronic fences and the risk state are superposed to an electronic chart for visual display, high-reliability environment sensing data are provided for the autonomous navigation of the intelligent ship, and the obstacle avoidance efficiency in the navigation environment is remarkably improved.

The invention relates to the technical field of port safety management, and discloses a safety management system and method suitable for a port complex environment, and the system comprises a positioning collection module which employs UWB and RTK technologies to carry out the positioning of the dynamic positions of indoor and outdoor personnel; the spatial modeling module is used for constructing a three-dimensional model of the belt conveyor system based on laser point cloud scanning and a BIM technology, and marking equipment coordinates; the hierarchical management and control module is used for dividing an electronic fence area based on the three-dimensional model; a data fusion module; an intelligent early warning module; and a scheduling execution module. According to the method, the UWB is used for inhibiting steel structure signal attenuation to guarantee indoor continuous tracking, the RTK is used for achieving outdoor centimeter-level positioning, outputting three-dimensional coordinates and mapping the three-dimensional coordinates to a transfer tower floor, the three-dimensional coordinates serve as a core base to be fused into a space-time engine, an electronic fence is driven in real time to trigger dynamic equipment emergency stop control, and a digital human system is linked to automatically dispatch recent security officers to execute closed-loop protection. And linkage regulation and control of personnel and equipment resources are realized.

The invention discloses a fresh food cold chain tracing and early warning system based on the Internet of Things technology, and relates to the technical field of fresh food cold chain tracing, which integrates sensing modules such as GPS positioning, temperature and humidity monitoring, electronic fence management, parking identification, cargo compartment state monitoring and the like, and comprehensively judges the actual parking behavior of a vehicle through a data fusion analysis module. The path execution judgment module further combines a scoring result with a distribution task preset path to carry out intelligent comparison, whether each stop task is completed or not is accurately judged, and if the stop task is not completed, an abnormity early warning module reports abnormity information to a dispatching center in time; the whole-process intelligent identification and real-time early warning of the distribution behavior are realized, and the accuracy, integrity and system response capability of cold chain tracing are effectively improved.

The invention discloses a design method for optimizing urban scenic spot parking facility layout, which relates to the field of parking layout design, and comprises the following steps: acquiring emergency data around a scenic spot in real time, analyzing emergency types and geographic coordinates, and generating a structured data set which comprises fence boundary coordinates and event intensity factors; based on the structured data set, a gradient electronic fence is generated on a GIS platform, fence boundary coordinates and event intensity factors are input into a pre-constructed parking demand prediction model for parameter recombination, a parking resource demand prediction map is output, a response strategy is generated according to the electronic fence range and the parking resource demand prediction map, and a parking resource demand prediction map is obtained. A scheduling instruction set is formed, the identity of a reserved vehicle is verified through a V2X vehicle-road cooperation mechanism, vehicle physical parameters are matched in combination with available parking space resources in the scheduling instruction set, and a three-dimensional navigation packet is generated; accurate adaptation of resource supply is achieved through a spatial topology matching algorithm, and the emergency response period is shortened.

The invention discloses a smart traffic-oriented refined navigation and electronic fence route planning method and system, and relates to the technical field of smart traffic, the method is executed by a dynamic collaborative optimization engine, and the method comprises the following steps: in response to an electronic fence strategy setting or adjusting instruction, starting a collaborative optimization process; in the first stage, the current traffic state of the whole road network and a plurality of candidate electronic fence strategies are input into a macroscopic traffic flow simulator, and the traffic state change of the whole road network in a period of time in the future under each strategy is deduced. According to the smart traffic-oriented refined navigation and electronic fence route planning method and system, global collaborative optimization of an electronic fence strategy and a multi-vehicle navigation route is realized, and through three-stage processing of macroscopic deduction, microcosmic verification and closed-loop feedback, the navigation route planning efficiency is improved; the problems of secondary congestion and reduced road network operation efficiency caused by local traffic control are effectively avoided, and traffic management decisions are changed from passive avoidance to active guidance.

The invention relates to the technical field of maritime monitoring electronic fences, in particular to a maritime electronic fence internet monitoring method and system, and the method comprises the steps: receiving a structured operation intention statement; obtaining associated historical behavior records; according to the historical behavior record, evaluating the trust level of the ship management party; inquiring whether an effective structured operation intention statement related to the current ship in time and space exists or not; if yes, according to the trust level of the current ship, judging that the judgment result of the deviation behavior belongs to an in-plan deviation or illegal behavior; if not, the property of the deviation behavior is judged according to the electronic fence basic rule set. The method has the advantages of obviously reducing the workload of manual verification and improving the monitoring accuracy and efficiency by intelligently distinguishing in-plan deviation and real violation.

The invention provides an electronic fence safety protection early warning system and method based on crane operation, and relates to the technical field of safety protection early warning. The early warning system comprises a dynamic fence generation module which is used for generating an electronic fence area according to working range parameters of crane equipment, dynamically adjusting an electronic fence boundary and generating dynamic fence data; the multi-source data fusion analysis module is used for identifying and calculating the operation risk factors according to the multi-source data and generating real-time operation risk state information; the environment self-adaptive adjustment module is used for dynamically adjusting the early warning parameters according to the external environment data and generating adjusted early warning parameters; and the comprehensive early warning output module is used for evaluating the overall risk of the crane operation according to the dynamic fence data, the real-time operation risk state information and the adjusted early warning parameters, and generating a corresponding early warning instruction according to an evaluation result. The method can comprehensively guarantee the safety of crane operation.

The invention provides a multi-robot distributed control method and system for a construction site, and relates to the technical field of robot control, and the method comprises the steps: obtaining a plurality of pieces of static geometric morphology information of a plurality of robots distributed in a construction area, carrying out the analysis to determine a plurality of geometric centers, carrying out the electronic fence modeling to determine a plurality of first electronic fences, and carrying out the control of the first electronic fences; pre-storing to a control terminal; updating the first electronic fence according to a plurality of pieces of dynamic geometrical morphology information corresponding to the plurality of real-time motion states to obtain a plurality of second electronic fences; and performing electronic fence contact detection on the plurality of robots according to the plurality of second electronic fences, if a contact detection return result is not null, determining an identified robot group with a collision risk, and performing obstacle avoidance control on the identified robot group. The technical effects of improving the obstacle avoidance response speed of the robot, reducing misjudgment and missed judgment and guaranteeing safe and efficient operation of multi-robot collaborative operation on the construction site can be achieved.

The embodiment of the invention provides an online car-hailing shunting method and device, and the method comprises the steps: obtaining the license plate number information of a target online car-hailing vehicle and corresponding reservation information in an electronic fence range; based on license plate number information and the reservation information, matching a target lane and corresponding target getting-on time in at least one shunting lane; and determining at least one target getting-on area in the target lane according to the target lane and the target getting-on time, and guiding the target online hailed car to the target getting-on area. Through processing the license plate number information of the target online-hailed car and the reservation information requested by the corresponding passenger, the most ideal get-on place of the passenger is determined, and the online-hailed car is guided to go to wait, so that the matching degree of the passenger and a driver is improved, the shunting management of the online-hailed car is optimized, and the get-on efficiency is improved.

The invention relates to the technical field of railway transportation safety, in particular to a multi-source data fusion train area sensing and active protection system and method.The method comprises the steps that a data acquisition module obtains obstacle sensing data in front of a train and receives state and position data reported by a personnel terminal; the space-time reference and electronic fence management module provides unified positioning and map services and generates an electronic fence according to a plan; the multi-source situation fusion module carries out fusion processing on the information to generate a global dynamic situation; the real-time risk quantification module calculates a collision time TTC based on the situation, and outputs an evaluation result according to a dynamic risk model; the intelligent early warning decision-making module generates a graded early warning instruction containing specific action guidance; and finally, the early warning cooperative execution module synchronously distributes the instruction to the train and personnel terminal. According to the invention, the conversion from passive monitoring to active early warning is realized, and the safety protection capability of driving and operation in a complex environment is improved.