CN116609723A - A method and system for regional radio positioning and early warning of mobile vehicles - Google Patents

Abstract

The invention relates to a method and system for radio positioning and early warning in a mobile vehicle area, wherein the method includes the following steps: based on a ranging algorithm, the distance data between the radio tag and each base station is obtained and stored in the base station; the base station transmits the distance data through the serial port The communication is sent to the terminal device; the terminal device decodes the distance data, and executes the positioning algorithm to locate the pedestrian tag coordinates and the vehicle area polygon/polyhedron; based on the pedestrian tag coordinates and the area polygon/polyhedron, executes the collision detection algorithm to determine the safe area polygon/polyhedron, Judging whether pedestrians or other vehicle areas enter the safe area polygon/polyhedron, if the judgment is yes, an early warning prompt will be given through the early warning module, and the terminal equipment will visually output early warning information. Compared with the prior art, the present invention has the advantages of combining radio positioning, accurate positioning area, real-time early warning and the like.

Description

A method and system for regional radio positioning and early warning of mobile vehicles

technical field

The invention relates to the field of communication positioning, in particular to a method and system for radio positioning and early warning in a motor vehicle area.

Background technique

In complex transportation scenarios such as factories, construction sites, and docks, the interaction between people and vehicles is very frequent. Because the routes between people and vehicles are uncontrollable in many complex scenarios, especially when pedestrians enter the blind spot of the vehicle, or the vehicle travels at a short distance, The possibility of accidents is greatly increased. Benefiting from the development of space object positioning technology, the positioning accuracy of specified objects in large-scale scenes has been continuously improved, which provides us with the possibility to locate people and vehicles in complex scenes and avoid accidents as soon as possible. However, traditional global navigation satellite systems (GNSS) such as GPS can only provide meter-level baseline accuracy. Even if ground station support can further improve the accuracy to centimeter-level, it is still limited to outdoor open scenes. The positioning of the scene will not be able to effectively locate due to the traditional loss of signals; the indoor positioning system (IPS) that uses vision, laser, radio, etc. for positioning can install positioning beacons (labels) in personnel, vehicles and other assets, through The anchor point (base station) fixed in the scene receives the tag data and is coordinated by the central control terminal to complete the positioning. This method can provide centimeter-level precision positioning in a certain range of large-scale scenes, but its limitation is that it can only be used for personnel Or vehicles, etc. for point positioning, if a safety warning is required for people and vehicles, it is also necessary to locate the entire area where the vehicle is located, so that when a person enters the safe area of the vehicle or the safe area between the vehicles Give an early warning in the event of a collision.

Contents of the invention

The purpose of the present invention is to provide a method and system for regional radio positioning and early warning of motor vehicles, which uses radio positioning to make up for the limitation of IPS that cannot perform regional positioning, so as to realize the safety detection and early warning of vehicles and vehicles.

The purpose of the present invention can be achieved through the following technical solutions:

A method for regional radio positioning and early warning of mobile vehicles, comprising the following steps:

S1. Obtain the distance data between the radio tag and each base station based on the ranging algorithm and store it in the base station, wherein the radio tags are respectively placed on pedestrians and vehicles in the field area, and the base stations are distributed at the edge of the field area;

S2. The base station sends the distance data to the terminal device through serial port communication;

S3. The terminal device decodes the distance data, and executes a positioning algorithm to locate the coordinates of the pedestrian tag and the polygon/polyhedron of the vehicle area;

S4. Execute the collision detection algorithm based on the pedestrian tag coordinates and the area polygon/polyhedron, determine the safe area polygon/polyhedron, and judge whether there are pedestrians or vehicle areas entering the safe area polygon/polyhedron. , and at the same time, the terminal device visually outputs the early warning information; if the judgment is no, return to step S1 for continuous monitoring.

According to whether the positioning scene is a two-dimensional scene or a three-dimensional scene, determine the number and position of the tags; when it is a two-dimensional scene, the pedestrian tag coordinates obtained by the positioning algorithm are two-dimensional coordinates, and for the vehicle object, the radio tag is placed on the edge of the vehicle , the vehicle positioning result forms a rectangle or other polygons; when it is a 3D scene, the pedestrian label coordinates obtained by the positioning algorithm are 3D coordinates. For the vehicle object, the number of labels is added to provide height information on the basis of placing labels on the edge of the vehicle. Expand the vehicle area into a polyhedron.

The radio tags and each base station transmit radio signals to each other, and obtain distance data through TWR or TDOA ranging algorithms.

In the step S3, using the positioning algorithm to locate the pedestrian label coordinates is specifically:

Suppose the distance between each tag and each base station measured by the ranging algorithm is d _i , i=1, 2,..., n, n is the number of base stations;

For a three-dimensional scene, set the coordinates of each base station in the set coordinate system as ( _xi , y _, zi ₎ , and take three base stations i, j, k to solve the following equations to obtain the pedestrian label coordinates (x, y ,z):

Wherein, i, j, k=1, 2, ..., n and not equal to each other;

For a two-dimensional scene, set the coordinates of each base station in the set coordinate system as ( _xi , y _i ), and take two of the base stations i, j to solve the following equations to obtain the pedestrian label coordinates (x, y):

Wherein, i, j=1, 2, . . . , n and are not equal to each other.

Different base station combinations are used to solve pedestrian tag coordinates, and the points whose coordinate value changes exceed the threshold in the solution result are filtered out, and the center coordinate value of the filtered coordinate is output as the positioning coordinate.

In the step S3, using the positioning algorithm to locate the polygon/polyhedron in the vehicle area is specifically:

For each tag on the vehicle, the tag coordinates are calculated by locating pedestrian tags, and the obtained tag coordinates are connected in sequence to form a polygon/polyhedron, wherein the polyhedron is a polygonal prism determined based on the polygon and height coordinates;

Use prior data to correct polygons/polyhedrons: take the length, width and height information of the vehicle as prior polygon/polyhedron data, and use the combination of prior data and the vehicle area polygon/polyhedron coordinate data obtained from the current positioning to optimize the coordinates, so that The finally obtained polygon/polyhedron matches the shape of the prior polygon/polyhedron, and the matching degree with the localized polygon/polyhedron meets the preset threshold.

Described step S4 comprises the following steps:

S41. Extending the polygon/polyhedron: given the safety warning range d _s , extend each side/facing outward normal vector direction of the vehicle area polygon/polyhedron obtained by positioning by d _s lengths, and extend the obtained new side/surface, Form new polygons/polyhedra as safe area polygons/polyhedra;

S42. Collision detection

S421. Pedestrian and area collision: determine whether the coordinates of the pedestrian tag are within any polygon/polyhedron in the safe area, and if so, the terminal device transmits information to the early warning module of the vehicle represented by the polygon, and the early warning module gives an early warning prompt. At the same time, the terminal device Visually output warning information; if not, return to step S1;

S422. Collision between areas: use the polygon collision detection algorithm to calculate whether the vehicle area polygon/polyhedron is within any safe area polygon/polyhedron, and if so, the terminal device transmits information to the early warning module of the vehicle represented by the polygon, The early warning module gives an early warning prompt, and at the same time, the terminal device visually outputs early warning information; if not, returns to step S1.

The visual output warning information of the terminal device is specifically:

Use front-end tools to pull pedestrians and corrected area coordinates in real time, output graphics in the form of scatter points and polygons/polyhedra, and display the polygon/polyhedron range of the safe area, and output visual prompts when there is a collision.

An area radio positioning and early warning system for mobile vehicles, comprising:

Radio tags are placed on pedestrians and vehicles in the field area;

The base station is distributed on the edge of the site area, and the radio tags send radio signals to each other and obtain distance data based on the ranging algorithm. At the same time, the distance data is sent to the terminal device through the serial port communication module;

Power supply for powering radio tags and base stations;

Serial communication module, used to realize the serial communication between the base station and the terminal equipment;

The terminal device is used to decode the distance data and execute the positioning algorithm according to the distance data, locate the pedestrian tag coordinates and the vehicle area polygon/polyhedron, execute the collision detection algorithm based on the pedestrian tag coordinates and the area polygon/polyhedron, determine the safe area polygon/polyhedron, and judge Whether there are pedestrians or vehicle areas entering the safe area polygon/polyhedron, if the judgment is yes, the early warning module will be used for early warning prompts, and at the same time, the terminal equipment will visually output early warning information, if the judgment is no, the distance data will be updated for continuous monitoring;

The early warning module is deployed on the vehicle and is used for early warning according to the result of the collision detection algorithm.

The serial port communication module is an ESP8266 Wifi module.

Compared with the prior art, the present invention has the following beneficial effects:

1. The present invention will obtain the position information of pedestrians and vehicles through radio positioning, and frame its area range by placing radio positioning tags at the corners of motor vehicles, so as to realize the identification of vehicle area positions and provide safety detection for people, vehicles and vehicles. and early warning provide the data basis.

2. The positioning algorithm adopted in the present invention is simple, can greatly reduce the requirement on equipment computing power, can be deployed on most terminal equipment, and has a wide range of applications.

3. The present invention uses prior data to correct regional polygons/polyhedrons, which can compensate for the regional deformation and drift caused by the inability of the positioning tags to be strictly synchronized when the region moves, and improve the positioning accuracy.

4. The present invention can realize the collision detection between regions by setting the polygon/polyhedron of the safety region and using the existing mature algorithm, and the accuracy of the detection result is high.

Description of drawings

Fig. 1 is method flowchart of the present invention;

Fig. 2 is a schematic structural diagram of a mobile vehicle area radio positioning and early warning system in a two-dimensional scene in an embodiment.

Detailed ways

The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is carried out on the premise of the technical solution of the present invention, and detailed implementation and specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.

Example 1

This embodiment provides a method for radio positioning and early warning in a mobile vehicle area, as shown in Figure 1, comprising the following steps:

S1. Obtain the distance data between the radio tag and each base station based on the ranging algorithm and store it in the base station. The radio tags are respectively placed on pedestrians and vehicles in the field area, and the base stations are distributed at the edge of the field area.

The positioning method of the radio tag is a radio frequency positioning device that can measure angle or distance, including but not limited to ZigBee, UWB, Wifi, etc. In this embodiment, the radio tag and each base station send UWB signals to each other, and obtain distance data through ranging algorithms such as TWR or TDOA.

In this embodiment, the vehicle of the object of regional positioning is a broad concept, including but not limited to trucks, forklifts, drones, ships and other mobile vehicles and fixed assets in the scene.

For people who need to be positioned in the scene, place positioning tags on their bodies, such as pockets. For vehicles or assets that require regional positioning in the scene, place labels on their edges to form rectangles or other polygons. The base station modules are distributed on the edge of the scene, and the coverage of the base station covers as much as possible the range that needs to be positioned in the site.

According to whether the positioning scene is a two-dimensional scene or a three-dimensional scene, determine the number and position of the tags; when it is a two-dimensional scene, the pedestrian tag coordinates obtained by the positioning algorithm are two-dimensional coordinates, and for the vehicle object, the radio tag is placed on the edge of the vehicle , the vehicle positioning result forms a rectangle or other polygons; when it is a 3D scene, the pedestrian label coordinates obtained by the positioning algorithm are 3D coordinates. For the vehicle object, the number of labels is added to provide height information on the basis of placing labels on the edge of the vehicle. Expand the vehicle area into a polyhedron. In order to improve the positioning accuracy, in the 2D positioning scenario, the height of the tag and the base station should be on the same horizontal line as much as possible; in the 3D positioning scenario, the tag providing height information should be sufficiently separated from the tag used to frame the area.

S2. The base station sends the distance data to the terminal device through serial port communication.

S3. The terminal device decodes the distance data, and executes a positioning algorithm to locate the coordinates of the pedestrian tag and the polygon/polyhedron of the vehicle area.

S31. Using a positioning algorithm to locate the pedestrian label coordinates

Suppose the distance between each tag and each base station measured by the ranging algorithm is d _i , i=1,2,...,n, n is the number of base stations;

For a three-dimensional scene, set the coordinates of each base station in the set coordinate system as ( _xi , y _, zi ₎ , and take three base stations i, j, k to solve the following equations to obtain the pedestrian label coordinates (x, y ,z):

Wherein, i, j, k=1, 2, ..., n and not equal to each other;

For a two-dimensional scene, set the coordinates of each base station in the set coordinate system as ( _xi , y _i ), and take two of the base stations i, j to solve the following equations to obtain the pedestrian label coordinates (x, y):

Wherein, i, j=1, 2, . . . , n are not equal to each other.

For the tags located in the scene area, the coordinates of each tag are calculated by the pedestrian tag positioning method. The obtained scattered points are sequentially connected to form a polygon (the 3D scene uses height information to form a polygonal prism). In order to compensate for the regional deformation and drift caused by the regional movement caused by the inability of the positioning tags to be strictly synchronized, it is necessary to use the prior data to carry out the polygon/polyhedron correction. The length, width, and height information of the vehicle can be used as the prior polygon/polyhedron data, and the coordinates can be optimized by combining this data with the regional polygon/polyhedron coordinate data obtained from the current positioning, so that the final polygon/polyhedron is in the same shape as the prior polygon/polyhedron Consistent, and as close as possible to the regional polygon/polyhedron obtained by positioning.

S32. Using a positioning algorithm to locate polygons/polyhedrons in the vehicle area:

For each tag on the vehicle, the tag coordinates are calculated by locating pedestrian tags, and the obtained tag coordinates are connected in sequence to form a polygon/polyhedron, wherein the polyhedron is a polygonal prism determined based on the polygon and height coordinates;

Use prior data to correct polygons/polyhedrons: take the length, width and height information of the vehicle as prior polygon/polyhedron data, and use the combination of prior data and the vehicle area polygon/polyhedron coordinate data obtained from the current positioning to optimize the coordinates, so that The finally obtained polygon/polyhedron matches the shape of the prior polygon/polyhedron, and the matching degree with the localized polygon/polyhedron meets the preset threshold.

S4. Execute the collision detection algorithm based on the pedestrian tag coordinates and the area polygon/polyhedron, determine the safe area polygon/polyhedron, and judge whether there are pedestrians or vehicle areas entering the safe area polygon/polyhedron. , and at the same time, the terminal device visually outputs the early warning information; if the judgment is no, return to step S1 for continuous monitoring.

S41. Extending the polygon/polyhedron: given the safety warning range d _s , extend each side/facing outward normal vector direction of the vehicle area polygon/polyhedron obtained by positioning by d _s lengths, and extend the obtained new side/surface, Form new polygons/polyhedra as safe area polygons/polyhedra;

S42. Collision detection

S421. Pedestrian and area collision: determine whether the coordinates of the pedestrian tag are within any polygon/polyhedron in the safe area, and if so, the terminal device transmits information to the early warning module of the vehicle represented by the polygon, and the early warning module gives an early warning prompt. At the same time, the terminal device Visually output warning information; if not, return to step S1;

S422. Collision between areas: use a polygon collision detection algorithm (such as the GJK algorithm) to calculate whether the polygon/polyhedron in the vehicle area is in any safe area polygon/polyhedron, and if so, the terminal device sends a message to the vehicle represented by the polygon. The early warning module transmits information, and the early warning module gives an early warning prompt, and at the same time, the terminal device visually outputs the early warning information; if not, return to step S1.

Terminal equipment uses front-end tools to pull pedestrians and corrected area coordinates in real time, output graphics in the form of scatter points and polygons/polyhedrons, and monitor the activities of personnel and vehicle assets in the scene in real time; in addition, polygons/polyhedrons in safe areas can be displayed When there is a collision, visual prompts such as warning windows are given for the reference of the terminal manager.

Example 2

This embodiment provides a mobile vehicle area radio positioning and early warning system, including:

(1) Radio tags

For people who need to be positioned in the scene, place positioning tags on their bodies, such as pockets. For vehicles or assets that require regional positioning in the scene, place labels on their edges to form rectangles or other polygons. The base station modules are distributed on the edge of the scene, and the coverage of the base station covers as much as possible the range that needs to be positioned in the site.

(2) Base station

The base station is distributed on the edge of the site area, and the radio tags send UWB signals to each other and obtain distance data based on the ranging algorithm. At the same time, the distance data is sent to the terminal device through the serial communication module;

If the site to be positioned is too large, in order to solve the weakening of the communication strength between the base station and the tag at a long distance, the method of roaming the base station or increasing the distribution of the base station can be considered to expand the effective range of positioning.

(3) The power supply is used to supply power to the radio tag and the base station. Considering the power supply of the base station and the tag, it can be powered by a 5V2A mobile power supply, and the tag can also have a built-in power supply for long-term battery life.

(4) The serial port communication module is used to realize the serial port communication between the base station and the terminal equipment.

In this embodiment, the serial port communication module selects the ESP8266 Wifi module.

(5) Terminal equipment, used to decode the distance data and execute the positioning algorithm according to the distance data, locate the pedestrian tag coordinates and the vehicle area polygon/polyhedron, and execute the collision detection algorithm based on the pedestrian tag coordinates and the area polygon/polyhedron to determine the safe area polygon/polyhedron Polyhedron, judging whether there are pedestrians or vehicle areas entering the safe area polygon/polyhedron, if it is judged to be yes, the early warning module will be used for early warning prompts, and the terminal equipment will visually output early warning information, if it is judged to be no, then update the distance data and proceed Continuous monitoring.

In this embodiment, the positioning algorithm includes the following steps:

S31. Using a positioning algorithm to locate the pedestrian label coordinates

Suppose the distance between each tag and each base station measured by the ranging algorithm is d _i , i=1, 2,..., n, n is the number of base stations;

For a three-dimensional scene, set the coordinates of each base station in the set coordinate system as ( _xi , y _, zi ₎ , and take three base stations i, j, k to solve the following equations to obtain the pedestrian label coordinates (x, y ,z):

Wherein, i, j, k=1, 2, ..., n and not equal to each other;

For a two-dimensional scene, set the coordinates of each base station in the set coordinate system as ( _xi , y _i ), and take two of the base stations i, j to solve the following equations to obtain the pedestrian label coordinates (x, y):

Wherein, i, j=1, 2, . . . , n are not equal to each other.

For the tags located in the scene area, the coordinates of each tag are calculated by the pedestrian tag positioning method. The obtained scattered points are sequentially connected to form a polygon (the 3D scene uses height information to form a polygonal prism). In order to compensate for the regional deformation and drift caused by the regional movement caused by the inability of the positioning tags to be strictly synchronized, it is necessary to use the prior data to carry out the polygon/polyhedron correction. The length, width, and height information of the vehicle can be used as the prior polygon/polyhedron data, and the coordinates can be optimized by combining this data with the regional polygon/polyhedron coordinate data obtained from the current positioning, so that the final polygon/polyhedron is in the same shape as the prior polygon/polyhedron Consistent, and as close as possible to the regional polygon/polyhedron obtained by positioning.

S32. Using a positioning algorithm to locate polygons/polyhedrons in the vehicle area:

For each tag on the vehicle, the tag coordinates are calculated by locating pedestrian tags, and the obtained tag coordinates are connected in sequence to form a polygon/polyhedron, wherein the polyhedron is a polygonal prism determined based on the polygon and height coordinates;

Use prior data to correct polygons/polyhedrons: take the length, width and height information of the vehicle as prior polygon/polyhedron data, and use the combination of prior data and the vehicle area polygon/polyhedron coordinate data obtained from the current positioning to optimize the coordinates, so that The finally obtained polygon/polyhedron matches the shape of the prior polygon/polyhedron, and the matching degree with the localized polygon/polyhedron meets the preset threshold.

In this embodiment, the collision detection algorithm includes the following steps:

S41. Extending the polygon/polyhedron: given the safety warning range d _s , extend each side/facing outward normal vector direction of the vehicle area polygon/polyhedron obtained by positioning by d _s lengths, and extend the obtained new side/surface, Form new polygons/polyhedra as safe area polygons/polyhedra;

S42. Collision detection

S421. Pedestrian and area collision: determine whether the coordinates of the pedestrian tag are within any polygon/polyhedron in the safe area, and if so, the terminal device transmits information to the early warning module of the vehicle represented by the polygon, and the early warning module gives an early warning prompt. At the same time, the terminal device Visually output warning information; if not, return to step S1;

S422. Collision between areas: use a polygon collision detection algorithm (such as the GJK algorithm) to calculate whether the polygon/polyhedron in the vehicle area is in any safe area polygon/polyhedron, and if so, the terminal device sends a message to the vehicle represented by the polygon. The early warning module transmits information, and the early warning module gives an early warning prompt. At the same time, the terminal device visually outputs the early warning information; if not, the distance data is updated for continuous monitoring.

(6) The early warning module is deployed on the vehicle and is used for early warning according to the result of the collision detection algorithm. The early warning module can use devices such as buzzers, deployed on vehicles and other assets, and is responsible for receiving early warning information from terminals to remind pedestrians and drivers in real time.

During the working process of the system, set the main communication base station and communicate with the terminal through the serial port of the base station; when there are many base stations and tags that need to communicate in the scene, multiple main communication base stations can be set to send serial port data to the terminal in time-sharing to avoid data Package collision conflicts. In addition, in order to facilitate the communication between the serial port of the base station and the terminal, a serial communication module such as ESP8266 can be used to connect to the same local area network as the terminal to transmit serial data. The terminal device processes the received serial port data, including processor and display, runs the positioning algorithm and collision detection algorithm, and visualizes the positioning and early warning results in real time.

Specifically, three or more base station modules are installed in the scene, and the personnel in the scene are equipped with positioning tags. For regional positioning objects such as vehicles, the tags are placed on the edges to form rectangles or other polygons. The tags send signals to the base station respectively to realize the TWR algorithm ranging, and the control terminal uses the distance information of the tags to calculate the coordinates of each tag in the scene. For the coordinates of the area positioning label, construct the corresponding polygon, and extend the polygon outward for a certain safety distance to obtain the area safety polygon. If the complex three-dimensional structure of some vehicles or assets is considered, the number of tags can be increased to provide height information. For example, additional tags are deployed on the top of the vehicle. At this time, the positioning area can be expanded into a polyhedron. When a person tag enters the polygon/polyhedron or several regional safety polygons/polyhedrons collide, the terminal uses GJK and other collision detection algorithms to give an early warning prompt, thereby reminding personnel and vehicle drivers to pay attention to safety.

The innovation point of the present invention is:

(1) Radio area positioning: Different from the current radio tags that are generally used for point positioning, the area positioning of this scheme can locate the two-dimensional or three-dimensional area range of a certain target by framing the target polygon.

(2) The area collision detection algorithm is used for safety warning: abstract the safety warning of people and vehicles, vehicles and vehicles into collision detection problems between points and polygons/polyhedra, polygons/polyhedra and polygons/polyhedra.

Preferably, this embodiment performs 2D area positioning to reduce positioning errors as much as possible. To simplify the model, three base stations are used for positioning.

In this embodiment, three base stations are deployed in a site, and are distributed in an isosceles triangle, as shown in FIG. 2 . The base station No. 1 is used as the origin of the coordinates, and the base of the triangle is the x-axis to establish a coordinate system. The coordinates of the three base stations are

The serial port of No. 1 base station transmits the distance information and the tag id to the terminal device together. The content of each piece of data includes (tag id, distance to No. 1 base station, distance to No. 2 base station, and distance to No. 3 base station);

Then, the positioning algorithm executed by the system includes the following steps:

S31. Create a coordinate buffer pool for each tag. The positioning algorithm calculates the positioning coordinates of each tag according to the distance information, and stores them in the corresponding buffer pool;

S32. For pedestrian tags, use the distance to any two base stations to calculate the current positioning coordinates, measure three groups respectively, and finally take the coordinate centers obtained by the three groups as the output positioning coordinates;

S33. For the regional positioning tags, use the method of S52 to calculate the coordinates; if the corresponding tag coordinate buffer pools of the current positioning area have data, then pull the latest coordinate data in each pool to correct the coordinates, and integrate the area length and width information Wait for the prior data and the currently calculated coordinate data, and output the corrected coordinates;

S34. Filter abnormal coordinates. Since the real position of a static or low-speed moving tag does not change significantly, abnormal coordinates can be found and filtered by judging whether the buffer pool contains coordinate data with a large distance difference;

The collision detection algorithm implemented by the system includes the following steps:

S41. Expand the area polygon outward by a safe distance to obtain the area safety polygon: given the safety warning range d _s , extend each side of the convex polygon obtained by area positioning to the direction of the outer normal vector by d _s lengths, and extend the obtained new The sides form a new polygon, which is the safe polygon;

S42. After acquiring new positioning coordinates each time, if the coordinates belong to the pedestrian label, it is judged whether the coordinates are within the safety polygon of any area, and if so, the pedestrian has entered the safety polygon;

If the coordinates belong to the positioning area, use GJK and other collision detection algorithms to judge whether the positioning area where the coordinates are located overlaps with the safety polygons in other areas;

S43. Visualization, image output pedestrian coordinates, positioning area and safety polygon.

The preferred specific embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make many modifications and changes according to the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experiments on the basis of the prior art shall be within the scope of protection defined in the claims.

Claims (10)

1. A mobile vehicle area radio location and early warning method, is characterized in that, comprises the following steps: S1. Obtain the distance data between the radio tag and each base station based on the ranging algorithm and store it in the base station, wherein the radio tags are respectively placed on pedestrians and vehicles in the field area, and the base stations are distributed at the edge of the field area; S2. The base station sends the distance data to the terminal device through serial port communication; S3. The terminal device decodes the distance data, and executes a positioning algorithm to locate the coordinates of the pedestrian tag and the polygon/polyhedron of the vehicle area; S4. Execute the collision detection algorithm based on the pedestrian tag coordinates and the area polygon/polyhedron, determine the safe area polygon/polyhedron, and judge whether there are pedestrians or vehicle areas entering the safe area polygon/polyhedron. , and at the same time, the terminal device visually outputs the early warning information; if the judgment is no, return to step S1 for continuous monitoring. 2. A kind of radio positioning and early warning method for motor vehicles according to claim 1, characterized in that, according to the positioning scene is a two-dimensional scene or a three-dimensional scene, determine the number and position of the label placement; when it is a two-dimensional scene , the pedestrian tag coordinates obtained by the positioning algorithm are two-dimensional coordinates. For vehicle objects, the radio tags are placed on the edge of the vehicle, and the vehicle positioning results form a rectangle or other polygons; when it is a three-dimensional scene, the pedestrian label coordinates obtained by the positioning algorithm For the three-dimensional coordinates, for the vehicle object, the number of labels is added to provide height information on the basis of the labels placed on the edge of the vehicle, and the vehicle area is expanded into a polyhedron. 3. A method for radio positioning and early warning of a mobile vehicle area according to claim 1, wherein the radio tags and each base station send radio signals to each other, and obtain distance data through TWR or TDOA ranging algorithms. 4. A kind of radio positioning and early warning method for motor vehicles according to claim 1, characterized in that, in the step S3, using a positioning algorithm to locate the pedestrian tag coordinates is specifically: Suppose the distance between each tag and each base station measured by the ranging algorithm is d _i , i=1,2,...,n, n is the number of base stations; For a three-dimensional scene, set the coordinates of each base station in the set coordinate system as (xi _, y _i , z _i ), and take three of the base stations i, j, k to solve the following equations to obtain the pedestrian label coordinates (x, y ,z): Among them, i, j, k=1, 2,..., n and are not equal to each other; For a two-dimensional scene, set the coordinates of each base station in the set coordinate system as ( _xi , y _i ), and take two of the base stations i, j to solve the following equations to obtain the pedestrian label coordinates (x, y): Wherein, i, j=1, 2, . . . , n and are not equal to each other. 5. A kind of mobile vehicle area radio location and early warning method according to claim 4, it is characterized in that, take different base station combinations to carry out pedestrian label coordinate solution, filter out the point in solution result that the coordinate value change exceeds threshold value, will The center coordinate values of the filtered coordinates are output as positioning coordinates. 6. The method for radio positioning and early warning in a region of a mobile vehicle according to claim 4, characterized in that, in the step S3, using a positioning algorithm to locate the polygon/polyhedron in the region of the vehicle is specifically: For each tag on the vehicle, the tag coordinates are calculated by locating pedestrian tags, and the obtained tag coordinates are connected in sequence to form a polygon/polyhedron, wherein the polyhedron is a polygonal prism determined based on the polygon and height coordinates; Use prior data to correct polygons/polyhedrons: take the length, width and height information of the vehicle as prior polygon/polyhedron data, and use the combination of prior data and the vehicle area polygon/polyhedron coordinate data obtained from the current positioning to optimize the coordinates, so that The finally obtained polygon/polyhedron matches the shape of the prior polygon/polyhedron, and the matching degree with the localized polygon/polyhedron meets the preset threshold. 7. A kind of radio positioning and early warning method for motor vehicle area according to claim 1, characterized in that, said step S4 comprises the following steps: S41. Extending the polygon/polyhedron: given the safety warning range d _s , extend each side/facing outward normal vector direction of the vehicle area polygon/polyhedron obtained by positioning by d _s lengths, and extend the obtained new side/surface, Form new polygons/polyhedra as safe area polygons/polyhedra; S42. Collision detection S421. Pedestrian and area collision: determine whether the coordinates of the pedestrian tag are within any polygon/polyhedron in the safe area, and if so, the terminal device transmits information to the early warning module of the vehicle represented by the polygon, and the early warning module gives an early warning prompt. At the same time, the terminal device Visually output warning information; if not, return to step S1; S422. Collision between areas: use the polygon collision detection algorithm to calculate whether the vehicle area polygon/polyhedron is within any safe area polygon/polyhedron, and if so, the terminal device transmits information to the early warning module of the vehicle represented by the polygon, The early warning module gives an early warning prompt, and at the same time, the terminal device visually outputs the early warning information; if not, return to step S1. 8. A kind of mobile vehicle area radio positioning and early warning method according to claim 1, characterized in that, the visual output early warning information of the terminal equipment is specifically: Use front-end tools to pull pedestrians and corrected area coordinates in real time, output graphics in the form of scatter points and polygons/polyhedra, and display the polygon/polyhedron range of the safe area, and output visual prompts when there is a collision. 9. A regional radio positioning and early warning system for mobile vehicles, characterized in that it includes: Radio tags are placed on pedestrians and vehicles in the field area; The base station is distributed on the edge of the site area, and the radio tags send radio signals to each other and obtain distance data based on the ranging algorithm. At the same time, the distance data is sent to the terminal device through the serial port communication module; Power supply for powering radio tags and base stations; Serial communication module, used to realize the serial communication between the base station and the terminal equipment; The terminal device is used to decode the distance data and execute the positioning algorithm according to the distance data, locate the pedestrian tag coordinates and the vehicle area polygon/polyhedron, execute the collision detection algorithm based on the pedestrian tag coordinates and the area polygon/polyhedron, determine the safe area polygon/polyhedron, and judge Whether there are pedestrians or vehicle areas entering the safe area polygon/polyhedron, if the judgment is yes, the early warning module will be used for early warning prompts, and at the same time, the terminal equipment will visually output early warning information, if the judgment is no, the distance data will be updated for continuous monitoring; The early warning module is deployed on the vehicle and is used for early warning according to the result of the collision detection algorithm. 10. The regional radio positioning and early warning system for motorized vehicles according to claim 9, wherein the serial port communication module is an ESP8266 Wifi module.