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CN-121985410-A - Container positioning management system and method based on multimode communication

CN121985410ACN 121985410 ACN121985410 ACN 121985410ACN-121985410-A

Abstract

The invention discloses a container positioning management system and method based on multimode communication, and relates to the technical field of containers, wherein the method continuously collects multimode communication access link quality data Lqd, extracts state data Sta from a preset stable time window to generate a state anchor point package Acp before a dead zone when a link is switched from stable coverage to weak coverage, executes event record based on state deviation during weak coverage to form a dead zone event mark set Evt, acquires recovery state data Rcv after stable coverage is recovered, establishes a bidirectional track constraint boundary Bnd, combines the dead zone event mark set Evt to generate a candidate state evolution path Ctp, screens to obtain a trusted track segment Trp, and further outputs a track consistency reconstruction result comprising a reconstruction track, a consistency grade and an abnormal transportation judgment result, thereby improving the reliability of track recovery between weak coverage areas and the accuracy of abnormal recognition.

Inventors

  • FU DECHAO
  • MA LI

Assignees

  • 上海文施光电科技有限公司

Dates

Publication Date
20260505
Application Date
20260401

Claims (10)

  1. 1. The container positioning management method based on multimode communication is characterized by comprising the following steps: S1, continuously acquiring multimode communication access link quality data Lqd of a target container, extracting state data Sta from a preset stable time window when multimode communication access link quality data Lqd is switched from a stable coverage state to a weak coverage state, wherein the state data Sta comprises position state data, motion state data, box door state data and environment state data, and generating a state anchor point packet Acp before a dead zone; S2, during the period that the multimode communication access link quality data Lqd is in a weak coverage state, carrying out event recording on a position change event, a motion change event, a box door change event and an environment change event based on the deviation condition of the state data Sta relative to a state anchor point packet Acp before a blind area to form a blind area event mark set Evt; S3, when multimode communication access link quality data Lqd is switched back to a stable coverage state, recovery state data Rcv is obtained, a bidirectional track constraint boundary Bnd is established based on a state anchor point packet Acp before a dead zone and the recovery state data Rcv, a candidate state evolution path Ctp is generated according to a dead zone event mark set Evt, and bidirectional constraint consistency check and event sequence consistency check are carried out on the candidate state evolution path Ctp to obtain a trusted track segment Trp; s4, outputting a track consistency reconstruction result Rst based on the trusted track segment Trp, wherein the track consistency reconstruction result Rst comprises a reconstruction track, a consistency grade and an abnormal transportation judgment result.
  2. 2. The method for container positioning management based on multimode communication according to claim 1, wherein in S1, the multimode communication access link quality data Lqd at least includes a received signal strength, a continuous packet loss rate, a last successful reporting interval and a round trip delay; in a plurality of continuous sampling periods, based on the combined change results of the received signal strength, the continuous packet loss rate, the last successful reporting interval and the round trip delay, carrying out joint judgment on the communication coverage state of the target container; When the combination change result continuously meets the stable coverage condition, determining that multimode communication access link quality data Lqd of the target container is in a stable coverage state; And when the combination change result continuously meets the weak coverage condition, determining that multimode communication access link quality data Lqd of the target container is in a weak coverage state, and determining the moment of switching from the stable coverage state to the weak coverage state as the weak coverage entering moment.
  3. 3. The method for positioning and managing containers based on multimode communication according to claim 2, wherein in S1, after determining the weak coverage entry time, setting a time window, which is continuously in a stable coverage state before, as a preset stable time window according to the weak coverage entry time, and extracting state data Sta in the preset stable time window; Abnormal data rejection, trend data extraction and reference state confirmation processing are carried out on the state data Sta so as to generate a state anchor point packet Acp before the blind area; the dead zone front state anchor point packet Acp comprises anchor point time, anchor point position, speed trend, heading trend, box door reference state and environment reference state.
  4. 4. A container positioning management method based on multimode communication according to claim 3, wherein in S2, continuously collected state data Sta during the period that the multimode communication access link quality data Lqd is in a weak coverage state, and event triggering, homogeneous merging and micro-amplitude rejection processing are performed on the continuously collected state data Sta with the pre-blind-zone state anchor packet Acp as a deviation reference, to form a blind area event flag set Evt; The event trigger is used for generating event records when the deviation of position state data, motion state data, box door state data and environment state data relative to the state anchor point packet Acp before the blind area reaches a corresponding trigger threshold; The same-kind merging is used for merging continuous events with the same event type, consistent event direction and adjacent time intervals smaller than the preset merging duration into an event record; the micro-amplitude rejection is used for rejecting event records with the variation amplitude lower than the corresponding retention threshold; each event record in the blind event marker set Evt includes at least an event type, a trigger sequence, a duration, a direction of change, and a magnitude of change.
  5. 5. The container positioning management method based on multimode communication according to claim 1, wherein in S3, when the multimode communication access link quality data Lqd is switched from a weak coverage state to a stable coverage state, recovery state data Rcv including recovery position state data, recovery motion state data, recovery door state data, and recovery environment state data is acquired; the recovery position state data comprise recovery positions, and the recovery motion state data at least comprise recovery speeds and recovery heading; Generating a forward allowable range based on the anchor point position, the speed trend and the heading trend in the blind area front state anchor point packet Acp, generating a reverse allowable range based on the recovery position, the recovery speed and the recovery heading in the recovery state data Rcv, and determining an overlapping area of the forward allowable range and the reverse allowable range as a bidirectional track constraint boundary Bnd.
  6. 6. The method for positioning and managing containers based on multimode communication according to claim 5, wherein in S3, a forward expansion width is determined according to a speed trend and a heading trend in the blind area forward state anchor packet Acp, forward expansion is performed according to the speed trend and the heading trend by taking an anchor point position in the blind area forward state anchor packet Acp as a starting position, and expansion is performed according to the forward expansion width on both sides of a track of the forward expansion to form the forward allowable range; forming a reverse allowable range based on the recovered position state data and the recovered motion state data in the recovered state data Rcv; The reverse allowable range determines a reverse push-back starting point according to a recovery position in the recovery position state data, determines a reverse push-back direction and a reverse push-back distance according to a recovery speed and a recovery heading in the recovery motion state data, and generates a reverse push-back track based on the reverse push-back starting point, the reverse push-back direction and the reverse push-back distance; Determining a reverse expansion width according to the change degree of the recovery speed and the recovery heading, and expanding at two sides of a reverse push-back track according to the reverse expansion width to form a reverse allowable range; And selecting a crossing part to determine an initial overlapping region within the same time section as the forward allowable range and the reverse allowable range, removing and screening the initial overlapping region according to event sequence constraint and change direction constraint corresponding to the blind area event mark set Evt, and determining the screened residual region as the bidirectional track constraint boundary Bnd.
  7. 7. The method according to claim 5, wherein in S3, based on the event type, the trigger sequence, the duration, the change direction and the change amplitude in the blind area event flag set Evt, the weak coverage state period is divided into a plurality of continuous event segments, and the continuous event segments are connected according to the trigger sequence to generate at least one candidate state evolution path Ctp; executing bidirectional constraint consistency check and event sequence consistency check on the candidate state evolution path Ctp; The bi-directional constraint consistency check is used for judging whether the candidate state evolution path Ctp is located in the bi-directional track constraint boundary Bnd; The event sequence consistency check is used for judging whether the arrangement sequence of each continuous event segment in the candidate state evolution path Ctp is consistent with the triggering sequence in the blind area event mark set Evt; and determining a candidate state evolution path Ctp which simultaneously meets the bidirectional constraint consistency check and the event sequence consistency check as a trusted track segment Trp.
  8. 8. The method for container positioning management based on multimode communication according to claim 7, wherein in S4, determining a boundary fit degree according to a continuous duration duty ratio of the trusted track segment Trp falling into the bidirectional track constraint boundary Bnd in each time segment; Determining the sequence matching degree according to the proportion of the matching event segments of the event sequence corresponding to the blind area event mark set Evt in each continuous event segment in the trusted track segment Trp; acquiring the end position deviation according to the position deviation between the end position of the trusted track segment Trp and the recovery position in the position state data; combining the speed deviation between the end point speed of the trusted track segment Trp and the recovery speed in the motion state data to obtain the end point speed deviation; The end course of the trusted track segment Trp and the recovered course in the motion state data are subjected to course deviation to obtain end course deviation; Acquiring the closing degree of the end point through weight summation based on the end point position deviation, the end point speed deviation and the end point course deviation; And comparing the boundary fitting degree, the sequence fitting degree and the end point closing degree with preset grade thresholds to determine the consistency grade in the track consistency reconstruction result Rst.
  9. 9. The container positioning management method based on multimode communication according to claim 8, wherein in S4, a path collision result is generated according to a path deviation amount between the trusted track segment Trp and a preset transportation plan path; Generating a time sequence conflict result according to the time deviation between the trusted track segment Trp and a preset transportation time window; Generating a box door conflict result according to the state deviation between the box door state change in the trusted track segment Trp and a preset box door state range; generating an environment conflict result according to the state deviation between the environment state change in the trusted track segment Trp and the preset environment state range; Determining an abnormal transportation judgment result in the track consistency reconstruction result Rst according to the combination relation of the path conflict result, the time sequence conflict result, the box door conflict result and the environment conflict result; wherein the abnormal transportation determination result includes at least one of an abnormal stay determination result, an abnormal yaw determination result, an abnormal door opening determination result, and an abnormal environment determination result.
  10. 10. A container positioning management system based on multimode communication, which is applied to the container positioning management method based on multimode communication as claimed in any one of claims 1 to 9, and is characterized by comprising a weak coverage anchoring module, a blind area event marking module, a bidirectional reconstruction checking module and a result grading judging module; The weak coverage anchoring module continuously collects multimode communication access link quality data Lqd of a target container, when multimode communication access link quality data Lqd is switched from a stable coverage state to a weak coverage state, state data Sta is extracted from a preset stable time window, the state data Sta comprises position state data, motion state data, box door state data and environment state data, and a state anchor point packet Acp before a blind area is generated; the blind area event marking module performs event recording on a position change event, a motion change event, a box door change event and an environment change event based on the deviation condition of the state data Sta relative to a blind area front state anchor point packet Acp during the period that the multimode communication access link quality data Lqd is in a weak coverage state to form a blind area event marking set Evt; The bidirectional reconstruction verification module acquires recovery state data Rcv when multimode communication access link quality data Lqd is switched back to a stable coverage state, establishes a bidirectional track constraint boundary Bnd based on a state anchor point packet Acp before a dead zone and the recovery state data Rcv, generates a candidate state evolution path Ctp according to a dead zone event mark set Evt, and performs bidirectional constraint consistency verification and event sequence consistency verification on the candidate state evolution path Ctp to obtain a trusted track fragment Trp; the result classification judging module outputs a track consistency reconstruction result Rst based on the trusted track segment Trp, wherein the track consistency reconstruction result Rst comprises a reconstruction track, a consistency grade and an abnormal transportation judging result.

Description

Container positioning management system and method based on multimode communication Technical Field The invention relates to the technical field of containers, in particular to a container positioning management system and method based on multimode communication. Background Along with the development of container transportation management from single positioning reporting to multi-source state collaborative management, the prior art can be generally combined with satellite positioning, cellular communication, box door monitoring and environment monitoring to collect and report the position and state of a container in a storage yard, a harbor area and a transportation process, and under the condition of stable coverage, the related technology can complete basic track display and abnormal alarm. In the prior art, in the processing of a weak coverage area, signal instability is easily caused by switching among different areas, networks and base stations, a stable and complete processing mechanism is often difficult to form around the continuous process of entering the weak coverage, being in the weak coverage and after recovering the coverage, and mainly the entering moment of the weak coverage is usually judged by depending on a single link state or instantaneous abnormality, so that the blind area starting point offset is easily caused. On the basis, the single-point state is directly used as a subsequent reference before entering weak coverage, and the continuous stable state is lack of refinement and convergence, so that the blind area starting reference is not reliable. Furthermore, a full track point storage or simple buffer compensation transmission mode is often adopted during weak coverage, so that not only is the data redundancy larger, but also noise points and instantaneous disturbance are difficult to effectively remove, so that information capable of truly reflecting process evolution is submerged, after coverage is recovered, the track recovery is carried out in the existing scheme in a one-way extrapolation, simple splicing or geometric overlapping mode, bidirectional constraint on the front and rear states of a dead zone and verification on the sequence of process events are absent, and therefore, although the recovery result can form the track, the overall reliability and the interpretability are insufficient, and the accuracy of subsequent consistency classification and abnormal transportation judgment is further influenced. Disclosure of Invention Aiming at the defects of the prior art, the invention provides a container positioning management system and method based on multimode communication, and solves the problems in the background art. In order to achieve the above purpose, the invention is realized by the following technical scheme that the method comprises the following steps: S1, continuously acquiring multimode communication access link quality data Lqd of a target container, extracting state data Sta from a preset stable time window when multimode communication access link quality data Lqd is switched from a stable coverage state to a weak coverage state, wherein the state data Sta comprises position state data, motion state data, box door state data and environment state data, and generating a state anchor point packet Acp before a blind area; s2, during the period that the multimode communication access link quality data Lqd is in a weak coverage state, carrying out event recording on a position change event, a motion change event, a box door change event and an environment change event based on the deviation condition of state data Sta relative to a state anchor point packet Acp before a blind area to form a blind area event mark set Evt; S3, when multimode communication access link quality data Lqd is switched back to a stable coverage state, recovery state data Rcv is obtained, a bidirectional track constraint boundary Bnd is established based on a state anchor point packet Acp before a dead zone and the recovery state data Rcv, a candidate state evolution path Ctp is generated according to a dead zone event mark set Evt, and bidirectional constraint consistency check and event sequence consistency check are carried out on the candidate state evolution path Ctp to obtain a trusted track segment Trp; s4, outputting a track consistency reconstruction result Rst based on the trusted track segment Trp, wherein the track consistency reconstruction result Rst comprises a reconstruction track, a consistency grade and an abnormal transportation judgment result. Preferably, in S1, the multimode communication access link quality data Lqd includes at least a received signal strength, a continuous packet loss rate, a last successful reporting interval and a round trip delay; in a plurality of continuous sampling periods, based on the combined change results of the received signal strength, the continuous packet loss rate, the last successful reporting interval and the round trip delay, c