CN111025230A - Bluetooth-based riding safety monitoring method and device - Google Patents
Bluetooth-based riding safety monitoring method and device Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
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Abstract
The invention relates to the technical field of riding safety monitoring, and discloses a riding safety monitoring method based on Bluetooth, which comprises the following steps: respectively transmitting two beams of Bluetooth electromagnetic waves from two different transmitting points on the current vehicle, and respectively receiving Bluetooth echoes; respectively acquiring time intervals from transmitting to receiving of two beams of Bluetooth electromagnetic waves, and respectively calculating the relative distance between two transmitting points and a rear vehicle according to the two time intervals; establishing a coordinate system and acquiring coordinates of two transmitting points; and calculating the coordinates of the rear vehicle according to the coordinates of the two transmitting points and the relative distance between the two transmitting points and the rear vehicle, and displaying the position of the rear vehicle according to the coordinates of the rear vehicle. The invention can realize the monitoring of the rear vehicle in the riding process and eliminate the potential safety hazard in the riding process.
Description
Technical Field
The invention relates to the technical field of riding safety monitoring, in particular to a riding safety monitoring method and device based on Bluetooth.
Background
During bicycle match or daily riding, the position distance of rear vehicle and vehicle is the problem that the puzzlement was ridden the hand always, because the unable rear-view mirror of installing of bicycle can't accomplish the dynamic monitoring to the real-time position of the in-process rear vehicle of riding, causes the potential safety hazard of the in-process of riding.
Disclosure of Invention
The invention aims to overcome the technical defects, provides a riding safety monitoring method and device based on Bluetooth, and solves the technical problem that potential safety hazards are caused because a rear vehicle cannot be monitored in the riding process in the prior art.
In order to achieve the technical purpose, the technical scheme of the invention provides a riding safety monitoring method based on Bluetooth, which comprises the following steps:
respectively transmitting two beams of Bluetooth electromagnetic waves from two different transmitting points on the current vehicle, and respectively receiving Bluetooth echoes;
respectively acquiring time intervals from transmitting to receiving of two beams of Bluetooth electromagnetic waves, and respectively calculating the relative distance between two transmitting points and a rear vehicle according to the two time intervals;
establishing a coordinate system and acquiring coordinates of two transmitting points;
and calculating the coordinates of the rear vehicle according to the coordinates of the two transmitting points and the relative distance between the two transmitting points and the rear vehicle, and displaying the position of the rear vehicle according to the coordinates of the rear vehicle.
The invention also provides a riding safety monitoring device based on the Bluetooth, which comprises a Bluetooth circuit, a processor and a display;
the Bluetooth circuit is used for respectively transmitting two beams of Bluetooth electromagnetic waves from two different transmitting points on the current vehicle and respectively receiving Bluetooth echoes;
the processor is used for respectively obtaining time intervals from transmitting to receiving of the two beams of Bluetooth electromagnetic waves and respectively calculating the relative distance between the two transmitting points and a rear vehicle according to the two time intervals; establishing a coordinate system and acquiring coordinates of two transmitting points; calculating the coordinates of the rear vehicle according to the coordinates of the two transmitting points and the relative distance between the two transmitting points and the rear vehicle; and displaying the position of the rear vehicle on the display according to the coordinates of the rear vehicle.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, the Bluetooth electromagnetic waves are transmitted and the Bluetooth echoes are received, the distance between the rear vehicle and two transmitting points can be calculated according to the time interval between transmitting and receiving, and then the coordinates of the rear vehicle are calculated, so that the positioning of the rear vehicle is realized, the coordinates of the rear vehicle are displayed in real time, the real-time dynamic monitoring of the position of the rear vehicle is realized, and the potential safety hazard in the riding process is eliminated.
Drawings
FIG. 1 is a flowchart of an embodiment of a method for monitoring riding safety based on Bluetooth according to the present invention;
fig. 2 is a frequency-time diagram of a bluetooth electromagnetic wave and a bluetooth echo in an embodiment of a bluetooth-based riding safety monitoring method provided by the present invention;
fig. 3 is a schematic diagram of a calculation principle of rear vehicle coordinate calculation according to an embodiment of the riding safety monitoring method based on bluetooth provided by the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
As shown in fig. 1, embodiment 1 of the present invention provides a bluetooth-based riding safety monitoring method, including the following steps:
s1, respectively transmitting two beams of Bluetooth electromagnetic waves from two different transmitting points on the current vehicle, and respectively receiving Bluetooth echoes;
s2, respectively acquiring time intervals from transmitting to receiving of two beams of Bluetooth electromagnetic waves, and respectively calculating the relative distance between the two transmitting points and a rear vehicle according to the two time intervals;
s3, establishing a coordinate system and acquiring the coordinates of the two transmitting points;
and S4, calculating the coordinates of the rear vehicle according to the coordinates of the two transmitting points and the relative distance between the two transmitting points and the rear vehicle, and displaying the position of the rear vehicle according to the coordinates of the rear vehicle.
The bluetooth electromagnetic wave meets the object and can produce the echo, and this embodiment is received the bluetooth echo that returns through the rear vehicle by current vehicle to the rear transmission bluetooth electromagnetic wave of riding, fixes a position the rear vehicle according to the characteristic of bluetooth echo to monitor the early warning to the car distance, realize the safety monitoring of the in-process of riding, eliminate the potential safety hazard of the in-process of riding.
The wireless frequency band of the Bluetooth work is 2.400-2.4835GHz, the Bluetooth works under the Ultra High Frequency (UHF), the wavelength is between 0.1m and 1m, and the propagation characteristic is space wave. It is known that the longer the wavelength, the more reflection occurs. Although the wave emitted by bluetooth belongs to UHF, the wavelength of which is much shorter than that of ultrasonic wave, the distance to be monitored is generally within 10m due to the short-distance environment of riding, and therefore, the emission is a necessary phenomenon. The transmitting antenna and the receiving antenna of the Bluetooth can realize half-duplex communication, and the real-time requirement can be met sufficiently.
And calculating whether the Bluetooth electromagnetic wave is within 10m and the signal intensity of the Bluetooth echo can be received by the Bluetooth receiving module. The calculation uses the spatial attenuation formula of the electromagnetic wave:
L＝32.45+20lgf+20lgR
wherein L is free space loss, f is the frequency (MHz) of the Bluetooth electromagnetic wave, R is the distance (km) from a transmitting point to a rear vehicle, and lg is a logarithmic function with 10 as the base;
the signal receiving strength calculation formula:
RSS＝Pt+Gr+Gt-Lc-L
wherein RSS is the signal strength of the Bluetooth echo, PtEmission power of Bluetooth electromagnetic waves, GrTransmission gain, GtReceive gain, LcFor cable loss, L is propagation medium attenuation;
first, the transmission gain and the receiving gain are not considered, the cable loss is also negligible due to wireless transmission, and then the formula is simplified as follows:
RSS＝Pt-L
it is calculated from the above equation that when the signal propagates through the air, the attenuation of 20m (10 m round trip) is 66.46dBm, that is, the Bluetooth signal at 20m is-66.46 dBm, and the sensitivity of Bluetooth is-80 dBm-100 dBm, so that the Bluetooth can receive the echo signal without any gain. The signal of the bluetooth echo will be stronger if transmit and receive gains are considered.
Therefore, through the above calculation and analysis, it is feasible to locate the rear vehicle through the bluetooth echo, and the rear vehicle within a range of at least 10m can be monitored and early warned.
The embodiment of the invention solves the problem that the rear condition cannot be observed in the bicycle riding process, positions the rear vehicle in real time and improves the riding safety. Especially when in the match of riding, can observe rear opponent's position at any time, strengthen the athletics in the match of riding, have showing promotion to the security of riding and the experience of riding.
Preferably, the bluetooth electromagnetic wave is emitted, specifically:
and generating a carrier wave and a frequency hopping wave, mixing the carrier wave and the frequency hopping wave to obtain the Bluetooth electromagnetic wave subjected to frequency hopping according to a set rule, and transmitting the Bluetooth electromagnetic wave.
Because there are many protocols working in the frequency band of 2.400-2.4835GHz, such as 802.11b, HomeRF, microwave oven, cordless telephone, medical equipment and other electronic devices, the problem of interference is inevitably generated, so that the frequency hopping technology is adopted to resist interference, and the frequency of the bluetooth electromagnetic wave is continuously hopped. The frequency hopping is generated in the modulation process, frequency hopping waves are generated through a frequency hopping instruction generator, carrier waves are mixed with the generated frequency hopping waves, and a group of Bluetooth electromagnetic waves which carry out frequency hopping according to a specific rule are obtained. In this embodiment, the hopping wave operates in a 2.4GHZ band, 79 or 23 frequency slots are used, the hopping rate is 1600hop/s, the width of the frequency slot is 1MHZ, the generation of the hopping wave is realized by adding a local clock and an address of the bluetooth device through modulo operation, exclusive or operation, transposition operation, and the like, and a register is addressed, thereby generating the hopping wave. The mixed Bluetooth electromagnetic waves can change the frequency according to the specified frequency hopping waves, so that the aim of resisting interference is fulfilled.
Preferably, as shown in fig. 2, time intervals from transmission to reception of the two bluetooth electromagnetic waves are respectively obtained, and the relative distance between the two transmission points and the rear vehicle is respectively calculated according to the two time intervals, specifically:
wherein f is+For frequency increment, f-For frequency decrement, B is the modulation bandwidth of the Bluetooth electromagnetic wave, T is the period of the Bluetooth electromagnetic wave, c is the speed of light, R is the relative distance between the rear vehicle and the emission point, f0The center frequency of the Bluetooth electromagnetic wave is shown, and V is the relative speed between a rear vehicle and a transmitting point;
and (3) combining the above two formulas to obtain the relative distance and the relative speed:
because the riding speed is not high generally, only vehicles in short distance need to be monitored, the electromagnetic wave propagation speed in short distance can be regarded as the light speed, and therefore the frequency increment f+And is a frequency decrement of f-And (3) equally, simplifying the formula to obtain:
where Δ t is the time interval.
In fig. 2, Δ F is a frequency variable, T is a period of the transmitted bluetooth electromagnetic wave, and IF is a frequency difference between the bluetooth electromagnetic wave and the bluetooth echo.
Preferably, as shown in fig. 3, a coordinate system is established, and the coordinates of the two emission points are obtained, specifically:
establishing a rectangular coordinate system on a horizontal plane, and taking the connecting line direction of the two transmitting points as an X axis and the perpendicular bisector direction of the connecting line of the two transmitting points as a Y axis to obtain the coordinate system;
the coordinates of the two emission points are respectively (l/2,0) and (-l/2,0), wherein l is the distance between the two emission points.
Because the positioning is performed in the three-dimensional space, a space coordinate system needs to be established, but the safety monitoring distance is short in the riding process, and the current vehicle and the rear vehicle are basically at the same height, so that in order to simplify the subsequent calculation process, the influence of a small height factor is ignored in the embodiment, and a rectangular coordinate system is established on a horizontal plane by taking the connecting line direction of two transmitting points as an X axis and taking the perpendicular bisector direction of the connecting line of the two transmitting points as a Y axis.
Preferably, the emission directions of the two beams of bluetooth electromagnetic waves are both parallel to the horizontal plane.
The transmission direction of the Bluetooth electromagnetic waves is set to be parallel to the horizontal plane, so that the influence of the height factor on the precision of the calculation process is further reduced.
Preferably, as shown in fig. 3, the coordinates of the rear vehicle are calculated according to the coordinates of the two transmitting points and the relative distance between the two transmitting points and the rear vehicle, specifically:
acquiring an included angle between the Bluetooth echo and the X axis according to the echo characteristic of the Bluetooth echo;
respectively establishing an equation of a connecting line between two transmitting points and a rear vehicle:
y＝tanαx+b1
y＝tanβx+b2
wherein α is the angle between one of the Bluetooth echoes and the X-axis, β is the angle between the other Bluetooth echo and the X-axis, y is the ordinate, i.e. the variable, X is the abscissa, i.e. the independent variable, b1And b2Respectively are undetermined parameters of two equations;
respectively substituting the coordinates of two emission points into two equations to obtain parameter b1And b2；
And solving the coordinates of the intersection point of the two equations, wherein the coordinates of the intersection point are the coordinates of the rear vehicle.
The values α and β can be known from the echo characteristics of the bluetooth echo, i.e. the slope of the equation is known, and the parameter b of the two equations is determined from the known coordinates of the two emission points1And b2The linear equations of the two connecting lines are determined, then the coordinates of the intersection point of the two connecting lines, namely the coordinates of the rear vehicle, can be obtained by combining the two linear equations, and the direction of the rear vehicle can be judged according to the coordinates of the rear vehicle. The function of real-time positioning can be realized by continuously receiving the Bluetooth echo and then calculating the real-time coordinates of the vehicle behind.
Preferably, the position of the rear vehicle is displayed according to the coordinates of the rear vehicle, specifically:
and displaying the coordinate system, and identifying the coordinate position of the rear vehicle in the coordinate system.
The coordinate position of the rear vehicle is displayed in the coordinate system, so that a rider can visually feel the relative position and the relative direction of the rear vehicle and the current vehicle, and preferably, the coordinate positions of the two transmitting points and the coordinate position of the current vehicle can be marked and displayed in the coordinate system, so that the display effect is more visual and clear. The marks of the coordinate positions can be displayed by adopting circular dots, and the coordinates of the rear vehicle change in real time, so that the positions can be updated in real time by adopting flashing circular dots, and meanwhile, the tracks of the rear vehicle in a certain time period can be displayed.
Preferably, the method further comprises the step of judging whether the distance between the rear vehicle and the current vehicle is larger than a set safety distance or not, and if not, sending an alarm signal.
Whether the vehicle distance between the rear vehicle and the current vehicle is larger than a set safety distance is judged, and the method specifically comprises the following steps:
and acquiring the coordinates of the current vehicle in the coordinate system, calculating the vehicle distance according to the coordinates of the rear vehicle and the coordinates of the current vehicle, and judging whether the vehicle distance is greater than a set safety distance.
Specifically, the two emitting points are arranged on the current vehicle, and the coordinates of the current vehicle can be obtained according to the relative position relationship between the current vehicle and the two emitting points, so that the vehicle distance can be calculated. The set safety distance may be set to 10 m.
Preferably, two of the emission points are symmetrically arranged on two sides of the axis of the current vehicle, and then the coordinate of the current vehicle is (0, 0).
Specifically, the axis of the current vehicle, namely the axis of the current vehicle along the riding direction, is symmetrically arranged on two sides of the axis, the current vehicle is simplified into a point which is just at the midpoint of the connecting line of the two transmitting points, namely the origin of the established coordinate system, and the arrangement is favorable for simplifying the calculation of the vehicle distance.
Example 2
The embodiment 2 of the invention provides a riding safety monitoring device based on Bluetooth, which comprises a Bluetooth circuit, a processor, a display and an alarm, wherein the Bluetooth circuit is connected with the processor;
the Bluetooth circuit is used for respectively transmitting two beams of Bluetooth electromagnetic waves from two different transmitting points on the current vehicle and respectively receiving Bluetooth echoes;
the processor is used for respectively obtaining time intervals from transmitting to receiving of the two beams of Bluetooth electromagnetic waves and respectively calculating the relative distance between the two transmitting points and a rear vehicle according to the two time intervals; establishing a coordinate system and acquiring coordinates of two transmitting points; calculating the coordinates of the rear vehicle according to the coordinates of the two transmitting points and the relative distance between the two transmitting points and the rear vehicle; and displaying the position of the rear vehicle on the display according to the coordinates of the rear vehicle.
The Bluetooth-based riding safety monitoring device is used for realizing the Bluetooth-based riding safety monitoring method, so that the Bluetooth-based riding safety monitoring method has the technical effects that the Bluetooth-based riding safety monitoring device also has, and is not repeated herein.
The Bluetooth circuit comprises a transmitting end and a receiving end, wherein the transmitting end generates a digital signal, then performs DA conversion to generate a current signal, modulates the current signal into high-frequency oscillation current, transmits the high-frequency oscillation current to the feeding equipment through the transmitter, and finally transmits the high-frequency oscillation current from the transmitting antenna; the receiving end can receive the echo carrying information by the inverse process of transmitting. The Bluetooth circuit converts the digital signals into electric signals, and generates high-frequency oscillation current through modulation, and the transmitting antenna continuously transmits wireless electromagnetic waves outwards. If there is the vehicle to be close to in the certain distance in rear, the bluetooth electromagnetic wave of sending can produce the bluetooth echo, the frequency of the bluetooth echo that the direction that the vehicle place produced can be obviously higher than other positions, the bluetooth echo of this direction can be worked out with the contained angle of bluetooth antenna, can calculate the contained angle of bluetooth echo and the X axle of the coordinate system of establishing according to the contained angle of bluetooth echo and bluetooth antenna, the receiving terminal will receive the echo and resolve through the reverse process of transmission, can obtain the time interval like this, obtain the concrete position and the distance of rear vehicle through calculating at last, finally show on the display screen.
Preferably, the stopwatch can be used as a riding safety monitoring device based on Bluetooth, the bicycle at present can be provided with the stopwatch, and the stopwatch is provided with a Bluetooth circuit, a processor and a display, so that the hardware does not need to be changed, and only a computer program needs to be stored in the processor to realize a related algorithm.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A riding safety monitoring method based on Bluetooth is characterized by comprising the following steps:
respectively transmitting two beams of Bluetooth electromagnetic waves from two different transmitting points on the current vehicle, and respectively receiving Bluetooth echoes;
respectively acquiring time intervals from transmitting to receiving of two beams of Bluetooth electromagnetic waves, and respectively calculating the relative distance between two transmitting points and a rear vehicle according to the two time intervals;
establishing a coordinate system and acquiring coordinates of two transmitting points;
and calculating the coordinates of the rear vehicle according to the coordinates of the two transmitting points and the relative distance between the two transmitting points and the rear vehicle, and displaying the position of the rear vehicle according to the coordinates of the rear vehicle.
2. The riding safety monitoring method based on Bluetooth according to claim 1, characterized in that Bluetooth electromagnetic waves are emitted, specifically:
and generating a carrier wave and a frequency hopping wave, mixing the carrier wave and the frequency hopping wave to obtain the Bluetooth electromagnetic wave subjected to frequency hopping according to a set rule, and transmitting the Bluetooth electromagnetic wave.
3. The riding safety monitoring method based on Bluetooth according to claim 1, wherein time intervals from transmitting to receiving of two beams of Bluetooth electromagnetic waves are respectively obtained, and the relative distance between two transmitting points and a rear vehicle is respectively calculated according to the two time intervals, specifically:
where c is the speed of light, R is the relative distance between the rear vehicle and the emission point, and Δ t is the time interval.
4. The riding safety monitoring method based on the Bluetooth of claim 1, wherein a coordinate system is established, and coordinates of two transmitting points are obtained, specifically:
establishing a rectangular coordinate system on a horizontal plane, and taking the connecting line direction of the two transmitting points as an X axis and the perpendicular bisector direction of the connecting line of the two transmitting points as a Y axis to obtain the coordinate system;
the coordinates of the two emission points are respectively (l/2,0) and (-l/2,0), wherein l is the distance between the two emission points.
5. The riding safety monitoring method based on Bluetooth according to claim 4, wherein the emission directions of the two beams of Bluetooth electromagnetic waves are both parallel to the horizontal plane.
6. The riding safety monitoring method based on Bluetooth according to claim 4, wherein the coordinates of the rear vehicle are calculated according to the coordinates of the two transmitting points and the relative distance between the two transmitting points and the rear vehicle, and specifically:
acquiring an included angle between the Bluetooth echo and the X axis according to the echo characteristic of the Bluetooth echo;
respectively establishing an equation of a connecting line between two transmitting points and a rear vehicle:
y＝tanαx+b1
y＝tanβx+b2
wherein α is the angle between one of the Bluetooth echoes and the X-axis, β is the angle between the other Bluetooth echo and the X-axis, y is the ordinate, i.e. the variable, X is the abscissa, i.e. the independent variable, b1And b2Respectively are undetermined parameters of two equations;
respectively substituting the coordinates of two emission points into two equations to obtain parameter b1And b2；
And solving the coordinates of the intersection point of the two equations, wherein the coordinates of the intersection point are the coordinates of the rear vehicle.
7. The Bluetooth-based riding safety monitoring method according to claim 1, wherein the position of the rear vehicle is displayed according to the coordinates of the rear vehicle, specifically:
and displaying the coordinate system, and identifying the coordinate position of the rear vehicle in the coordinate system.
8. The Bluetooth-based riding safety monitoring method according to claim 1, further comprising the step of judging whether the distance between the rear vehicle and the current vehicle is greater than a set safety distance, and if not, sending an alarm signal.
9. The Bluetooth-based riding safety monitoring method according to claim 5, wherein the two transmitting points are symmetrically arranged on two sides of the axis of the current vehicle, so that the coordinates of the current vehicle are (0, 0).
10. A riding safety monitoring device based on Bluetooth is characterized by comprising a Bluetooth circuit, a processor and a display;
the Bluetooth circuit is used for respectively transmitting two beams of Bluetooth electromagnetic waves from two different transmitting points on the current vehicle and respectively receiving Bluetooth echoes;
the processor is used for respectively obtaining time intervals from transmitting to receiving of the two beams of Bluetooth electromagnetic waves and respectively calculating the relative distance between the two transmitting points and a rear vehicle according to the two time intervals; establishing a coordinate system and acquiring coordinates of two transmitting points; calculating the coordinates of the rear vehicle according to the coordinates of the two transmitting points and the relative distance between the two transmitting points and the rear vehicle; and displaying the position of the rear vehicle on the display according to the coordinates of the rear vehicle.
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