CN112116823B - Tunnel long-distance trackless transportation intelligent vehicle avoidance system based on Bluetooth positioning - Google Patents
Tunnel long-distance trackless transportation intelligent vehicle avoidance system based on Bluetooth positioning Download PDFInfo
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- G08—SIGNALLING
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- G08G1/00—Traffic control systems for road vehicles
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- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
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- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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Abstract
The invention discloses a tunnel long-distance trackless transportation intelligent vehicle avoidance system based on Bluetooth positioning, which comprises: a plurality of Bluetooth beacons arranged along the tunnel and continuously broadcasting beacon data including the identification of the Bluetooth beacons outwards; the vehicle-mounted positioning terminal sniffs and receives the beacon data, sends the beacon data received by the receiving module to the avoidance management system, and receives an avoidance instruction of the avoidance management system; the avoidance management system receives the beacon data sent by the vehicle-mounted positioning terminal, determines the position and the advancing direction of the vehicle-mounted positioning terminal according to the received beacon data and the position of the Bluetooth beacon, makes an avoidance instruction based on the position and the advancing direction of each vehicle-mounted positioning terminal, sends the avoidance instruction to the vehicle-mounted positioning terminal, and enables a vehicle receiving the avoidance instruction to enter a vehicle avoidance tunnel or to pass through the vehicle avoidance tunnel in a deceleration mode according to the avoidance instruction. The invention can overcome the problem of low working efficiency caused by avoidance when the vehicle is too close, and simultaneously improves the safety.
Description
Technical Field
The invention relates to the field of tunnel positioning and safety construction, in particular to a long-distance trackless transportation intelligent vehicle avoidance system based on Bluetooth positioning.
Background
Safe and efficient construction is a permanent theme in tunnel tunneling operation, and a difficult problem of placing the construction in front of a tunnel construction management unit is solved by maintaining efficient operation in tunnel construction and ensuring operation safety. The method is limited by the limited driving space of the tunnel, the goal of bidirectional simultaneous traveling of construction vehicles on a one-way road needs to be completed, although management units put forward various regulations and measures and try various methods, the technical means for visually sensing the positions of the construction vehicles still lack in field operation, the field operation is always carried out by the naked eye observation and subjective judgment of drivers, and the operation efficiency cannot be improved all the time.
Disclosure of Invention
The invention aims to provide a tunnel long-distance trackless transportation intelligent vehicle avoidance system based on Bluetooth positioning.
In order to achieve the purpose, the invention provides the following scheme:
the utility model provides a car system is dodged to tunnel long distance trackless transportation intelligence based on bluetooth location, be provided with a plurality of car holes of keeping away in the tunnel, the system includes:
a plurality of Bluetooth beacons arranged along the tunnel and configured to continuously broadcast beacon data for positioning outwards, the beacon data including an identification of a Bluetooth beacon;
the vehicle-mounted positioning terminal comprises a Bluetooth signal sniffing receiving module and a first network communication module, wherein the Bluetooth signal sniffing receiving module is used for sniffing and receiving the beacon data, and the first network communication module is used for sending the beacon data to the avoidance management system and receiving an avoidance instruction of the avoidance management system;
the avoidance management system comprises a second network communication module and an analysis processing module, wherein the second network communication module is used for receiving beacon data sent by the first network communication module and sending an avoidance instruction made based on the beacon data to the first network communication module, the analysis processing module is used for determining the position and the advancing direction of the vehicle-mounted positioning terminal according to the received beacon data and the position of the Bluetooth beacon, the avoidance instruction is made based on the position and the advancing direction of the vehicle-mounted positioning terminal, and a vehicle receiving the avoidance instruction enters the car-avoidance hole or is decelerated and passes through the vehicle-mounted positioning terminal according to the avoidance instruction.
Optionally, the vehicle-mounted positioning terminal further comprises a voice broadcasting module, and the voice broadcasting module is used for voice broadcasting the avoidance instruction.
Optionally, the avoidance management system further includes a configuration module, where the configuration module is configured to configure the unique identifier of the vehicle-mounted positioning terminal and the network configuration information.
Optionally, the analysis processing module includes a first positioning module, where the first positioning module is configured to extract the bluetooth beacon identifier in the beacon data, and determine a bluetooth beacon position corresponding to the bluetooth beacon identifier with the largest number of repeated occurrences within a current set duration as the position of the positioning terminal.
Optionally, the vehicle-mounted positioning terminal further includes a data processing module, configured to extract an RSSI value in the received bluetooth beacon data, and encapsulate the RSSI value and an identifier of a corresponding bluetooth beacon to form new beacon data.
Optionally, the analysis processing module includes a second positioning module, and the second positioning module is configured to determine the position of the positioning terminal based on the magnitude of the RSSI value in the beacon data and the position of the bluetooth beacon corresponding to the RSSI value.
Optionally, the analysis processing module further includes a first operation direction determining module, and the first operation direction determining module is configured to determine an operation direction of the vehicle-mounted positioning terminal according to a change of the position of the positioning terminal over time.
Optionally, the analysis processing module further includes a second operation direction determining module, where the second operation direction determining module is configured to determine an operation direction of the vehicle-mounted positioning terminal according to a change of a bluetooth beacon identifier in beacon data received at any time.
Optionally, the avoidance management system further includes a decision module, the decision module determines vehicles running in opposite directions according to the running direction of the vehicle-mounted positioning terminal, and makes an avoidance decision based on the position of the vehicle avoidance hole and the positions of the vehicles running in opposite directions.
Optionally, the avoidance management system runs on a background server.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: the invention provides a tunnel long-distance trackless transportation intelligent vehicle avoidance system based on Bluetooth positioning, which is characterized in that a plurality of Bluetooth beacons are arranged along a tunnel, the Bluetooth beacons continuously broadcast beacon data containing self identification to the outside, a vehicle-mounted positioning terminal sniffs and receives the beacon data of the Bluetooth broadcasts and transmits the beacon data to an avoidance management system, the avoidance management system analyzes the beacon data, information such as the advancing direction and the position of a vehicle is determined based on the beacon data, and travelling strategies such as avoidance are provided for the vehicle based on the advancing direction and the position information of the vehicle, so that a driver is reminded to carry out related vehicle travelling operation, the reduction of working efficiency caused by avoidance when the vehicle approaches too close is prevented, and the safety risk of site construction is reduced.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a structural diagram of a tunnel long-distance trackless transportation intelligent vehicle avoidance system based on bluetooth positioning according to an embodiment of the present invention;
fig. 2 is another structural diagram of a tunnel long-distance trackless transportation intelligent vehicle avoidance system based on bluetooth positioning according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Referring to fig. 1 and 2, the embodiment provides an intelligent vehicle avoidance system for tunnel long-distance trackless transportation based on bluetooth positioning, and the system is applied to tunnel transportation, and a plurality of vehicle avoidance holes are arranged in the tunnel and used for vehicle avoidance. This car system is dodged to intelligence includes: bluetooth beacon 1, on-vehicle positioning terminal 2 and dodge management system 3, wherein:
a plurality of bluetooth beacons 1 arranged along the tunnel and configured to continuously broadcast beacon data for positioning outwards, wherein the beacon data comprises an identifier of the bluetooth beacon 1, the identifier of the bluetooth beacon 1 is unique and can be a Mac address of the bluetooth beacon 1, and the beacon data can also comprise working state information of the bluetooth beacon 1;
the vehicle-mounted positioning terminal 2 runs on a background server and comprises a Bluetooth signal sniffing receiving module 21 and a first network communication module 23, wherein the Bluetooth signal sniffing receiving module 21 is used for sniffing the beacon data and receiving the sniffed beacon data, and the first network communication module 23 is used for sending the beacon data to the avoidance management system 3 and receiving an avoidance instruction of the avoidance management system 3;
the avoidance management system 3 comprises a second network communication module 33 and an analysis processing module 32, wherein the second network communication module 33 is used for receiving beacon data sent by the first network communication module 23 and sending an avoidance instruction made based on the beacon data to the first network communication module 23, the analysis processing module 32 is used for determining the position and the advancing direction of the vehicle-mounted positioning terminal 2 according to the received beacon data and the position of the bluetooth beacon 1, making an avoidance instruction based on the position and the advancing direction of each vehicle-mounted positioning terminal 2, and allowing a vehicle receiving the avoidance instruction to enter the vehicle avoidance hole or pass through at a reduced speed according to the avoidance instruction.
As an implementation manner of this embodiment, the vehicle-mounted positioning terminal 2 of this embodiment further includes a voice broadcast module 24, configured to play the avoidance instruction by voice.
In this embodiment, the bluetooth beacon 1 may be deployed on the ground or on the wall in the tunnel, and the deployment position of the bluetooth beacon 1 is configured in the avoidance management system 3 through the configuration module 34, where the deployment position may be a position relative to a tunnel entrance, and the beacon data continuously broadcast by the bluetooth beacon 1 may include its position information relative to the tunnel entrance. The avoidance management system 3 also configures network configuration information (IP address, communication port, and the like) of the in-vehicle positioning terminal 2 through the configuration module 34. After the vehicle-mounted positioning terminal 2 is started, the bluetooth signal sniffing receiving module 21 built in the vehicle-mounted positioning terminal 2 continuously sniffs the bluetooth beacon 1, receives beacon data broadcast by the bluetooth beacon 1 in real time, and sends the received beacon data to the avoidance management system 3 through the first network communication module 23. The avoidance management system 3 is deployed in a background server, receives beacon data sent by the vehicle-mounted positioning terminal 2 through the second network communication module 33 in the avoidance management system 3, determines the running direction and relative distance information of the vehicle based on the beacon data, and sends an intelligent avoidance instruction of the vehicle to the vehicle-mounted positioning terminal 2 in combination with an avoidance management strategy. The vehicle-mounted positioning terminal 2 receives the avoidance instruction issued by the avoidance management system 3, and plays corresponding voice according to the avoidance instruction to prompt a driver to perform operations of speed reduction, avoidance or passing.
In this embodiment, each vehicle-mounted positioning terminal 2 (i.e., vehicle) may be distinguished according to its IP address and communication port in the communication network between the vehicle-mounted positioning terminal 2 and the avoidance management system 3, or may be distinguished by adding a unique identifier of the vehicle-mounted positioning terminal 2 to beacon data transmitted by the vehicle-mounted positioning terminal 2 to the vehicle-mounted management system.
As an implementation manner of this embodiment, the analysis processing module 32 of the avoidance management system 3 includes a first positioning module, and the first positioning module is configured to extract the bluetooth beacon identifier in the beacon data, and determine a bluetooth beacon 1 position corresponding to the bluetooth beacon identifier with the largest number of repeated occurrences within the current set time length as the position of the positioning terminal. Because the beacon data includes the bluetooth beacon identifier from which the data originates, the avoidance management system 3 may determine the position of the vehicle-mounted positioning terminal 2 (i.e., the vehicle) based on the bluetooth beacon identifier in the beacon data, for example, extract the bluetooth identifier information in the beacon data received within 1 second currently, count the bluetooth identifier information with the largest occurrence number, and use the position of the bluetooth beacon 1 corresponding to the bluetooth identifier information with the largest occurrence number as the current position of the vehicle-mounted positioning terminal 2 (i.e., the vehicle).
In the embodiment, the bluetooth beacon 1 is set to a mode of only sending data to the outside and not receiving data sent by other bluetooth modules, and the bluetooth beacon 1 continuously broadcasts data to the outside; the bluetooth signal sniffing receiving module 21 of the vehicle-mounted positioning terminal 2 is set to a mode of only receiving data and not sending data outwards, sniffs the surrounding bluetooth beacons 1 continuously, receives the data sent by the bluetooth beacons 1, and can also extract the signal strength information in the data and convert the signal strength information into an RSSI value.
As another implementation manner of this embodiment, the vehicle-mounted positioning terminal 2 further includes a data processing module 22, running on the ARM processor, and configured to extract the RSSI value in the received bluetooth beacon data, perform internal processing, and encapsulate the RSSI value and the identifier of the corresponding bluetooth beacon into a customized network protocol, for example, encapsulate the RSSI value and the identifier of the corresponding bluetooth beacon into new beacon data, and transmit the new beacon data to the avoidance management system 3 through the first network communication module 23. The analysis processing module 32 of the avoidance management system 3 may determine the position information of the vehicle-mounted positioning terminal 2 (vehicle) according to the RSSI value. In this case, the analysis processing module 32 of the avoidance management system 3 includes a second positioning module, and the second positioning module is configured to determine the position of the positioning terminal based on the magnitude of the RSSI value in the beacon data and the position of the bluetooth beacon corresponding to the RSSI value. For example, the signal data with the maximum RSSI value in all beacon data received in the current time period is selected, and the beacon data value includes both the RSSI value and the bluetooth beacon identifier corresponding to the RSSI value, so that the bluetooth beacon identifier corresponding to the maximum RSSI value can be determined, and further, the position of the bluetooth beacon (the position of each bluetooth is configured and recorded in advance) can be determined as the position of the vehicle-mounted positioning terminal (i.e., the vehicle). Of course, the position of the vehicle-mounted positioning terminal (i.e., the vehicle) can also be accurately positioned according to the RSSI values in the plurality of beacon data.
In this embodiment, the analysis processing module 32 of the avoidance management system 3 may determine the moving direction of the vehicle-mounted positioning terminal 2 (i.e., the vehicle) according to the temporal variation of the position of the vehicle-mounted positioning terminal 2 (i.e., the vehicle) after the position of each vehicle-mounted positioning terminal 2 (i.e., the vehicle) is obtained through positioning. The running direction of the vehicle-mounted positioning terminal 2 may also be determined according to the change of the bluetooth beacon identifier in the beacon data received at any time, for example, if the bluetooth beacon a, the bluetooth beacon b, the bluetooth beacon c, the bluetooth beacon d, the bluetooth beacon e, the bluetooth beacon f, the bluetooth beacon g, the bluetooth beacon h, and the like are sequentially arranged in the direction from the tunnel entrance to the tunnel bottom, and if the bluetooth beacon identifier in the beacon data sent by a certain vehicle-mounted positioning terminal 2 changes from a to b, c, d with time, it may be determined that the vehicle-mounted positioning terminal 2 travels in the direction from the tunnel entrance to the tunnel bottom.
In this embodiment, after determining the position and the traveling direction of the vehicle-mounted positioning terminal 2 (i.e., vehicle), when the positions of two vehicle-mounted positioning terminals 2 (i.e., vehicles) are closer, the decision module 31 may send an instruction for avoiding, decelerating or passing to a specified vehicle (i.e., vehicle-mounted positioning terminal 2) by combining the vehicle attribute in the system and an avoidance management policy built in the system, and when sending an avoidance instruction to a certain vehicle, may provide an instruction for the vehicle to avoid a certain avoidance hole. The decision module 31 of the avoidance management system 3 can perform management decision every 1 second, every time, two vehicle information are grouped according to the vehicle running direction, all vehicle information with running directions in opposite directions are grouped, then the coordinate information of the front car-avoidance hole is judged and obtained according to the vehicle coordinate position information, and when the front car-avoidance holes of the group of vehicles are the same car-avoidance hole, the front car-avoidance holes are added into the early warning sequence; and then triggering an early warning prompt according to a set distance of about 30 meters from the front car-avoiding hole, judging which of two vehicles avoids and which decelerates and passes through according to an avoidance rule set by the current system when the distance of a certain vehicle from a front signal machine is less than or equal to 30 and more than 10, and sending a 'request for entering the hole and avoiding' instruction to the vehicle terminal equipment which is close to the front car-avoiding hole and sending a 'deceleration' instruction to the other vehicle if the current set nearby avoidance is carried out. After receiving the instruction, the vehicle-mounted positioning terminal 2 plays the corresponding voice file according to the corresponding relation between the avoidance instruction and the voice file, and prompts the driver to perform corresponding driving operation actions through voice playing.
The avoidance rule in this embodiment may be as follows:
and (3) defining in an uplink way: direction from tunnel bottom to tunnel exit;
downlink definition: from the tunnel entrance to the tunnel bottom direction.
1) Downlink priority: when the vehicles are about to meet in an ascending and descending way, the vehicles in the ascending way avoid the vehicles in the descending way, and prompt the vehicles in the ascending way to enter a vehicle avoiding hole;
2) uplink priority: when the vehicles go up and down and are about to meet each other, the vehicles going up are avoided by the vehicles going down, and a prompt of 'please enter a vehicle avoiding hole' is given to the vehicles going down.
3) The guarantee level is prior: according to vehicle transportation guarantee level height, the vehicle that the guarantee level is high is dodged to the vehicle that the level is low, and 1 is the highest priority, and is the same as the level, according to dodging who is close to who keeps away the distance of car hole.
4) The priority in the near is as follows: when two vehicles are about to meet and one vehicle needs to make avoidance, the vehicle close to the front vehicle avoidance hole is avoided.
In this embodiment, the following method may be specifically adopted for positioning the vehicle-mounted positioning terminal based on the signal strength: the system predefines the coordinate information, MAC address information, beacon number information and the like of all known beacons; data analysis is carried out on a data packet sent by the vehicle-mounted positioning terminal equipment, if the data packet is not a beacon predefined by the system or the length of the data packet and the like does not meet the protocol requirement, relevant data are abandoned, filtering is carried out according to the signal intensity of the analyzed beacon, and when the intensity value is smaller than 20, the data are abandoned; after 6 packets (not limited to 6 packets, but also other set quantity) of data meeting the requirements are continuously obtained, the beacon intensity values of the beacons are recorded in a grouping mode according to different obtained beacons, the same beacon obtains the values for multiple times to obtain an average value, after the 6 packets of data are completely obtained, the beacon with the maximum signal value intensity is obtained, and table lookup is carried out to update the coordinate position information of the current beacon-associated vehicle; updating position logic, namely firstly, whether a current beacon is a beacon at two ends or not, if so, updating a coordinate position and setting a vehicle running direction, if a signal machine at the starting point of an opening is defined, defining a running direction value as 2 downlink, if an end point is defined, the running direction is defined as 1 uplink, if the signal machine is a middle beacon and the beacon number is changed, judging whether the running direction and the current beacon position change trend are consistent with the running direction or not, if the running direction and the current beacon position change trend are inconsistent, judging that dirty data are discarded, otherwise, updating the vehicle position coordinate information according to a new beacon position, if the obtained beacon is not changed and the signal intensity is changed, if the signal intensity is stronger than the previous signal intensity by 10, adding or subtracting a certain value, such as 6, to visually enable a person to visually see the running change of the vehicle.
In this embodiment, the specific operation mode of the tunnel long-distance trackless transportation intelligent vehicle avoidance system based on bluetooth positioning provided by this embodiment may be as follows:
step 1: presetting the installation coordinate information, Mac address information, beacon number information, vehicle-mounted positioning terminal information and the like of the Bluetooth beacon into a system;
step 2: electrifying the Bluetooth beacon, and broadcasting the unique identification code and the signal intensity information of the Bluetooth beacon outwards by the Bluetooth beacon;
and step 3: the method comprises the following steps that the vehicle-mounted positioning terminal equipment is powered on, the vehicle-mounted positioning terminal completes equipment initialization and network configuration, and a Bluetooth signal sniffing receiving module arranged in the vehicle-mounted positioning terminal completes initialization and enters a beacon sniffing mode;
and 4, step 4: the method comprises the following steps that a Bluetooth signal sniffing receiving module scans surrounding Bluetooth beacon data, and vehicle-mounted positioning terminal equipment sends the scanned Bluetooth beacon data and unique identification code information of the equipment to an analysis processing module of an avoidance management system;
and 5: an analysis processing module of the avoidance management system analyzes the Bluetooth beacon and the unique identification code of the vehicle-mounted positioning terminal equipment in the acquired data, judges whether the data exist in the step 1 or not, if the data do not exist, the data are discarded, if the data exist, the signal intensity value of the current Bluetooth beacon is judged whether to be greater than 20 or not, and if the data do not exist, the data of the packet are discarded;
step 6: a circulation step 5 of recording the number of data packets sent by each terminal device and the beacon unique identification code and the signal intensity value in the data according to the acquired data;
and 7: when a certain vehicle-mounted positioning terminal sends data packets to 6 packets, positioning is carried out once, and the position of a beacon with the maximum signal intensity value is taken from the 6 Bluetooth beacon data as the current beacon position of the vehicle-mounted positioning terminal.
Step 8, according to the Bluetooth beacon installation coordinate configuration information table in the step 1, looking up a table to obtain coordinate position information of a vehicle associated with the current beacon, and setting the coordinate position information as the current coordinate position of the vehicle-mounted positioning terminal;
and step 9: according to the obtained current position Bluetooth beacon, the following processing is carried out:
if the current beacon position of the vehicle-mounted positioning terminal is the first beacon position, the current driving direction is defined as downlink;
if the current beacon position of the vehicle-mounted positioning terminal is the last beacon position, the driving direction is defined as uplink;
if the current beacon is the same as the previous positioning beacon, performing position conversion processing of response according to the driving direction and the signal intensity difference, if the current vehicle traveling direction is downlink, adding 6 to the vehicle position coordinate required to be displayed by software, and updating the vehicle position information; if the current vehicle traveling direction is the upward direction, subtracting 6 from the vehicle position coordinate required to be displayed by the software, and updating the vehicle position information.
If the current beacon is different from the previous beacon, judging whether the current new beacon position accords with the operation direction, if so, directly updating the position information of the current equipment and the bound beacon data, and otherwise, discarding the data.
Step 10: the avoidance management system triggers an avoidance management decision every second: grouping every two vehicles according to the running directions of the vehicles, and grouping the vehicle information of which all the running directions are opposite running; then judging and acquiring the coordinate information of the front vehicle-avoiding hole according to the coordinate position information of the vehicle, and adding the front vehicle-avoiding hole into an early warning sequence when the front vehicle-avoiding holes of the group of vehicles are the same vehicle-avoiding hole; and then triggering an early warning prompt according to a set distance of about 30 meters from the front car-avoiding hole, judging which of two vehicles avoids and which decelerates and passes through according to an avoidance rule set by the current system when the distance of a certain vehicle from a front signal machine is less than or equal to 30 and more than 10, and sending a 'request for entering the hole and avoiding' instruction to the vehicle terminal equipment which is close to the front car-avoiding hole and sending a 'deceleration' instruction to the other vehicle if the current set nearby avoidance is carried out. And after receiving the instruction, the vehicle-mounted positioning terminal plays the corresponding voice file according to the corresponding relation between the avoidance instruction and the voice file, and prompts the driver to perform corresponding driving operation actions through voice playing.
The invention has the beneficial effects that:
(1) according to the invention, the Bluetooth positioning beacon is deployed in the tunnel, the vehicle positioning data is collected, the intelligent driving reminding of the construction vehicle is remotely realized by combining the positioning data and the avoidance management strategy, and the effective prompt is provided for the driver of the on-site construction vehicle.
(2) According to the invention, only the avoidance management server is added, no sensing equipment is added, and the Bluetooth positioning data and the avoidance management strategy in the tunnel are fused, so that the reliable early warning prompt of the construction operation vehicle can be realized under the condition that the geographical position coordinate of the construction operation site is not required to be accurately positioned, thereby preventing the safety accident caused by the fact that the construction vehicle runs too close and improving the overall working efficiency of tunnel construction.
(3) The invention has credible data source and easy realization of data interface, can be widely deployed in application scenes such as tunnels and the like which are frequently subjected to closed construction operation, has reliable technology, obvious effect and low cost, can effectively promote the limited management of vehicle positions in field construction operation, reduces the occurrence of construction accidents and improves the construction operation efficiency.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (8)
1. The utility model provides a car system is dodged to tunnel long distance trackless transportation intelligence based on bluetooth location which characterized in that, be provided with a plurality of car holes of keeping away in the tunnel, the system includes:
a plurality of Bluetooth beacons arranged along the tunnel and configured to continuously broadcast beacon data for positioning outwards, the beacon data including an identification of a Bluetooth beacon;
the vehicle-mounted positioning terminal comprises a Bluetooth signal sniffing receiving module, a first network communication module and a data processing module, wherein the Bluetooth signal sniffing receiving module is used for sniffing and receiving the beacon data, and the first network communication module is used for sending the beacon data to an avoidance management system and receiving an avoidance instruction of the avoidance management system; the data processing module is used for extracting the RSSI value in the received Bluetooth beacon data and packaging the RSSI value and the identifier of the corresponding Bluetooth beacon to form new beacon data;
the avoidance management system comprises a second network communication module and an analysis processing module, wherein the second network communication module is used for receiving beacon data sent by the first network communication module and sending an avoidance instruction made based on the beacon data to the first network communication module, the analysis processing module is used for determining the position and the advancing direction of the vehicle-mounted positioning terminal according to the received beacon data and the position of the Bluetooth beacon, making the avoidance instruction based on the position and the advancing direction of each vehicle-mounted positioning terminal, and a vehicle receiving the avoidance instruction enters the avoidance tunnel or decelerates to pass through according to the avoidance instruction;
the analysis processing module comprises a second positioning module, and the second positioning module is used for determining the position of the positioning terminal based on the RSSI value in the beacon data and the position of the Bluetooth beacon corresponding to the RSSI value.
2. The intelligent tunnel long-distance trackless transportation vehicle avoidance system based on Bluetooth positioning as claimed in claim 1, wherein the vehicle-mounted positioning terminal further comprises a voice broadcasting module, and the voice broadcasting module is used for voice broadcasting the avoidance command.
3. The intelligent tunnel long-distance trackless transport avoidance vehicle system based on Bluetooth positioning of claim 1, wherein the avoidance management system further comprises a configuration module, and the configuration module is used for configuring the unique identifier of the vehicle-mounted positioning terminal and network configuration information.
4. The intelligent tunnel long-distance trackless transportation vehicle avoidance system based on Bluetooth positioning as claimed in claim 1, wherein the analysis processing module comprises a first positioning module, and the first positioning module is configured to extract a Bluetooth beacon identifier in the beacon data, and determine a Bluetooth beacon position corresponding to a Bluetooth beacon identifier having a largest number of repeated occurrences within a current set duration as the position of the positioning terminal.
5. The intelligent vehicle avoidance system for tunnel long-distance trackless transportation based on Bluetooth positioning as claimed in claim 1 or 4, wherein the analysis processing module further comprises a first operation direction determination module, and the first operation direction determination module is configured to determine the operation direction of the vehicle-mounted positioning terminal according to the change of the position of the positioning terminal over time.
6. The intelligent vehicle avoidance system for tunnel long-distance trackless transportation based on Bluetooth positioning as claimed in claim 1 or 4, wherein the analysis processing module further comprises a second running direction determination module, and the second running direction determination module is configured to determine the running direction of the vehicle-mounted positioning terminal according to the change of the Bluetooth beacon identifier in the beacon data received at any time.
7. The intelligent tunnel long-distance trackless transportation vehicle avoidance system based on Bluetooth positioning as claimed in claim 1, wherein the avoidance management system further comprises a decision module, the decision module determines vehicles running in opposite directions according to the running direction of the vehicle-mounted positioning terminal, and an avoidance decision is made based on the position of the vehicle avoidance hole and the positions of the vehicles running in opposite directions.
8. The intelligent avoidance vehicle system for tunnel long-distance trackless transportation based on Bluetooth positioning as claimed in claim 1, wherein the avoidance management system runs on a background server.
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