CN112533132A - Label distance measurement and anti-collision alarm method based on Bluetooth networking - Google Patents
Label distance measurement and anti-collision alarm method based on Bluetooth networking Download PDFInfo
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Abstract
The invention provides a label distance measurement and anti-collision alarm method based on Bluetooth networking, which comprises the following steps: firstly, a Bluetooth master control end sends connection broadcast at regular time; the Bluetooth tag receives the connection broadcast, matches with the Bluetooth master control terminal according to the area identification code in the connection broadcast, is online after success, and replies response information to the Bluetooth master control terminal, namely confirms to establish connection; the Bluetooth master control end sends reference NTP time to the Bluetooth tag, and allocates a time slice, a ranging tag list and a preset safety distance; then, the Bluetooth tag starts a UWB ranging task, judges whether to alarm or not according to a ranging result, and returns the ranging result to the Bluetooth master control end; the Bluetooth master control end stores the distance data in the ranging result and generates a position relation graph according to the Bluetooth label ID; finally, the Bluetooth master control end verifies whether the distance between the Bluetooth labels meets the safety distance again according to the ranging result, and judges whether to alarm again according to the ranging result. Compared with the prior art, the real-time performance is stronger, and the flexibility is higher.
Description
Technical Field
The invention relates to the technical field of distance measurement, in particular to a label distance measurement and anti-collision alarm method based on Bluetooth networking.
Background
With the development of wireless communication technology and the increase of data processing capability, location-based services have become one of the most promising internet services. The need to quickly and accurately obtain location information of a mobile terminal and provide location services, whether in an indoor or outdoor environment, is becoming increasingly urgent.
The Ultra Wide Band (UWB) has the advantages of strong anti-interference, fast speed, extremely Wide bandwidth, low power and the like, and is mainly applied to the fields of indoor communication, position determination, radar and the like.
Since UWB signals are easy to read even in a multi-channel environment, the signals are easy to identify and determine when pulses leave and arrive. UWB is capable of transmitting a large number of pulses in a short burst Time, and therefore, fine-grained Time of Flight (TOF) calculations are possible even at short distances.
Most of the current major indoor positioning technologies in the market are passive positioning, that is, a base station with a fixed coordinate position passively receives positioning data sent by a tag and analyzes the coordinate position of the tag.
Disclosure of Invention
The purpose of the invention is as follows: the current indoor wireless positioning technology has the following defects: positioning requires a plurality of positioning base stations to be arranged in advance, and positioning accuracy is seriously affected by the relative position of the obstacle.
In order to solve the technical problems, the invention discloses a label distance measurement and anti-collision alarm method based on Bluetooth networking. The method can be used for various indoor positioning occasions and comprises the following steps:
step 2, the Bluetooth tag receives the connection broadcast, matches the Bluetooth master control end and the Bluetooth tag according to the area identification code in the connection broadcast, and the Bluetooth tag is on line after matching is successful;
step 4, the Bluetooth master control end sends reference Network Time Protocol (NTP) Time to a Bluetooth label, distributes a Time slice and a ranging label list and a preset safety distance, and issues the Time slice and the ranging label list to the Bluetooth label at one Time;
step 5, the Bluetooth tags start a UWB ranging task and are used for measuring whether the distance between the Bluetooth tags accords with a preset safe distance or not and judging whether to alarm or not according to a ranging result;
step 6, after the UWB ranging task is completed, the Bluetooth tag returns a ranging result to the Bluetooth master control end, the ranging result comprises a distance value and a Bluetooth tag ID, and the Bluetooth master control end stores distance data in the ranging result and generates a position relation graph according to the Bluetooth tag ID;
and 7, the Bluetooth master control end verifies whether the distance between the Bluetooth labels accords with the safe distance again according to the ranging result, and judges whether to alarm again according to the ranging result.
Further, in an implementation manner, in step 1, a time interval for the bluetooth master control end to send the connection broadcast is set, and an area identification code is added to a data packet of the connection broadcast, where the area identification code is used to divide an area where the bluetooth tag is located.
Further, in one implementation, the step 2 includes:
step 2-1, the Bluetooth tag receives a connection broadcast and analyzes an area identification code in a data packet of the connection broadcast;
step 2-2, a zone identification code is pre-built in the Bluetooth tag, if the zone identification code in the connection broadcast received by the Bluetooth tag is consistent with the built-in zone identification code, the Bluetooth tag is determined to be on line, and the tag ID and the zone identification code of the Bluetooth tag are sent to a Bluetooth master control end together;
step 2-3, the Bluetooth master control end adds the label ID of the Bluetooth label into the ranging label list of the area where the Bluetooth label is located;
and 2-4, if the area identification code in the connection broadcast received by the Bluetooth tag is inconsistent with the built-in area identification code, determining that the Bluetooth tag is still in a dormant state.
Further, in an implementation manner, in the step 4, the bluetooth master control end allocates and issues a reference network synchronization time protocol time, a time slice, a ranging tag list and a preset safety distance to the bluetooth tag;
the reference network synchronization time protocol time is used for calibrating an internal clock of the Bluetooth label to perform clock synchronization;
and on the basis of clock synchronization, distributing the acquired time slices according to the Bluetooth tags, and performing timing ranging, wherein the timing is the sum of the time offset from the beginning of each second, and the time offset is the product of the time slices and the time slice intervals.
Further, in one implementation, the step 5 includes:
step 5-1, after the UWB ranging task is started, the Bluetooth tag sends a request packet to a first Bluetooth tag in a ranging tag list, and the first Bluetooth tag in the ranging tag list is marked as a Bluetooth tag to be measured;
step 5-2, the Bluetooth tag to be tested receives the request packet sent by the Bluetooth tag and immediately replies a response packet;
step 5-3, the Bluetooth tag receives a response packet of the Bluetooth tag to be tested and sends an end packet to the Bluetooth tag to be tested;
and 5-4, the Bluetooth tag to be measured receives the end packet of the Bluetooth tag, analyzes the TOF distance, completes a UWB ranging task, outputs a first ranging result between the Bluetooth tag and the Bluetooth tag to be measured, and then continuously repeats the ranging process.
Further, in one implementation, the step 5 includes:
step 5-5, continuously updating the first distance measurement result, and if the first distance measurement result is smaller than a preset safety distance, starting a vibration alarm by a vibration sensor in the to-be-measured Bluetooth tag;
and 5-6, ending the alarm until the first distance measurement result is greater than or equal to a preset safety distance, and stopping the vibration of the vibration sensor in the to-be-detected Bluetooth label, namely, removing the vibration alarm.
Further, in one implementation, the step 6 includes:
step 6-1, after the UWB ranging task is completed once, the first ranging result, the label ID of the Bluetooth label and the label ID of the Bluetooth label to be measured are sent to a Bluetooth master control end;
and 6-2, the Bluetooth master control end stores the first ranging result and generates a position relation network graph according to the distances between all the tag IDs and the Bluetooth tags.
Further, in one implementation, in step 6-2,
after obtaining the distance between each bluetooth tag, the bluetooth master control end divides all bluetooth tags according to areas, and finally obtains a network topology map, namely the position relation network map, in a simulation way;
the position relation network diagram is generated according to the distance between the area where each Bluetooth tag is located and each Bluetooth tag, the area where each Bluetooth tag is located is obtained through presetting, and the distance between each Bluetooth tag is obtained through a UWB ranging task;
the Bluetooth tags with the same area identification code are positioned in the same area, and each Bluetooth tag positioned in the same area carries out bidirectional communication and is displayed as a bidirectional edge in the position relation network diagram.
Further, in one implementation, the step 7 includes:
7-1, restarting the UWB ranging task, and outputting a second ranging result between the Bluetooth tag to be measured and the Bluetooth tag;
7-2, judging whether a second distance measurement result between the Bluetooth tag to be measured and the Bluetooth tag is smaller than a preset safety distance or not;
7-3, if the second distance measurement result is smaller than a preset safety distance, sending a downlink alarm to the Bluetooth tag according to the data reported by the Bluetooth tag to be measured;
7-4, if the second ranging result is greater than or equal to a preset safety distance, not sending a downlink alarm;
7-5, after the Bluetooth tag receives the downlink alarm, starting a vibration alarm by a vibration sensor in the Bluetooth tag;
and 7-6, ending the alarm until the second distance measurement result is greater than or equal to a preset safety distance, and stopping the vibration of the vibration sensor in the Bluetooth tag, namely, releasing the vibration alarm.
Has the advantages that: in the prior art, the indoor environment is often complex, and the flexibility of the tag on the spatial position is limited by the ranging mode of the fixed position. Therefore, the invention makes up the deficiency of the base station with fixed position by the dynamic ranging between the labels, and can master the dynamic position between the labels in real time. The invention utilizes the Bluetooth networking, gets rid of the limitation of a fixed base station, directly measures the distance between movable Bluetooth tags, and has flexible networking mode; secondly, the invention judges the safety distance while measuring the distance, and can analyze and judge the alarm in real time. Thirdly, Bluetooth communication and ranging communication are executed in parallel, and air wireless channel bandwidth resources are effectively saved.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
Fig. 1 is a schematic workflow diagram of a tag ranging and collision avoidance alarm method based on bluetooth networking according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating an implementation principle of a bilateral two-way ranging algorithm in a tag ranging and collision avoidance alarm method based on bluetooth networking according to an embodiment of the present invention;
fig. 3 is a distance measurement result original record of a bilateral two-way distance measurement algorithm in a tag distance measurement and collision avoidance alarm method based on bluetooth networking according to an embodiment of the present invention;
fig. 4 is a simulated tag position bitmap of a bilateral two-way ranging algorithm in a tag ranging and collision avoidance alarm method based on bluetooth networking according to an embodiment of the present invention;
fig. 5 is a schematic networking diagram of a bluetooth master control end and a bluetooth tag in a tag ranging and collision avoidance alarm method based on bluetooth networking according to an embodiment of the present invention.
Detailed Description
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.
As shown in figure 1, the invention discloses a label distance measurement and anti-collision alarm method based on Bluetooth networking, which is applied to indoor positioning distance measurement and anti-collision and can be widely applied to industries such as logistics distribution centers and manufacturing workshops. The system is arranged in the logistics center, and logistics equipment such as vehicles and the like can obtain early warning information before collision, so that accidents caused by too close distance or collision are avoided.
The embodiment provides a label distance measurement and anti-collision alarm method based on Bluetooth networking, which comprises the following steps:
step 2, the Bluetooth tag receives the connection broadcast, matches the Bluetooth master control end and the Bluetooth tag according to the area identification code in the connection broadcast, and the Bluetooth tag is on line after matching is successful;
step 4, the Bluetooth master control end sends reference Network Time Protocol (NTP) Time to a Bluetooth label, distributes a Time slice and a ranging label list and a preset safety distance, and issues the Time slice and the ranging label list to the Bluetooth label at one Time;
step 5, the Bluetooth tags start a UWB ranging task and are used for measuring whether the distance between the Bluetooth tags accords with a preset safe distance or not and judging whether to alarm or not according to a ranging result;
step 6, after the UWB ranging task is completed, the Bluetooth tag returns a ranging result to the Bluetooth master control end, the ranging result comprises a distance value and a Bluetooth tag ID, and the Bluetooth master control end stores distance data in the ranging result and generates a position relation graph according to the Bluetooth tag ID;
and 7, the Bluetooth master control end verifies whether the distance between the Bluetooth labels accords with the safe distance again according to the ranging result, and judges whether to alarm again according to the ranging result.
In the tag distance measurement and collision avoidance alarm method based on bluetooth networking in this embodiment, in step 1, a time interval for a bluetooth master control end to send a connection broadcast is set, and an area identification code is added to a data packet of the connection broadcast, where the area identification code is used to divide an area where a bluetooth tag is located.
In the method for tag ranging and collision avoidance alarm based on bluetooth networking according to this embodiment, step 2 includes:
step 2-1, the Bluetooth tag receives a connection broadcast and analyzes an area identification code in a data packet of the connection broadcast;
step 2-2, a zone identification code is pre-built in the Bluetooth tag, if the zone identification code in the connection broadcast received by the Bluetooth tag is consistent with the built-in zone identification code, the Bluetooth tag is determined to be on line, and the tag ID and the zone identification code of the Bluetooth tag are sent to a Bluetooth master control end together;
step 2-3, the Bluetooth master control end adds the label ID of the Bluetooth label into the ranging label list of the area where the Bluetooth label is located;
and 2-4, if the area identification code in the connection broadcast received by the Bluetooth tag is inconsistent with the built-in area identification code, determining that the Bluetooth tag is still in a dormant state.
In the tag ranging and collision avoidance alarm method based on bluetooth networking according to this embodiment, in step 4, the bluetooth master control end allocates and issues a reference network synchronization time protocol time, a time slice, a ranging tag list, and a preset safety distance to a bluetooth tag; in this embodiment, the safety distance may be adjusted by manual setting as required.
The reference network synchronization time protocol time is used for calibrating an internal clock of the Bluetooth label to perform clock synchronization;
and on the basis of clock synchronization, distributing the acquired time slices according to the Bluetooth tags, and performing timing ranging, wherein the timing is the sum of the time offset from the beginning of each second, and the time offset is the product of the time slices and the time slice intervals. In this embodiment, the time slice is a slice every second. After the clock synchronization, different labels generate different offsets from each second, and the aim of sending the wrong peak can be achieved. According to the packet sending frequency corresponding to the timing ranging, the sending time and the receiving time between the Bluetooth labels can be staggered, and signal interference is avoided.
In the method for tag ranging and collision avoidance alarm based on bluetooth networking according to this embodiment, step 5 includes:
step 5-1, after the UWB ranging task is started, the Bluetooth tag sends a request packet to a first Bluetooth tag in a ranging tag list, and the first Bluetooth tag in the ranging tag list is marked as a Bluetooth tag to be measured;
step 5-2, the Bluetooth tag to be tested receives the request packet sent by the Bluetooth tag and immediately replies a response packet;
step 5-3, the Bluetooth tag receives a response packet of the Bluetooth tag to be tested and sends an end packet to the Bluetooth tag to be tested;
and 5-4, the Bluetooth tag to be measured receives the end packet of the Bluetooth tag, analyzes the TOF distance, completes a UWB ranging task, outputs a first ranging result between the Bluetooth tag and the Bluetooth tag to be measured, and then continuously repeats the ranging process. In this embodiment, the request packet is sent from the bluetooth tag, and the TOF distance is calculated from the bluetooth tag to be measured, i.e. a one-time complete TOF ranging process. Specifically, according to the ranging frequency of the bluetooth tag, for example, the ranging frequency of the bluetooth tag is 1hz, that is, the UWB ranging task is performed once per second.
In the method for tag ranging and collision avoidance alarm based on bluetooth networking according to this embodiment, step 5 includes:
step 5-5, continuously updating the first distance measurement result, and if the first distance measurement result is smaller than a preset safety distance, starting a vibration alarm by a vibration sensor in the to-be-measured Bluetooth tag;
and 5-6, ending the alarm until the first distance measurement result is greater than or equal to a preset safety distance, and stopping the vibration of the vibration sensor in the to-be-detected Bluetooth label, namely, removing the vibration alarm.
In the method for tag ranging and collision avoidance alarm based on bluetooth networking according to this embodiment, step 6 includes:
step 6-1, after the UWB ranging task is completed once, the first ranging result, the label ID of the Bluetooth label and the label ID of the Bluetooth label to be measured are sent to a Bluetooth master control end;
and 6-2, the Bluetooth master control end stores the first ranging result and generates a position relation network graph according to the distances between all the tag IDs and the Bluetooth tags.
In the tag ranging and collision avoidance alarm method based on bluetooth networking according to this embodiment, in step 6-2,
after obtaining the distance between each bluetooth tag, the bluetooth master control end divides all bluetooth tags according to areas, and finally obtains a network topology map, namely the position relation network map, in a simulation way;
the position relation network diagram is generated according to the distance between the area where each Bluetooth tag is located and each Bluetooth tag, the area where each Bluetooth tag is located is obtained through presetting, and the distance between each Bluetooth tag is obtained through a UWB ranging task;
the Bluetooth tags with the same area identification code are positioned in the same area, and each Bluetooth tag positioned in the same area carries out bidirectional communication and is displayed as a bidirectional edge in the position relation network diagram.
In this embodiment, the bluetooth master control end updates the distance between each bluetooth tag all the time, i.e., can update the dynamic network topology.
In the method for tag ranging and collision avoidance alarm based on bluetooth networking according to this embodiment, step 7 includes:
7-1, restarting the UWB ranging task, and outputting a second ranging result between the Bluetooth tag to be measured and the Bluetooth tag; specifically, in this embodiment, the distance measurement is performed continuously according to the frequency of the tag.
7-2, judging whether a second distance measurement result between the Bluetooth tag to be measured and the Bluetooth tag is smaller than a preset safety distance or not;
7-3, if the second distance measurement result is smaller than a preset safety distance, sending a downlink alarm to the Bluetooth tag according to the data reported by the Bluetooth tag to be measured; in the embodiment, for the main control end, only two states of sending and not sending alarm information are provided; for each Bluetooth label, vibration alarm can only last for 1 second every time, and if downlink alarm information cannot be received, no alarm is given.
7-4, if the second ranging result is greater than or equal to a preset safety distance, not sending a downlink alarm;
7-5, after the Bluetooth tag receives the downlink alarm, starting a vibration alarm by a vibration sensor in the Bluetooth tag;
and 7-6, ending the alarm until the second distance measurement result is greater than or equal to a preset safety distance, and stopping the vibration of the vibration sensor in the Bluetooth tag, namely, releasing the vibration alarm.
Example (b):
in this embodiment, a bluetooth master control end and 6 bluetooth tags are used and divided into 2 areas. The channel of bluetooth label uses 2 channels, and the frequency center is about 3993.6MHz, and the bandwidth is 499.2MHz, and the interference killing feature is better under this frequency found in the actual measurement. The maximum power of 33.5db is used for the transmission power of the Bluetooth tag, and the antenna delay is set to 16428. The transmission frequency of the tag itself is set to 1Hz and the time slice interval is 20 milliseconds. The transmit power is related to the signal strength, the greater the transmit power the better the signal strength, and the antenna delay is related to the accuracy of the transmit and receive time measurements. As shown in figure 5 of the drawings,
and S1, the Bluetooth master control end respectively sends connection broadcast to the two areas.
And S2, the Bluetooth labels in the two areas receive the broadcast respectively, and reply to the main control end and establish connection if matching is successful through matching of the preset area information and the area information in the broadcast.
S3, the Bluetooth master control end sends reference NTP time to the tags, time slices, a ranging list and a preset safety distance are distributed, for example, in the scene, the ranging list of the Bluetooth tag A is Bluetooth tags B-F, the ranging list of the Bluetooth tag G is H, and the safety distance is 50 cm. The time slice of bluetooth tag a is 1, and transmission starts from the 20 th millisecond every second. The time slice for tag G is 22 and transmission begins at the 440 th millisecond of each second.
S4, the tag starts a ranging task, the Bluetooth tag A sequentially carries out ranging with the Bluetooth tags B-F, a ranging result is returned to the Bluetooth main control end, and the Bluetooth main control end stores the data and updates the position relation diagram, so that parallel execution of networking and ranging tasks is guaranteed.
S5, the single ranging process is shown in fig. 2.
Wherein, bluetooth label A sends POLL package to bluetooth label B, carry timestamp m1 ═ 0;
when receiving the POLL packet, bluetooth tag B records reception timestamp s1 ═ 2356, then returns an ACK packet to bluetooth tag a and records transmission time s2 ═ 164786789;
receiving the ACK record receiving timestamp m 2-76312451 by the bluetooth tag a, and sending a FINAL packet to the bluetooth tag B, wherein the packet contains a sending timestamp m 3-164783104;
the bluetooth tag B records the receiving timestamp s 3-164786789, and the units of the timestamp are Tick numbers.
At bluetooth tag B, it can be calculated:
the transmitting-receiving interval Trd 1-m 2-m 1-76312451 of the tag a,
the transmission and reception interval Trd 2-s 3-s 2-88471910 of tag B,
the transmission delay Trp 1-s 2-s 1-76312523 of tag B,
the transmission delay of tag a Trp 2-m 3-m 2-88470653,
TOF＝c/TPS*(Trd1*Trd2-Trp1*Trp2)/(Trd1+Trd2+Trp1+Trp2)＝127.44cm，
wherein c is the transmission rate of the electromagnetic wave in the air, about 3e7 cm/ms, and TPS is the crystal oscillator period 6.4e7 Tick/ms. And the B label reports the TOF distance of 127.44cm to the main control end to complete a ranging process. The ranging results are shown in fig. 3.
S6, the Bluetooth label B and the Bluetooth main control end verify whether the ranging result accords with the safe distance, if not, the Bluetooth label B vibrates to alarm, meanwhile, the main control end sends alarm information to the Bluetooth label A, and the Bluetooth label A starts vibrating to alarm after receiving the alarm information. The actual distance 127.44cm in this embodiment is greater than the preset safe distance 50cm, so it is safe and no alarm is generated.
And S7, when all the distances between the labels are reported to the main control terminal and the statistics is completed, the main control terminal generates a label position relation diagram according to the distances, as shown in FIG. 4.
Wireless packets in the same area can be reduced by dividing the networking into different areas, so that the probability of wireless packet collision is reduced, and the purpose of reducing the system load is achieved. At the same time, if a tag moves from one area to another, it can be viewed in real time in the system.
Has the advantages that: the invention has the advantages that firstly, the invention utilizes the Bluetooth networking, gets rid of the limitation of a fixed base station, and directly measures the distance between the movable Bluetooth tags, thereby having flexible networking mode; secondly, the invention judges the safety distance while measuring the distance, and can analyze and judge the alarm in real time. Thirdly, Bluetooth communication and ranging communication are executed in parallel, and air wireless channel bandwidth resources are effectively saved.
In a specific implementation, the present invention further provides a computer storage medium, where the computer storage medium may store a program, and when the program is executed, the program may include some or all of the steps in each embodiment of the tag distance measuring and collision avoidance alarm method based on bluetooth networking provided by the present invention. The storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), a Random Access Memory (RAM), or the like.
Those skilled in the art will readily appreciate that the techniques of the embodiments of the present invention may be implemented as software plus a required general purpose hardware platform. Based on such understanding, the technical solutions in the embodiments of the present invention may be essentially or partially implemented in the form of a software product, which may be stored in a storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.
The same and similar parts in the various embodiments in this specification may be referred to each other. The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention.
Claims (9)
1. A label ranging and collision avoidance alarming method based on Bluetooth networking is characterized by comprising the following steps:
step 1, a Bluetooth master control end sends connection broadcast at regular time;
step 2, the Bluetooth tag receives the connection broadcast, matches the Bluetooth master control end and the Bluetooth tag according to the area identification code in the connection broadcast, and the Bluetooth tag is on line after matching is successful;
step 3, the online Bluetooth tag replies response information to the Bluetooth master control end, and the Bluetooth tag confirms to establish connection with the Bluetooth master control end;
step 4, the Bluetooth master control end sends reference network synchronization time protocol time to a Bluetooth tag, distributes a time slice and ranging tag list and a preset safety distance, and issues the time slice and ranging tag list to the Bluetooth tag at one time;
step 5, the Bluetooth tags start a UWB ranging task and are used for measuring whether the distance between the Bluetooth tags accords with a preset safe distance or not and judging whether to alarm or not according to a ranging result;
step 6, after the UWB ranging task is completed, the Bluetooth tag returns a ranging result to the Bluetooth master control end, the ranging result comprises a distance value and a Bluetooth tag ID, and the Bluetooth master control end stores distance data in the ranging result and generates a position relation graph according to the Bluetooth tag ID;
and 7, the Bluetooth master control end verifies whether the distance between the Bluetooth labels accords with the safe distance again according to the ranging result, and judges whether to alarm again according to the ranging result.
2. The method according to claim 1, wherein in step 1, a time interval for a bluetooth master control end to send a connection broadcast is set, and an area identification code is added to a data packet of the connection broadcast, wherein the area identification code is used for dividing an area where the bluetooth tag is located.
3. The tag ranging and collision avoidance alarm method based on Bluetooth networking according to claim 2, wherein the step 2 comprises:
step 2-1, the Bluetooth tag receives a connection broadcast and analyzes an area identification code in a data packet of the connection broadcast;
step 2-2, a zone identification code is pre-built in the Bluetooth tag, if the zone identification code in the connection broadcast received by the Bluetooth tag is consistent with the built-in zone identification code, the Bluetooth tag is determined to be on line, and the tag ID and the zone identification code of the Bluetooth tag are sent to a Bluetooth master control end together;
step 2-3, the Bluetooth master control end adds the label ID of the Bluetooth label into the ranging label list of the area where the Bluetooth label is located;
and 2-4, if the area identification code in the connection broadcast received by the Bluetooth tag is inconsistent with the built-in area identification code, determining that the Bluetooth tag is still in a dormant state.
4. The tag ranging and collision avoidance alarm method based on Bluetooth networking according to claim 1, wherein in step 4, the Bluetooth master control end allocates and issues a reference network synchronization time protocol time, a time slice, a ranging tag list and a preset safety distance to a Bluetooth tag;
the reference network synchronization time protocol time is used for calibrating an internal clock of the Bluetooth label to perform clock synchronization;
and on the basis of clock synchronization, distributing the acquired time slices according to the Bluetooth tags, and performing timing ranging, wherein the timing is the sum of the time offset from the beginning of each second, and the time offset is the product of the time slices and the time slice intervals.
5. The tag ranging and collision avoidance alarm method based on Bluetooth networking according to claim 4, wherein the step 5 comprises:
step 5-1, after the UWB ranging task is started, the Bluetooth tag sends a request packet to a first Bluetooth tag in a ranging tag list, and the first Bluetooth tag in the ranging tag list is marked as a Bluetooth tag to be measured;
step 5-2, the Bluetooth tag to be tested receives the request packet sent by the Bluetooth tag and immediately replies a response packet;
step 5-3, the Bluetooth tag receives a response packet of the Bluetooth tag to be tested and sends an end packet to the Bluetooth tag to be tested;
and 5-4, the Bluetooth tag to be measured receives the end packet of the Bluetooth tag, analyzes the TOF distance, completes a UWB ranging task, outputs a first ranging result between the Bluetooth tag and the Bluetooth tag to be measured, and then continuously repeats the ranging process.
6. The tag ranging and collision avoidance alarm method based on Bluetooth networking according to claim 5, wherein the step 5 comprises:
step 5-5, continuously updating the first distance measurement result, and if the first distance measurement result is smaller than a preset safety distance, starting a vibration alarm by a vibration sensor in the to-be-measured Bluetooth tag;
and 5-6, ending the alarm until the first distance measurement result is greater than or equal to a preset safety distance, and stopping the vibration of the vibration sensor in the to-be-detected Bluetooth label, namely, removing the vibration alarm.
7. The tag ranging and collision avoidance alarm method based on Bluetooth networking according to claim 6, wherein the step 6 comprises:
step 6-1, after the UWB ranging task is completed once, the first ranging result, the label ID of the Bluetooth label and the label ID of the Bluetooth label to be measured are sent to a Bluetooth master control end;
and 6-2, the Bluetooth master control end stores the first ranging result and generates a position relation network graph according to the distances between all the tag IDs and the Bluetooth tags.
8. The method for tag ranging and collision avoidance alarm based on Bluetooth networking of claim 7, wherein in the step 6-2,
after obtaining the distance between each bluetooth tag, the bluetooth master control end divides all bluetooth tags according to areas, and finally obtains a network topology map, namely the position relation network map, in a simulation way;
the position relation network diagram is generated according to the distance between the area where each Bluetooth tag is located and each Bluetooth tag, the area where each Bluetooth tag is located is obtained through presetting, and the distance between each Bluetooth tag is obtained through a UWB ranging task;
the Bluetooth tags with the same area identification code are positioned in the same area, and each Bluetooth tag positioned in the same area carries out bidirectional communication and is displayed as a bidirectional edge in the position relation network diagram.
9. The tag ranging and collision avoidance alarm method based on Bluetooth networking of claim 8, wherein the step 7 comprises:
7-1, restarting the UWB ranging task, and outputting a second ranging result between the Bluetooth tag to be measured and the Bluetooth tag;
7-2, judging whether a second distance measurement result between the Bluetooth tag to be measured and the Bluetooth tag is smaller than a preset safety distance or not;
7-3, if the second distance measurement result is smaller than a preset safety distance, sending a downlink alarm to the Bluetooth tag according to the data reported by the Bluetooth tag to be measured;
7-4, if the second ranging result is greater than or equal to a preset safety distance, not sending a downlink alarm;
7-5, after the Bluetooth tag receives the downlink alarm, starting a vibration alarm by a vibration sensor in the Bluetooth tag;
and 7-6, ending the alarm until the second distance measurement result is greater than or equal to a preset safety distance, and stopping the vibration of the vibration sensor in the Bluetooth tag, namely, releasing the vibration alarm.
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