WO2022246701A1

WO2022246701A1 - Bluetooth signal-based positioning method, signal transceiving apparatus, lora gateway-based static bluetooth device, and readable storage medium

Info

Publication number: WO2022246701A1
Application number: PCT/CN2021/096121
Authority: WO
Inventors: 包磊; 陈超; 程哲; 凌通; 马晗馨; 余晓军
Original assignee: 罗伯特•博世有限公司; 包磊
Priority date: 2021-05-26
Filing date: 2021-05-26
Publication date: 2022-12-01
Also published as: DE112021004806T5; CN117378224A

Abstract

Provided in the present application are a bluetooth signal-based positioning method, a signal transceiving apparatus, a static bluetooth device, and a readable storage medium. The bluetooth signal-based positioning method comprises: S110, when a signal transceiving apparatus (120) moves within an application environment where a plurality of positioning bluetooth beacons (110) used for broadcasting positioning signals are arranged, the signal transceiving apparatus (120) receives positioning signals broadcast by positioning bluetooth beacons (110) inside a communication range, and sends the positioning signals to a cloud end (140) storing position information of the positioning bluetooth beacons (110); and S120, the signal transceiving apparatus (120) receives a bluetooth signal broadcast by an asset within the application environment inside the communication range, and sends the bluetooth signal broadcast by the asset to the cloud end (140). Position information of a signal transceiving apparatus and an asset can be quickly and conveniently obtained on the basis of a solution of the present application.

Description

Bluetooth signal-based positioning method, signal transceiver device, LoRa gateway-based static Bluetooth device, and readable storage medium

technical field

The present application relates to the field of Bluetooth positioning, and more specifically, the present application relates to a positioning method based on Bluetooth signals, a signal transceiver, a static Bluetooth device based on a LoRa gateway, and a readable storage medium.

Background technique

As a common means of scene positioning, positioning Bluetooth beacons have been widely used in many situations including construction sites. After completing the pre-setting and post-installation and pairing of the positioning Bluetooth beacons in the application scene, the Bluetooth signals broadcast by each positioning Bluetooth beacon can be received and forwarded through the signal transceiver device carried by the staff. The installation location information has been confirmed in the previous setting and recorded in the cloud, so the relative location of the signal transceiver device carried by the staff can be calculated and determined by obtaining the installation location of the associated positioning Bluetooth beacon in the cloud.

On this basis, how to use Bluetooth communication to make more applications for such application scenarios that have completed positioning Bluetooth beacon configuration has become a research direction. For example, when it is applied to a construction scene, when workers leave power tools somewhere in the scene by mistake, it is difficult to retrieve these power tools afterwards, or even if they can be retrieved, it will cost too much manpower and time, and did not generate corresponding benefits. Therefore, it is desirable to track and locate assets, including power tools, based on existing infrastructure.

Contents of the invention

In view of this, the present invention provides an improved positioning method based on Bluetooth signals, a signal transceiver, a static Bluetooth device based on a LoRa gateway, and a readable storage medium, thereby effectively solving or alleviating the above problems existing in the prior art. question and one or more of other aspects of the question.

In order to solve one of the above technical problems, according to one aspect of the present application, a positioning method based on Bluetooth signals is provided. It includes: S110, when the signal transceiving device moves in an application scene where a plurality of positioning Bluetooth beacons for broadcasting positioning signals are arranged, the signal transmitting and receiving device receives the positioning signal broadcast by the positioning Bluetooth beacons within the communication range Positioning signal, and sending the positioning signal to the cloud that stores the position information of the positioning Bluetooth beacon; S120, the signal transceiver device receives the Bluetooth signal broadcast by the asset in the application scene within the communication range, and sends The Bluetooth signal broadcast by the asset is sent to the cloud.

In order to solve one of the above technical problems, according to another aspect of the present application, a positioning method based on Bluetooth signals is provided, which includes: S210, setting in an application scene where multiple positioning Bluetooth beacons for broadcasting positioning signals are arranged A static Bluetooth device based on the LoRa gateway, wherein the static Bluetooth device has a communication range covering the application scene; S220, the static Bluetooth device receives the positioning signal broadcast by the positioning Bluetooth beacon, and transmits the positioning signal Send to the cloud that stores the location information of the positioning Bluetooth beacon; S230, the static Bluetooth device receives the Bluetooth signal broadcast by the asset in the application scene, and sends the Bluetooth signal broadcast by the asset to the cloud .

In order to solve one of the above technical problems, according to another aspect of the present application, a signal transceiving device is provided, which is configured to perform: receiving the positioning signal broadcast by the positioning Bluetooth beacon within the communication range, and transmitting the positioning signal Send the positioning signal to the cloud that stores the location information of the positioning Bluetooth beacon; and receive the Bluetooth signal broadcast by the asset in the application scene within the communication range, and send the Bluetooth signal broadcast by the asset to the cloud.

In order to solve one of the above-mentioned technical problems, according to another aspect of the present application, a static Bluetooth device based on a LoRa gateway is provided, which has a communication range covering application scenarios, and is configured to perform: receiving positioning signal, and send the positioning signal to the cloud that stores the location information of the positioning Bluetooth beacon; and receive the Bluetooth signal broadcast by the asset in the application scene, and send the Bluetooth signal broadcast by the asset to the cloud.

In order to solve one of the above technical problems, according to another aspect of the present application, a positioning method based on Bluetooth signals is provided, which includes: S310, the cloud receiving the position information of the positioning Bluetooth beacon by the signal transceiver device and/or The positioning signal broadcast by the positioning Bluetooth beacon within the communication range forwarded by the static Bluetooth device is used to obtain the position information of the positioning Bluetooth beacon through the positioning signal; The bluetooth signal broadcasted by the assets in the application scene within the communication range forwarded by the bluetooth device, and based on the relative positional relationship between the signal transceiving device and/or the static bluetooth device and the positioning bluetooth beacon and the signal transceiving device and/or Or the relative position relationship between the static Bluetooth device and the asset to obtain the location information of the asset.

In order to solve one of the above technical problems, according to still another aspect of the present application, a readable storage medium is provided, which is used to store a program for executing the Bluetooth signal-based positioning method as described above.

According to the technical solution of the present application, firstly, the positioning signal broadcast by the positioning Bluetooth beacon is transferred to the cloud through the signal transceiver device or the static Bluetooth device based on the LoRa gateway to obtain the position information of the corresponding positioning Bluetooth beacon on the cloud, and then in the cloud The location information of these assets is obtained based on the relative positional relationship between the signal transceiver device or static Bluetooth device and the positioning Bluetooth beacon and the relative positional relationship between the signal transceiver device or static Bluetooth device and the asset, thereby realizing the various in-application scenarios. Asset location and tracking. During this process, the location information of the signal transceiver device or the static Bluetooth device itself can be obtained in the cloud as output information; it can also exist only as transit information without outputting the information in the cloud. When applied to a construction scene, since the workers themselves need to move around in the scene, the location information of the asset can be tracked and located in real time at this time, without the need to perform a special walking and tracking process for this, further improving efficiency.

Description of drawings

The present application will be more fully understood by reference to the following detailed description of specific embodiments when taken in conjunction with the accompanying drawings, in which like reference numerals refer to like elements throughout the views. in:

Fig. 1 is an embodiment of an application scenario of a positioning method based on a Bluetooth signal.

Fig. 2 is another embodiment of an application scenario of a positioning method based on a Bluetooth signal.

Fig. 3 is another embodiment of an application scenario of a positioning method based on a Bluetooth signal.

Fig. 4 is yet another embodiment of an application scenario of a positioning method based on a Bluetooth signal.

Detailed ways

Hereinafter, the present application will be described in detail with reference to exemplary embodiments in the accompanying drawings. It should be understood, however, that this application may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. These embodiments are provided here to make the disclosure of the application more complete and similar, and to fully convey the concept of the application to those skilled in the art.

In addition, for any single technical feature described or implied in the embodiments mentioned herein, or any single technical feature shown or implied in each drawing, the application still allows the use of these technical features (or and their equivalents) without any technical barriers, thereby obtaining more other embodiments of the present application that may not be directly mentioned herein.

Referring to Figures 1 to 3, several embodiments of the positioning method based on Bluetooth signals are provided. Among them, the commonality of the embodiments of the information transmission end of the positioning method is that it includes the following steps: first execute S110, when the signal transceiving device 120 is arranged with When multiple positioning Bluetooth beacons 110 for broadcasting positioning signals move within the application scene, the signal transceiving device 120 receives the positioning signals broadcast by the positioning Bluetooth beacons 110 within the communication range, and sends the positioning signals to the location storage device. The cloud 140 of the location information of the Bluetooth beacon 110 ; then execute S120 , the signal transceiving device 120 receives the Bluetooth signal broadcast by the asset in the application scene within the communication range, and sends the Bluetooth signal broadcast by the asset to the cloud 140 . At the same time, correspondingly, the commonality of the embodiments on the information processing side of the positioning method is that it includes the following steps: firstly execute S310, the cloud receiving the location information of the positioning Bluetooth beacon 110 within the communication range forwarded by the signal transceiving device 120 The positioning signal broadcast by the positioning Bluetooth beacon 110 is used to obtain the location information of the positioning Bluetooth beacon 110; then S320 is executed, and the cloud receives the asset within the application scene within the communication range forwarded by the signal transceiver device 120 The broadcasted Bluetooth signal, and based on the relative positional relationship between the signal transceiving device 120 and the positioning Bluetooth beacon 110 and the relative positional relationship between the signal transceiving device 120 and the asset to obtain the location information of the asset.

According to the technical solution of the present application, since the position information of each positioning Bluetooth beacon 110 has been stored in the cloud 140, the positioning signal broadcast by the positioning Bluetooth beacon is transferred to the cloud through the signal transceiver device to obtain the corresponding positioning Bluetooth signal in the cloud. Target location information; then the signal transceiver device can be used as an intermediate reference object, and the location information of these assets can be obtained in the cloud based on the relative position relationship between the signal transceiver device and the positioning Bluetooth beacon and the relative position relationship between the signal transceiver device and the assets, thus realizing Locate and track various assets in application scenarios. Especially when it is applied to the construction scene, because the workers themselves need to walk around in the scene, the location information of the asset can be tracked and located in real time at this time, without the need to perform a special walking and tracking process for this, further improving efficiency.

During the implementation of the aforementioned positioning method, the location information of the signal transceiving device itself can be obtained in the cloud as output information; it can also exist only as transit information without outputting the information in the cloud.

Specifically, as a specific embodiment that can output the position information of the signal transceiving device itself, at this time, the cloud 140 receives the positioning signal forwarded by the signal transceiving device 120 and the corresponding position information of the positioning Bluetooth beacon 110, to obtain the location information of the signal transceiving device 120 itself. Specifically, the cloud 140 can calculate the relative position between the signal transceiving device 120 and the positioning Bluetooth beacon 110 according to the position information of the positioning Bluetooth beacon 110 and the signal strength of the positioning signal sent by it; When the 120 receives and forwards the positioning signals broadcast by the positioning Bluetooth beacon 110 at two or more points, the exact position of the signal transceiving device 120 can be calculated according to triangulation and RSSI. Subsequently, the cloud 140 obtains the location information of the asset by receiving the Bluetooth signal broadcast by the asset forwarded by the signal transceiver device 120 and the obtained location information of the signal transceiver device 120 itself. Specifically, the cloud 140 can calculate the relative position between the signal transceiving device 120 and the asset according to the location information of the signal transceiving device 120 and the received Bluetooth signal strength broadcasted by the asset. For example, when the distance between the two is calculated to be 1 meter, it can be known that the asset is located near the range of a circle with the signal transceiving device 120 as the center and a radius of 1 meter. On this basis, when the signal transceiving device 120 moves, it can be further calculated that the relative position between the signal transceiving device 120 and the asset is increasing or decreasing, so that the location information of the asset can be determined more accurately.

The details of each feature or step in the Bluetooth signal-based positioning method and the relationship between them will be introduced as follows. In addition, in order to further improve reliability, practicability, economy or other aspects of improvement, some additional features or steps may also be added, which is also exemplarily described as follows.

For example, referring to Fig. 1 and Fig. 2, the signal transceiving device 120 for communicating with positioning Bluetooth beacons and the cloud may include helmets and badges with Bluetooth communication modules. Combination, more convenient to carry. Such helmets or badges with Bluetooth communication modules can communicate with the cloud 140 through the LoRa gateway 130 .

For another example, referring to FIG. 3 , the signal transceiving device 120 for communicating with the positioning Bluetooth beacon and the cloud may also be a mobile communication terminal such as a mobile phone. By configuring the corresponding APP for the mobile communication terminal and using its own Bluetooth communication module to realize the communication function with the positioning Bluetooth beacon, it is also a relatively convenient implementation. This type of mobile communication terminal with a Bluetooth communication module can communicate with the cloud 140 through 4G or Wifi.

In addition, for the assets in the application scenario, if there is a built-in Bluetooth communication module, the Bluetooth signal can be broadcast directly through the Bluetooth communication module; if there is no relevant hardware, it can also be selected as an external asset Bluetooth Beacons 150 to broadcast Bluetooth signals.

As a specific example of a class of asset, it could be a power tool used for work. At this time, in addition to location information, the Bluetooth signal broadcast by the electric tool may also include information for the electric tool, such as tool type information, tool usage time information, tool fault information, etc., so that maintenance personnel can Obtain additional information so that appropriate maintenance actions can be performed on the communicating power tool.

In addition, embodiments of the signal transceiving device are also provided herein. Such a signal transceiving device may be configured to: receive a positioning signal broadcast by a positioning Bluetooth beacon 110 within the communication range, and send the positioning signal to the cloud 140 storing the location information of the positioning Bluetooth beacon 110; and The bluetooth signal broadcasted by the asset in the application scene within the communication range is received, and the bluetooth signal broadcasted by the asset is sent to the cloud 140 . This provides a hardware basis for the realization of the information transmission end of the aforementioned positioning method based on the Bluetooth signal.

Turning to FIG. 4 , it provides another embodiment of the positioning method based on Bluetooth signals, which is also an embodiment of the information transmission end of the positioning method. This embodiment includes the following steps: first execute S210, and arrange multiple The static Bluetooth device 160 based on the LoRa gateway 130 is set in the application scene of the positioning Bluetooth beacon 110 for broadcasting positioning signals, wherein the static Bluetooth device 160 has a communication range covering the entire application scene; then S220 is executed, and the static Bluetooth device 160 receives The positioning signal broadcast by the positioning Bluetooth beacon 110, and sending the positioning signal to the cloud 140 that stores the location information of the positioning Bluetooth beacon 110; then execute S230, the static Bluetooth device 160 receives the positioning signal broadcast by the assets in the application scene Bluetooth signal, and send the Bluetooth signal broadcasted by the asset to the cloud 140 for communication. At the same time, correspondingly, the embodiment on the information processing side of the positioning method includes the following steps: firstly execute S310, and receive the positioning Bluetooth within the communication range forwarded by the static Bluetooth device 160 by the cloud that stores the position information of the positioning Bluetooth beacon 110 The positioning signal broadcast by the beacon 110 is used to obtain the location information of the positioning Bluetooth beacon 110; then S320 is executed, and the cloud receives the location information broadcast by the assets in the application scene within the communication range forwarded by the static Bluetooth device 160 Bluetooth signals, and based on the relative positional relationship between the static Bluetooth device 160 and the positioning Bluetooth beacon 110 and the relative positional relationship between the static Bluetooth device 160 and the asset, the location information of the asset is obtained.

According to the technical solution of the present application, since the position information of each positioning Bluetooth beacon 110 has been stored in the cloud 140, the positioning signal broadcast by the positioning Bluetooth beacon is forwarded to the cloud by a static Bluetooth device based on the LoRa gateway to obtain the corresponding positioning signal in the cloud. The location information of the positioning Bluetooth beacon; then the static Bluetooth device can be used as an intermediate reference object, and the location information of these assets can be obtained in the cloud based on the relative position relationship between the static Bluetooth device and the positioning Bluetooth beacon and the relative position relationship between the static Bluetooth device and the asset. This enables the positioning and tracking of various assets in the application scenario.

During the implementation of the aforementioned positioning method, the location information of the static Bluetooth device itself can be obtained as output information; it can also exist only as transit information, without outputting the information on the cloud.

Specifically, as a specific embodiment that can output the position information of the static Bluetooth device itself, at this time, the cloud 140 receives the positioning signal forwarded by the static Bluetooth device 160 and the corresponding position information of the positioning Bluetooth beacon 110, to obtain the location information of the static Bluetooth device 160 itself. Specifically, the cloud 140 can calculate the relative position between the static Bluetooth device 160 and the positioning Bluetooth beacon 110 according to the position information of the positioning Bluetooth beacon 110 and the signal strength of the positioning signal sent by it; When the 160 receives and forwards the positioning signals broadcast by the positioning Bluetooth beacon 110 at two or more points, it can calculate the exact position of the static Bluetooth device 160 according to the triangulation and RSSI. Subsequently, the cloud 140 obtains the location information of the asset by receiving the Bluetooth signal broadcast by the asset forwarded by the static Bluetooth device 160 and the obtained location information of the static Bluetooth device 160 itself. Specifically, the cloud 140 can calculate the relative position between the static Bluetooth device 160 and the asset according to the location information of the static Bluetooth device 160 and the received Bluetooth signal strength broadcasted by the asset. For example, when the distance between the two is calculated to be 1 meter, it can be known that the asset is located near the range of a circle with the static Bluetooth device 160 as the center and a radius of 1 meter.

For example, the static Bluetooth device 160 arranged here can communicate with the cloud 140 directly through the LoRa gateway 130 . Optionally, the static Bluetooth device 160 can also communicate with the cloud 140 through 4G or Wifi.

As another example, regarding the assets in the application scenario, if there is a built-in Bluetooth communication module, the Bluetooth signal can be directly broadcast through the Bluetooth communication module; if there is no relevant hardware, it can also be selected as an external asset Bluetooth beacon 150 to broadcast Bluetooth signal.

In addition, an embodiment of a static Bluetooth device based on a LoRa gateway is also provided herein. This type of static bluetooth device can be configured to perform: receiving the positioning signal broadcast by the positioning bluetooth beacon 110, and sending the positioning signal to the cloud 140 storing the position information of the positioning bluetooth beacon 110; The bluetooth signal broadcasted by the asset, and the bluetooth signal broadcasted by the asset is sent to the cloud 140 . This provides a hardware basis for the realization of the information transmission end of the aforementioned positioning method based on the Bluetooth signal.

In order to facilitate the understanding of the aforementioned positioning method based on the Bluetooth signal, an exemplary explanation of the configuration process of the positioning Bluetooth beacon is provided here. First of all, since the application scenario for configuration usually requires the deployment of multiple positioning Bluetooth beacons to form an array of broadcast signal positioning, it is usually necessary to carry multiple positioning Bluetooth beacons to the site for deployment. At this time, the operator can take out any positioning Bluetooth beacon from the plurality of positioning Bluetooth beacons, and arrange it in any one of the plurality of preset installation areas. After the positioning Bluetooth beacon is placed in a preset installation area, the pairing mode of the positioning Bluetooth beacon can be turned on, wherein the parameter information required for any positioning of the Bluetooth beacon can be automatically loaded on site through a personal mobile terminal. Subsequently, the operator can operate the corresponding APP in the personal mobile terminal to make it search for the positioning Bluetooth beacon to be paired. After searching for the target object, the operator can complete the two by obtaining the universal unique identification code of the positioning Bluetooth beacon to be paired. exact pairing. So far, the capture and connection process of the positioning Bluetooth beacon to be configured has been realized, and then the positioning Bluetooth beacon obtains configuration parameters from the paired personal mobile terminal, and automatically adjusts itself according to the configuration parameters to make the two match. Wherein, the configuration parameters include the preset configuration information corresponding to each preset installation area obtained by the personal mobile terminal based on the preset configuration information of the application scene. In this way, a plurality of positioning Bluetooth beacons can be arranged in each preset installation area in the application scene smoothly, forming a matrix of Bluetooth beacons to broadcast Bluetooth signals, so that after applying the aforementioned positioning method, any location in the scene Local signal transceivers or static Bluetooth devices based on LoRa gateways can know their location information, and then correspondingly know the location information of assets anywhere in the field.

The above specific implementation manners are only used to illustrate the present application, but not to limit the present application. In order to illustrate the relative positional relationship, relative orientation terms such as left and right, up and down, etc. are used in this application, and are not limited to absolute positions. Those of ordinary skill in the relevant technical field, without departing from the scope of the application, can also make various changes and modifications to the technical solutions of the application, so all equivalent technical solutions also belong to the category of the application, and the contents of the application The scope of patent protection should be defined by the claims.

Claims

A positioning method based on bluetooth signals, characterized in that it comprises:

S110. When the signal transceiving device (120) moves in an application scene where multiple positioning Bluetooth beacons (110) for broadcasting positioning signals are arranged, the signal transceiving device (120) receives the Locate the positioning signal broadcast by the Bluetooth beacon (110), and send the positioning signal to the cloud (140) storing the position information of the positioning Bluetooth beacon (110);

S120. The signal transceiving device (120) receives a Bluetooth signal broadcast by an asset in an application scene within a communication range, and sends the Bluetooth signal broadcast by the asset to the cloud (140).
The positioning method according to claim 1, characterized in that the signal transceiving device (120) comprises a helmet with a Bluetooth communication module, a badge or a mobile communication terminal.
The positioning method according to claim 2, wherein the helmet or badge with the Bluetooth communication module communicates with the cloud (140) through the LoRa gateway (130); or the mobile communication terminal with the Bluetooth communication module Communicate with the cloud (140) via 4G or Wifi.
A positioning method based on bluetooth signals, characterized in that it comprises:

S210, setting a static Bluetooth device (160) based on a LoRa gateway (130) in an application scenario where a plurality of positioning Bluetooth beacons (110) for broadcasting positioning signals are arranged, wherein the static Bluetooth device (160) has Cover the communication range of application scenarios;

S220, the static Bluetooth device (160) receives the positioning signal broadcast by the positioning Bluetooth beacon (110), and sends the positioning signal to the device storing the position information of the positioning Bluetooth beacon (110) cloud (140);

S230. The static bluetooth device (160) receives the bluetooth signal broadcast by the asset in the application scene, and sends the bluetooth signal broadcast by the asset to the cloud (140).
The positioning method according to claim 4, wherein the static bluetooth device (160) communicates with the cloud (140) through a LoRa gateway (130) or 4G or Wifi.
The positioning method according to any one of claims 1 to 5, characterized in that the Bluetooth signal broadcast by the asset in the application scene is generated by a built-in Bluetooth communication module or an external asset Bluetooth beacon (150).
The positioning method according to claim 6, wherein the assets in the application scene include electric tools, and the Bluetooth signals broadcast by the electric tools include location information and electric tool information.
The positioning method according to claim 7, wherein the electric tool information includes tool type information, tool usage time information, and tool failure information.
A signal transceiving device, characterized in that it is configured to perform:

receiving the positioning signal broadcast by the positioning Bluetooth beacon (110) within the communication range, and sending the positioning signal to the cloud (140) storing the position information of the positioning Bluetooth beacon (110); and

The bluetooth signal broadcasted by the asset in the application scene within the communication range is received, and the bluetooth signal broadcasted by the asset is sent to the cloud (140).
A kind of static bluetooth device based on LoRa gateway, it has the communication scope that covers application scene, it is characterized in that, described static bluetooth device (160) is configured to carry out:

receiving the positioning signal broadcast by the positioning bluetooth beacon (110), and sending the positioning signal to the cloud (140) storing the position information of the positioning bluetooth beacon (110); and

The bluetooth signal broadcasted by the asset in the application scene is received, and the bluetooth signal broadcasted by the asset is sent to the cloud (140).
A positioning method based on bluetooth signals, characterized in that it comprises:

S310, receiving the location information broadcast by the positioning Bluetooth beacon (110) within the communication range forwarded by the signal transceiving device (120) and/or the static Bluetooth device (160) by the cloud storing the location information of the positioning Bluetooth beacon (110) A positioning signal, through which the position information of the positioning bluetooth beacon (110) is obtained;

S320. The cloud receives the bluetooth signal broadcasted by the assets in the application scene within the communication range forwarded by the signal transceiving device (120) and/or the static bluetooth device (160), and based on the signal transceiving device (120) and/or the relative positional relationship between the static Bluetooth device (160) and the positioning Bluetooth beacon (110) and the relative positional relationship between the signal transceiving device (120) and/or the static Bluetooth device (160) and the asset Obtain location information for the asset.
The positioning method according to claim 11, wherein the cloud receives the positioning signal forwarded by the signal transceiving device (120) and/or the static Bluetooth device (160), and the corresponding positioning signal The location information of the Bluetooth beacon (110) is used to obtain the location information of the signal transceiving device (120) and/or the static Bluetooth device (160).
The positioning method according to claim 12, characterized in that, the cloud receives the Bluetooth signal broadcast by the asset forwarded by the signal transceiving device (120) and/or the static Bluetooth device (160), and obtains The location information of the asset is obtained by using the location information of the signal transceiving device (120) and/or the static Bluetooth device (160).
A readable storage medium, characterized in that it is used to store a program for executing the positioning method based on Bluetooth signals according to any one of claims 11 to 13.