阅读说明：本技术 一种用于工地的快速寻找目标物的装置及其寻找方法 (Device for quickly searching target object for construction site and searching method thereof ) 是由 张红星 于 2020-11-13 设计创作，主要内容包括：本发明公开一种用于工地的快速寻找目标物的装置及其寻找方法,包括移动网关、车载信标和移动计步测距模块和声光报警器,移动网关能够测定与车载信标的距离,移动计步测距模块能够计算用户的移动距离。本发明通过用户携带移动网关和智能手机,在移动中自动完成多次测定人到车的距离,通过三角余弦定理计算出被测目标物的坐标,并锁定坐标定位,同时辅助声光报警器快速追踪到目标物,进而能够在复杂环境中精准、快速地定位目标物所处位置,本发明能够在大型、楼层复杂的施工环境,或者地下封闭式、无信号的施工环境以及其他无基站信号的开阔地域使用,达到在复杂环境下精准、快速地定位目标物所处位置的目的,设计结构合理简单,使用成本低,具有很强的实用性。(The invention discloses a device for quickly searching for a target object in a construction site and a searching method thereof. The invention automatically finishes measuring the distance from a person to a vehicle for multiple times in moving by a user carrying the mobile gateway and the smart phone, calculates the coordinate of a measured target object through the trigonometric cosine law, locks the coordinate for positioning, and simultaneously assists the audible and visual alarm to quickly track the target object, thereby accurately and quickly positioning the position of the target object in a complex environment.)

1. The utility model provides a device that is used for target object of seeking fast of building site, a serial communication port, including mobile gateway, vehicle-mounted beacon and removal meter step range module and audible-visual annunciator, vehicle-mounted beacon and audible-visual annunciator are installed on the target object, mobile gateway and removal meter step range module move along with the user, mobile gateway can survey the distance with vehicle-mounted beacon, removal meter step range module can calculate user's travel distance, removal meter step range module has bluetooth function, removal meter step range module sends information to mobile gateway through the bluetooth, mobile gateway forwards vehicle-mounted beacon through loRa, the target object that vehicle-mounted beacon corresponds receives back drive audible-visual annunciator and reports to the police.

2. The device for quickly finding the target object at the construction site according to claim 1, wherein a power supply battery is arranged in the mobile gateway, and the mobile gateway is provided with a charger baby interface.

3. The device for rapidly finding the target object for the construction site according to claim 2, wherein the mobile gateway periodically sends an RSSI request of a data packet containing self ID and self information to the vehicle-mounted beacon, the RSSI1 is sent back to the mobile gateway, the RSSI2 value of the vehicle-mounted beacon is calculated after the mobile gateway receives the data packet sent by the vehicle-mounted beacon, and the distance is derived by importing a ranging formula through RSSI2, wherein the distance is the distance between the vehicle-mounted beacon and the mobile gateway.

4. A method for rapidly finding a target object for a construction site, the method using the apparatus of any one of claims 1-3, wherein the target object is located by: determining a first point A as an original point of a test coordinate, wirelessly ranging by a user through a mobile gateway on the back, determining the distance of a point B of a test target object as C, determining that the point B is on a circumference with the A as a circle center, enabling the user to reach the point C by the distance which is not less than 1/3C when the user walks forwards through the mobile gateway on the back, and measuring the distance by a mobile step-counting ranging moduleThe distance of b, a compass is arranged on the mobile step-counting distance-measuring module, and the point C can be measured by the compass on the mobile step-counting distance-measuring moduleThe direction of the test target object is opposite to the north, the test target object has an included angle theta, the test target object continues to wirelessly measure the distance through the mobile gateway on the back, the distance of the point B is a, the point A is used as an original point, the north direction is used as a y-axis coordinate system, the coordinate of the point B can be identified, the coordinate of the point B has 4 conditions, namely B, B2, B1 and B3, wherein B, B2 is located in a vector positionOn the left, B1 and B3 are locatedThe coordinates of B, B2, B1 and B3 in the north coordinate system can be calculated by the cosine theorem.

Setting the heading of the user from point CLeft side of (D) to point D, measuredA distance d between<a, B inLeft side of (B, B2 case); if it is measuredA distance d between>a, B inRight side (B1, B3 case);

if point B is exactly atOn the extension, B + a ═ c or B + c ═ a appears, the former incorporating BRight side of (B1, B3 case), the latter incorporating B inLeft side of (B, B2 case);

let target point B (x, y) be the point we are looking for, calculate point B coordinates: according to the cosine theorem, the following is calculated:

cos(A)＝(b²+c²-a²)/(2b*c)；

A＝arccos((b²+c²-a²)/(2b*c))；

b on the left side of AC (B, B2 case): the angle between the AB direction and the positive direction of the X axis in the north coordinate system is pi/2 + A-theta,

x＝c*cos(π/2+A-θ)；

y＝c*sin(π/2+A-θ)；

b is atThe angle between the AB direction on the right side (B1, B3) and the positive direction of the X axis in the north coordinate system is pi X5/2-A-theta,

x＝c*cos(π*5/2-A-θ)；

y＝c*sin(π*5/2-A-θ)。

5. the device for quickly finding the target object for the construction site according to any one of claims 1 to 4, wherein the target object is a vehicle.

6. The device for rapidly finding the target object for the construction site according to claim 5, wherein the mobile step-counting and distance-measuring module is a smart phone.

Technical Field

The invention relates to the field of positioning, is suitable for searching vehicles in complex construction site scenes, and particularly relates to a device for quickly searching a target object in a construction site and a searching method thereof.

Background

The high-altitude equipment vehicle has wide operation range and strong maneuverability, and comprises a plurality of scenes such as open-air, indoor, ground and underground construction. The building site space is big, the environment is complicated, and the equipment quantity is many and the position dispersion on same building site, leads to when patrolling and examining, moving back the field, needs to invest a large amount of manpowers and carries out the flesh search, and it is just the same that other important equipment of high altitude plant vehicle are not alone.

Because of the closed and no-signal indoor or underground operation, the equipment vehicle or other important equipment is in an unconnection state and cannot be positioned; this increases the difficulty of searching, requires a lot of time and greatly reduces the service efficiency. Based on the situation, a device for quickly searching for the target object at the construction site needs to be developed to solve the problem.

Disclosure of Invention

The purpose of the invention is as follows: because the high-altitude equipment vehicle or other equipment frequently moves from one building site to another building site, a wireless positioning mode based on a fixed base station cannot be adopted, and a positioning mode based on the mobile gateway 2 is needed.

The technical scheme is as follows: the invention relates to a device for quickly finding a target object in a construction site, which comprises a mobile gateway, a vehicle-mounted beacon, a mobile step-counting distance-measuring module and an acousto-optic alarm, wherein the vehicle-mounted beacon and the acousto-optic alarm are installed on the target object, the mobile gateway and the mobile step-counting distance-measuring module move along with a user, the mobile gateway can measure the distance between the mobile gateway and the vehicle-mounted beacon, the mobile step-counting distance-measuring module can calculate the moving distance of the user, the mobile step-counting distance-measuring module has a Bluetooth function, the mobile step-counting distance-measuring module sends information to the mobile gateway through Bluetooth, the mobile gateway forwards the information to the vehicle-mounted beacon through LoRa, and the target object corresponding to the vehicle-mounted beacon drives the acousto-.

Preferably, a power supply battery is arranged in the mobile gateway, and the mobile gateway is provided with a charger baby interface.

Preferably, the mobile gateway periodically sends an RSSI request of a data packet containing the self ID and the self information to the vehicle-mounted beacon, the vehicle-mounted beacon received signal strength value RSSI1 is sent back to the mobile gateway, the mobile gateway calculates an RSSI2 value of the vehicle-mounted beacon after receiving the data packet sent by the vehicle-mounted beacon, and the distance is derived by importing a ranging formula through the RSSI2, wherein the distance is the distance between the vehicle-mounted beacon and the mobile gateway.

A method for quickly finding a target object for a construction site is realized by the device, and the process of positioning the target object comprises the following steps: entering underground to determine the first point A as the original point of the test coordinate, the user wirelessly measures the distance through the mobile gateway on the back, the distance of the point B of the test target object is C, at the moment, the point B is determined to be on the circumference with the A as the circle center, the user forwards walks through the mobile gateway on the back to the point C by the distance not less than 1/3C, and the distance is measured through the mobile step-counting distance-measuring moduleThe distance of b, a compass is arranged on the mobile step-counting distance-measuring module, and the point C can be measured by the compass on the mobile step-counting distance-measuring moduleThe direction of the test target object is opposite to the north, the test target object continues to wirelessly measure the distance through the mobile gateway on the back, the distance of the B point is a, the A point is used as the origin, the north direction is used as the y axis, the coordinate of the B point can be identified, the coordinate of the B point has 4 cases, namely B, B2, B1 and B3, wherein B, B2 is located at the vectorOn the left, B1 and B3 are locatedThe coordinates of B, B2, B1 and B3 in the north-plus-north coordinate system can be calculated by the cosine theorem. The final point can be determined by the following steps;

setting the heading of the user from point CLeft side of (D) to point D, measuredA distance d between<a, B inLeft side of (B, B2 case); if it is measuredA distance d between>a, B inRight side (B1, B3 case);

if point B is exactly atOn the extension, B + a ═ c or B + c ═ a appears, the former incorporating BRight side of (B1, B3 case), the latter incorporating B inLeft side of (B, B2 case);

in the coordinate system of fig. 2, if target point B (x, y) is the point we are looking for, the B point coordinates are calculated: according to the cosine theorem, the following is calculated:

cos(A)＝(b²+c²-a²)/(2b*c)；

A＝arccos((b²+c²-a²)/(2b*c))；

b is atLeft side of (B, B2 case):the included angle between the direction and the positive direction of the X axis in the north coordinate system is pi/2 + A-theta,

x＝c*cos(π/2+A-θ)，

y＝c*sin(π/2+A-θ)；

b is atRight side of (B1, B3 case)The included angle between the direction and the positive direction of the X axis in the north coordinate system is pi 5/2-A-theta,

x＝c*cos(π*5/2-A-θ)，

y＝c*sin(π*5/2-A-θ)。

preferably, the mobile step-counting and distance-measuring module is a smart phone.

Has the advantages that: the invention automatically finishes measuring the distance from a person to a vehicle for multiple times in moving by a user carrying the mobile gateway and the smart phone, calculates the coordinate of a measured target object through the trigonometric cosine law, locks the coordinate for positioning, and simultaneously assists the audible and visual alarm to quickly track the target object, thereby accurately and quickly positioning the position of the target object in a complex environment.

Drawings

FIG. 1 is a schematic diagram of a system architecture according to the present invention.

Fig. 2 is a schematic diagram of measuring and calculating the position of a target object according to the present invention.

Fig. 3 is a schematic diagram of measuring and calculating the position of a target object according to the present invention.

In the attached drawing, the system comprises 1-a vehicle-mounted beacon, 2-a mobile gateway, 3-a mobile step-counting and distance-measuring module and 4-an audible and visual alarm.

Detailed Description

The technical solution of the present invention is described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the embodiments.

The embodiment mainly uses a vehicle as a target object for quick searching, and comprises the following steps: as shown in fig. 1-3, a device for finding target object fast for building site, including mobile gateway 2, vehicle-mounted beacon 1 and removal meter step range module 3 and audible-visual annunciator 4, vehicle-mounted beacon 1 and audible-visual annunciator 4 are installed on the vehicle, mobile gateway 2 and removal meter step range module 3 move along with the user, mobile gateway 2 can survey the distance with vehicle-mounted beacon 1, removal meter step range module 3 can calculate the removal distance of user, removal meter step range module 3 has the bluetooth function, removal meter step range module 3 sends information to mobile gateway 2 through the bluetooth, mobile gateway 2 forwards vehicle-mounted beacon 1 through LoRa, the vehicle that vehicle-mounted beacon 1 corresponds receives back drive audible-visual annunciator 4 and reports to the police.

In this embodiment, it is preferable that a power supply battery is disposed in the mobile gateway 2, and the mobile gateway 2 is provided with a charger interface.

In this embodiment, it is preferable that the mobile gateway 2 periodically sends an RSSI request for a packet including its ID and its information to the car beacon 1, the car beacon 1 receives a signal strength value RSSI1 and sends the RSSI request back to the mobile gateway 2, the mobile gateway 2 calculates an RSSI2 value of the car beacon 1 after receiving the packet sent by the car beacon 1, and derives a distance through an RSSI2 import distance formula, where the distance is a distance between the car beacon 1 and the mobile gateway 2.

In this embodiment, preferably, the mobile step-counting and distance-measuring module 3 is a smart phone.

The specific working principle is that the mobile gateway 2 measures the distance to the vehicle-mounted beacon 1 by using RSSI (received signal strength) ranging, the ranging technology based on RSSI (received signal strength) measures the distance between nodes by using the principle that a radio signal is regularly attenuated along with the increase of the distance, the strength of a transmitting signal of a transmitting node can be obtained according to the value of a radio frequency chip register of a reading node, the receiving node calculates the transmission loss of the signal according to the strength of the received signal, and the transmission loss value of the radio signal is converted into a distance value by using a theory or an empirical model.

Through a large number of engineering practices, it can be found that the wireless signal propagation obeys probability distribution, and a Shadowing model which is a probability model of the wireless signal propagation can be generalized, and the general form of the Shadowing model is

Pr(d)＝pr(d0)-10nlg(d/d0)+XdBm, (1)

Where pr (d) is the received signal strength (in dBm) when the distance between the transmitting and receiving nodes is d, the reference distance between the transmitting and receiving nodes is d0, and n is the path loss exponent determined by the environment.

In practical applications, a simplified Shadowing model may be employed:

PRSSI＝P0–10nlg(d/d0), (2)

wherein d0 is 1 m; PRSSI is the RSSI value (in dBm) received by the node, and P0 is the power of the received signal 1m away from the signal transmission. For ease of expression and calculation, d0 is typically taken to be 1 m. Thus, it is possible to obtain

RSSI＝A–10nlg(d) (3)

Wherein, a is the RSSI value of the wireless signal strength received by the receiving node when the distance between the wireless transceiving nodes is 1m, n is the signal attenuation factor, the range is generally 2-4, and d is the required distance between the nodes. Both a and n are empirical values and are closely related to the hardware nodes specifically used and the environment in which the wireless signal propagates. Therefore, the A and n parameters are different under different practical environments, and the ranging model is also different. Therefore, a and n are determined by a number of tests before typing. RSSI can be used for ranging and positioning indoors and outdoors.

In this embodiment, the mobile gateway 2 measures the distance to the in-vehicle beacon 1 by the following steps:

the first step is as follows: the mobile gateway 2 node periodically sends an RSSI request of a data packet containing the self ID and self information to the vehicle-mounted beacon 1 node (ID 1);

the second step is that: the vehicle-mounted beacon 1 node sends the received signal strength value RSSI back to the mobile gateway 2(ID), when the mobile gateway 2(ID) receives a data packet (assumed to be 50) sent by the vehicle-mounted beacon 1 node ID1, the 50 RSSI values are filtered to filter out the small probability values due to the fact that the interference is large in deviation, the simple method is that firstly, an average value is obtained, 10 values which are the largest in difference with the average value are removed, the rest 40 values are averaged to obtain the final RSSI value of the vehicle-mounted beacon 1ID1 node, then the RSSI ranging formula (3) is used for deriving the distance d, and therefore the distance between the vehicle-mounted beacon 1ID1 node and the mobile gateway 2ID node is obtained.

The mobile step-counting and distance-measuring module 3 can calculate the moving distance of the user and carry out step-counting and distance-measuring by matching a self-contained tool with a corresponding algorithm. In the embodiment, the mobile phone is a smart phone, common mobile phone systems are classified into android and Ios, and methods for counting steps are different. The following system methods are applicable to the present embodiment.

1) Ios system

The tools for the step counting aspect of the Ios system are updated in the upgrading process, so that the development is carried out for users of different versions. The following can be roughly classified: ios7.0 or less, Ios7.0, Ios8.0 or more.

Ios7.0 the number of steps is calculated using a speedometer. And starting to update accelerometer data through startAccelerometereterUpdates, then adding a timer to acquire data of the CMMotionManager object, and analyzing and processing the data to acquire the step number.

Ios7.0 was step-counted using CMStepCounter. The CMStepCounter class provides a step count interface for accessing the disabled area of the user carrying the device, and step information is collected through built-in hardware. Tracking of the number of steps of the user is started through a startStepCountinUpdateToQueue method and the method is periodically called to distribute the result.

Ios8.0 and above were step-counted using a CMPedometer. The activity information of the user can be obtained through the CMPedometer, and the step number can be obtained by calling an API (application program interface) of the CMPedometer.

2) Android system

For different versions of Android, the following two situations can be distinguished during development: the SDK version is 19 or less and the SDK version is 19 and more.

When the SDK version is 19 or less, the step is counted using the accelerometer. The acceleration sensor is started through an addBasePodioterListener () method, then stepCount is called for calculation processing, the calculated step number is fed back through the interface, and after data processing is finished, the data is transmitted to a caller through an interface callback mode.

And when the SDK version is 19 or more, counting the steps by using a step-counting sensor. The method comprises the steps of starting step counting of a step counting sensor through an addCountStepListener method, calling back onSensorChanged (SensorEvent event) by a system when step counting sensor data changes, processing the data in a call-back function, and transmitting the data to a caller in an interface call-back mode after the data are processed.

The distance that the user moves and the distance that the user is far away from the vehicle can be obtained through the mobile step-counting distance-measuring module 3, the vehicle-mounted beacon 1 and the mobile gateway 2, and the direction of positioning the vehicle is as follows:

as shown in fig. 2, first, when entering the ground, a first point (e.g., point a in fig. 2) is determined as an origin of a test coordinate, a tester wirelessly measures a distance through a mobile gateway 2 on the back, the distance of a test object (point B) is C, at this time, only B can be determined on a circle with a circle center a, and the distance C from the tester, which is calculated in an actual walking process when the tester walks forward through the mobile gateway 2 on the back, is not less than 1/3 (the length of 1/3 target distance is a theoretical walking length requirement) (point C is a point CIs the root of the testerDirection allowed to walk based on field conditions), step counting test by smartphoneB, the arrival point C can be measured by means of a compass (compass) on the smart phoneThe direction is relative to the true north by an angle theta. And continuously measuring the distance by the mobile gateway 2 on the back, testing the distance of the measured object (point B) as a, wherein the distances of three sides a, B and c of the delta ABC are all the same, so that the coordinate of the point B can be identified in a coordinate system which takes A as an origin and the due north direction as a y axis, but there may be 4 situations, namely, each quadrant is possible. B, B2, B1, B3 as shown in FIG. 2. Wherein B, B2 is located at a vectorOn the left, B1 and B3 are locatedThe coordinates of B, B2, B1 and B3 in the north coordinate system can be calculated by the cosine theorem. The final point can be determined by the following steps.

1) If the heading is given from point CTo point D (see FIG. 2), the distance D between the DBs is measured<a, B inLeft side of (B, B2 case); if it is measuredA distance d between>a, B inRight side (B1, B3 case);

2) if point B happens to beIn thatOn the extension, B + a ═ c or B + c ═ a appears, the former incorporating BRight side (B1, B3 case), the latter incorporating B inLeft side of (B, B2 case);

3) in the coordinate system of fig. 2, if target point B (x, y) is the point we are looking for, the B point coordinates are calculated:

4) (1) according to the cosine theorem, calculating

5)cos(A)＝(b²+c²-a²)/(2b*c)；

6)A＝arccos((b²+c²-a²)/(2b*c))；

7) (2) B is inLeft side of (B, B2 case):

8)the included angle between the direction and the positive direction of the X axis in the north coordinate system is pi/2 + A-theta,

9)x＝c*cos(π/2+A-θ)，

10)y＝c*sin(π/2+A-θ)；

11) (3) B is inRight side (B1, B3 case):

12)the included angle between the direction and the positive direction of the X axis in the north coordinate system is pi 5/2-A-theta,

13)x＝c*cos(π*5/2-A-θ)，

14) y ═ c × sin (pi × 5/2-a- θ); the position of the vehicle can be determined.

When the vehicle-mounted beacon 1 receives a positioning and ranging request sent by the smart phone, an acousto-optic alarm connected with the outside can be driven to send an acousto-optic alarm signal, a searching person can easily find a vehicle to be searched, and the acousto-optic alarm can be turned off by a mobile phone and a driver. When the searching person does not see or hear the acousto-optic alarm at the first time, the searching is continued according to the track determined and displayed in the steps.

As noted above, while the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limited thereto. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.