Digital acquisition and positioning system, method, device, equipment and storage medium

Abstract

The present application discloses a digital acquisition and positioning system, method, device, equipment and computer-readable storage medium. The present application relates to the field of positioning technology. When a vehicle is in an abnormal state, the first main control unit is used to process the state information, obtain the first LoRa signal, and interrupt and wake up the first LoRa module and the first Bluetooth module, so as to send the first LoRa signal to the gateway through the first LoRa module, and send the first Bluetooth signal to the gateway through the first Bluetooth module. The second LoRa module and the second Bluetooth module are used to receive the first LoRa signal and the first Bluetooth signal, and the second main control unit is used to obtain abnormal state data and positioning information based on the first LoRa signal and the first Bluetooth signal, so as to send the abnormal state data and positioning information to the server. In this way, the state data of the vehicle during the transportation process can be monitored, and the specific location of the abnormal vehicle can be located at the same time, thereby improving the accuracy of the abnormal vehicle positioning.

Description

Technical Field

[0001] The present application relates to the field of positioning technology, and in particular to a data acquisition and positioning system, method, apparatus, device, and computer-readable storage medium. Background Art

[0002] As major automakers expand their overseas operations, the number of exported vehicles is increasing. Currently, the primary mode of export transportation is sea-based roll-on / roll-off (Roll-On) shipping. This method of transport is time-consuming and environmentally harsh. Vehicles can break down or even catch fire during sea transport, impacting their arrival at the port. Therefore, monitoring vehicle status data during transportation and accurately locating the location of a faulty vehicle are pressing challenges. Summary of the Invention

[0003] The embodiments of the present application provide a data acquisition and positioning system, method, apparatus, device, and computer-readable storage medium to solve at least one of the above-mentioned technical problems.

[0004] The data acquisition and positioning system of the embodiment of the present application includes a data acquisition and positioning module, a gateway and a server. The data acquisition and positioning module includes a first main control unit, a first LoRa module and a first Bluetooth module. The data acquisition and positioning module is connected to the vehicle to obtain the status information of the vehicle. The gateway includes a second main control unit, a second LoRa module and a second Bluetooth module. The gateway is connected to the server;

[0005] When the vehicle is in an abnormal state, the first main control unit is used to perform signal processing on the state information to obtain a first LoRa signal, and interrupt and wake up the first LoRa module and the first Bluetooth module, so as to send the first LoRa signal to the gateway through the first LoRa module, and send the first Bluetooth signal to the gateway through the first Bluetooth module. The second LoRa module and the second Bluetooth module are used to receive the first LoRa signal and the first Bluetooth signal. The second main control unit is used to obtain abnormal state data and positioning information based on the first LoRa signal and the first Bluetooth signal, so as to send the abnormal state data and the positioning information to the server.

[0006] In some embodiments, when the vehicle is in a normal state, the first main control unit is used to perform signal processing on the state information to obtain a second LoRa signal, the first LoRa module is used to send the second LoRa signal to the gateway, the second LoRa module is used to receive the second LoRa signal, and the second main control unit is used to obtain normal state data based on the second LoRa signal to send the normal state data to the server.

[0007] In some embodiments, the second Bluetooth module includes a Bluetooth AOA antenna array, the Bluetooth AOA antenna array includes a plurality of dipole antennas, and isolation elements are provided between the plurality of dipole antennas.

[0008] In some embodiments, the Bluetooth AOA antenna array further includes a dielectric plate and a metal ground, the plurality of dipole antennas are connected to the metal ground, and the plurality of dipole antennas and the metal ground are disposed on the dielectric plate.

[0009] In some embodiments, there are multiple data acquisition and positioning modules, and the corresponding multiple first LoRa modules respectively send the first LoRa signal to the gateway at different communication frequencies and different communication times.

[0010] In some embodiments, the distance between each two dipole antennas is less than half the wavelength of the center frequency of the second Bluetooth module communication frequency band.

[0011] In some embodiments, the data acquisition and positioning module further includes a first communication interface and a bus chip. The data acquisition and positioning module is physically connected to the vehicle through the first communication interface, and the status information is transmitted to the first main control unit through the first communication interface and the bus chip.

[0012] In some embodiments, the gateway further includes a second communication interface, and the gateway is physically connected to the server via a network cable via the second communication interface to send the abnormal status data and the positioning information to the server via the network cable.

[0013] The data acquisition and positioning method of the embodiment of the present application is applied to a data acquisition and positioning module, which is connected to a vehicle. The data acquisition and positioning module includes a first main control unit, a first LoRa module, and a first Bluetooth module. The data acquisition and positioning method includes:

[0014] Obtaining status information of the vehicle;

[0015] When the vehicle is in an abnormal state, the first main control unit performs signal processing on the state information to obtain a first LoRa signal, and interrupts and wakes up the first LoRa module and the first Bluetooth module;

[0016] The first LoRa signal is sent to the gateway through the first LoRa module, and the first Bluetooth signal is sent to the gateway through the first Bluetooth module. The gateway is used to: receive the first LoRa signal and the first Bluetooth signal through the second LoRa module and the second Bluetooth module, and obtain abnormal status data and positioning information based on the first LoRa signal and the first Bluetooth signal through the second main control unit; and send the abnormal status data and the positioning information to the server.

[0017] In some embodiments, the data acquisition and positioning method further includes:

[0018] When the vehicle is in a normal state, the first main control unit performs signal processing on the state information to obtain a second LoRa signal;

[0019] The second LoRa signal is sent to the gateway through the first LoRa module.

[0020] In some embodiments, before obtaining the vehicle status information, the data acquisition and positioning method further includes:

[0021] Receive the timestamp sent by the gateway to calibrate the real-time clocks of the first LoRa module and the first Bluetooth module.

[0022] In some embodiments, there are multiple data acquisition and positioning modules, and the data acquisition and positioning method further includes:

[0023] After the plurality of data acquisition and positioning modules successfully access the network, controlling each of the data acquisition and positioning modules to send a first heartbeat packet to the gateway;

[0024] After each of the data acquisition and positioning modules sends the first heartbeat packet, each of the data acquisition and positioning modules is controlled to send a second heartbeat packet once at a predetermined interval.

[0025] The data acquisition and positioning method of the embodiment of the present application is applied to a gateway, the gateway including a second main control unit, a second LoRa module and a second Bluetooth module, the gateway being connected to a server, and the data acquisition and positioning method including:

[0026] Receiving a first LoRa signal and a first Bluetooth signal through the second LoRa module and the second Bluetooth module, wherein the first LoRa signal and the first Bluetooth signal are derived from: obtaining vehicle status information by a data acquisition and positioning module; when the vehicle is in an abnormal state, performing signal processing on the status information by the first main control unit to obtain a first LoRa signal, and interrupting and waking up the first LoRa module and the first Bluetooth module; sending the first LoRa signal to the gateway through the first LoRa module, and sending the first Bluetooth signal to the gateway through the first Bluetooth module;

[0027] Obtaining abnormal status data and positioning information by the second main control unit based on the first LoRa signal and the first Bluetooth signal;

[0028] The abnormal status data and the positioning information are sent to the server.

[0029] In some embodiments, obtaining abnormal status data and positioning information based on the first LoRa signal and the first Bluetooth signal by the second main control unit includes:

[0030] The abnormal state data is obtained based on the first LoRa signal, and the received signal strength value of the first LoRa signal and the first Bluetooth signal are compared and integrated by an algorithm to obtain the positioning information.

[0031] In some embodiments, the data acquisition and positioning method further includes:

[0032] Receiving a second LoRa signal through the second LoRa module;

[0033] Obtaining normal state data based on the second LoRa signal by the second main control unit;

[0034] The normal status data is sent to the server.

[0035] In some embodiments, the gateway includes a second communication interface. Before receiving the first LoRa signal and the first Bluetooth signal through the second LoRa module and the second Bluetooth module, the data acquisition and positioning method further includes:

[0036] Establishing a connection with the server via the second communication interface through a wired network and reporting the location and local area network address;

[0037] Receive the network access instruction sent by the server, respond to the server, and send a timestamp to the data acquisition and positioning module.

[0038] In some embodiments, there are multiple data acquisition and positioning modules, and the data acquisition and positioning method further includes:

[0039] After the plurality of data acquisition and positioning modules successfully access the network, receiving a first heartbeat packet sent by each of the data acquisition and positioning modules;

[0040] After receiving the first heartbeat packet sent by each of the data acquisition and positioning modules, receiving the corresponding second heartbeat packet once at a predetermined interval;

[0041] When the second heartbeat packet is not received for a predetermined number of consecutive times, it is determined that the data acquisition and positioning module is offline.

[0042] In some embodiments, there are multiple vehicles, and the data acquisition and positioning method further includes:

[0043] Receiving a batch acquisition instruction sent by the server;

[0044] According to the batch acquisition instruction, the device data of multiple vehicles are sent to the server in batches, wherein the device data includes normal state data of the vehicles in normal state, and the abnormal state data and the positioning information of the vehicles in abnormal state.

[0045] The data acquisition and positioning device of the embodiment of the present application is applied to a data acquisition and positioning module, which is connected to a vehicle. The data acquisition and positioning module includes a first main control unit, a first LoRa module, and a first Bluetooth module. The data acquisition and positioning device includes:

[0046] An acquisition module, configured to acquire status information of the vehicle;

[0047] a first control module, configured to, when the vehicle is in an abnormal state, perform signal processing on the state information through the first main control unit to obtain a first LoRa signal, and interrupt and wake up the first LoRa module and the first Bluetooth module;

[0048] The second control module is used to send the first LoRa signal to the gateway through the first LoRa module, and to send the first Bluetooth signal to the gateway through the first Bluetooth module. The gateway is used to: receive the first LoRa signal and the first Bluetooth signal through the second LoRa module and the second Bluetooth module, obtain abnormal status data and positioning information based on the first LoRa signal and the first Bluetooth signal through the second main control unit; and send the abnormal status data and the positioning information to the server.

[0049] The data acquisition and positioning device of the embodiment of the present application is applied to a gateway, the gateway including a second main control unit, a second LoRa module and a second Bluetooth module, the gateway is connected to a server, and the data acquisition and positioning device includes:

[0050] a third control module, configured to receive a first LoRa signal and a first Bluetooth signal through the second LoRa module and the second Bluetooth module, wherein the first LoRa signal and the first Bluetooth signal are derived from: obtaining vehicle status information by the data acquisition and positioning module; when the vehicle is in an abnormal state, performing signal processing on the status information by the first main control unit to obtain a first LoRa signal, and interrupting and waking up the first LoRa module and the first Bluetooth module; sending the first LoRa signal to the gateway through the first LoRa module, and sending the first Bluetooth signal to the gateway through the first Bluetooth module;

[0051] a fourth control module, configured to obtain abnormal status data and positioning information based on the first LoRa signal and the first Bluetooth signal through the second main control unit;

[0052] A sending module is used to send the abnormal status data and the positioning information to the server.

[0053] The data acquisition and positioning device of the embodiment of the present application includes one or more processors and a memory, and the memory stores a computer program. When the computer program is executed by the processor, the data acquisition and positioning method of any of the above embodiments is implemented.

[0054] The computer-readable storage medium of the embodiment of the present application stores a computer program thereon, and when the program is executed by a processor, the data acquisition and positioning method of any of the above embodiments is implemented.

[0055] In the data acquisition and positioning system, method, apparatus, device, and computer-readable storage medium of the embodiments of the present application, the gateway's second LoRa module and second Bluetooth module receive the first LoRa signal and first Bluetooth signal sent by the data acquisition and positioning module. The second main control unit obtains the vehicle's abnormal status data and positioning information based on the first LoRa signal and the first Bluetooth signal, and then sends the abnormal status data and positioning information to the server. In this way, the vehicle's status data during transportation can be monitored and the specific location of the abnormal vehicle can be located, thereby improving the accuracy of abnormal vehicle positioning.

[0056] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0058] Figure 1 This is a schematic diagram of an application scenario of a data acquisition and positioning system according to certain embodiments of the present application;

[0059] Figure 2 This is a schematic diagram of a data acquisition and positioning module in some embodiments of the present application;

[0060] Figure 3 is a schematic diagram of a module of a gateway according to certain embodiments of the present application;

[0061] Figure 4 This is a schematic diagram of the workflow of a data acquisition and positioning system according to certain embodiments of the present application;

[0062] Figure 5 is a schematic structural diagram of a Bluetooth AOA antenna array according to certain embodiments of the present application;

[0063] Figure 6 Schematic diagram of the relationship between isolation between multiple dipole antennas and frequency when the Bluetooth AOA antenna array is not provided with an isolator in certain embodiments of the present application;

[0064] Figure 7 Schematic diagram of the relationship between isolation between multiple dipole antennas and frequency when a Bluetooth AOA antenna array is provided with an isolator in certain embodiments of the present application;

[0065] Figure 8 Schematic diagram of the relationship between return loss and frequency of a Bluetooth AOA antenna array in certain embodiments of the present application;

[0066] Figure 9 This is one of the schematic diagrams of the radiation direction of a single dipole antenna in certain embodiments of the present application;

[0067] Figure 10 This is a second schematic diagram of the radiation direction of a single dipole antenna in certain embodiments of the present application;

[0068] Figure 11 This is one of the radiation direction diagrams of the Bluetooth AOA antenna array in certain embodiments of the present application;

[0069] Figure 12 This is a second schematic diagram of the radiation direction of the Bluetooth AOA antenna array in certain embodiments of the present application;

[0070] Figure 13 This is one of the flow charts of the data acquisition and positioning method applied to the data acquisition and positioning module in certain embodiments of the present application;

[0071] Figure 14 This is one of the flow charts of the data acquisition and positioning method applied to the gateway in certain embodiments of the present application;

[0072] Figure 15 This is the second flow chart of the data acquisition and positioning method applied to the gateway in certain embodiments of the present application;

[0073] Figure 16 This is the second flow chart of the data acquisition and positioning method applied to the data acquisition and positioning module in certain embodiments of the present application;

[0074] Figure 17 This is the third flow chart of the data acquisition and positioning method applied to a gateway in certain embodiments of the present application;

[0075] Figure 18 This is the third flow chart of the data acquisition and positioning method applied to the data acquisition and positioning module in certain embodiments of the present application;

[0076] Figure 19 This is the fourth flow chart of the data acquisition and positioning method applied to the gateway in certain embodiments of the present application;

[0077] Figure 20 This is the fourth flow chart of the data acquisition and positioning method applied to the data acquisition and positioning module in certain embodiments of the present application;

[0078] Figure 21 This is the fifth flow chart of the data acquisition and positioning method applied to the gateway in certain embodiments of the present application;

[0079] Figure 22 This is the sixth flow chart of the data acquisition and positioning method applied to a gateway in certain embodiments of the present application;

[0080] Figure 23 This is one of the module schematic diagrams of a data acquisition and positioning device applied to a data acquisition and positioning module in certain embodiments of the present application;

[0081] Figure 24 This is the second module schematic diagram of a data acquisition and positioning device applied to a data acquisition and positioning module in certain embodiments of the present application;

[0082] Figure 25 This is one of the module schematic diagrams of a data acquisition and positioning device applied to a gateway in certain embodiments of the present application;

[0083] Figure 26 This is the second module schematic diagram of the data acquisition and positioning device applied to the gateway in certain embodiments of the present application;

[0084] Figure 27 It is a module schematic diagram of a data acquisition and positioning device according to certain embodiments of the present application;

[0085] Figure 28 This is a schematic diagram of the connection status between a computer-readable storage medium and a processor in certain embodiments of the present application.

[0086] Description of reference numerals:

[0087] Data acquisition and positioning system 100, data acquisition and positioning module 10, first main control unit 11, first LoRa module 12, first LoRa antenna 121, first Bluetooth module 13, first communication interface 14, bus chip 15, power supply 16, SD card 17, first indicator light 18, gateway 20, second main control unit 21, second LoRa module 22, second LoRa antenna 221, second Bluetooth module 23, Bluetooth AOA antenna array 231, dipole antenna 2311, isolator 2312, dielectric plate 2313, metal ground 2314, second communication interface 24, DC-DC circuit Road 25, second indicator light 26, server 30, vehicle 101, data acquisition and positioning device 200, acquisition module 210, first control module 220, second control module 230, first receiving module 240, fifth control module 250, data acquisition and positioning device 300, third control module 310, fourth control module 320, sending module 330, sixth control module 340, second receiving module 350, third receiving module 360, data acquisition and positioning device 400, processor 410, memory 420, computer-readable storage medium 500, computer program 510, processor 520. DETAILED DESCRIPTION

[0088] The following further describes the embodiments of the present application in conjunction with the accompanying drawings. Throughout the accompanying drawings, the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions. Furthermore, the embodiments of the present application described below in conjunction with the accompanying drawings are exemplary and are intended only to explain the embodiments of the present application and are not to be construed as limiting the present application.

[0089] See also Figures 1 to 3, an embodiment of the present application provides a data acquisition and positioning system 100. The data acquisition and positioning system 100 includes a data acquisition and positioning module 10, a gateway 20 and a server 30. The data acquisition and positioning module 10 includes a first main control unit 11, a first LoRa module 12 and a first Bluetooth module 13. The data acquisition and positioning module 10 is connected to the vehicle 101 and is used to obtain status information of the vehicle 101. The gateway 20 includes a second main control unit 21, a second LoRa module 22 and a second Bluetooth module 23, and the gateway 20 is connected to the server 30. When the vehicle 101 is in an abnormal state, the first main control unit 11 is used to process the status information, obtain a first LoRa signal, and interrupt and wake up the first LoRa module 12 and the first Bluetooth module 13, so as to send the first LoRa signal to the gateway 20 through the first LoRa module 12, and send the first Bluetooth signal to the gateway 20 through the first Bluetooth module 13. The second LoRa module 22 and the second Bluetooth module 23 are used to receive the first LoRa signal and the first Bluetooth signal. The second main control unit 21 is used to perform algorithm comparison and fusion based on the first LoRa signal and the first Bluetooth signal to obtain abnormal status data and positioning information, and send the abnormal status data and positioning information to the server 30.

[0090] In the data acquisition and positioning system 100 of the embodiment of the present application, the second LoRa module 22 and the second Bluetooth module 23 of the gateway 20 receive the first LoRa signal and the first Bluetooth signal sent by the data acquisition and positioning module 10. The second main control unit 21 obtains abnormal status data and positioning information of the vehicle 101 based on the first LoRa signal and the first Bluetooth signal, and sends the abnormal status data and positioning information to the server 30. In this way, the status data of the vehicle 101 during the transportation process can be monitored, and the specific location of the abnormal vehicle 101 can be located, thereby improving the accuracy of the positioning of the abnormal vehicle 101.

[0091] Specifically, the digital acquisition and positioning system 100 can be applied to a roll-on / roll-off ship transporting a vehicle 101. The digital acquisition and positioning system 100 includes a digital acquisition and positioning module 10, a gateway 20, and a server 30. The digital acquisition and positioning module 10 includes a first main control unit 11, a first LoRa module 12, and a first Bluetooth module 13. The digital acquisition and positioning module 10 is used to connect to the vehicle 101 and can obtain the vehicle's status information in real time. The digital acquisition and positioning module 10 is communicatively connected to the gateway 20 to transmit data with the gateway 20 and send heartbeat packets to the gateway 20 at regular intervals. The gateway 20 includes a second main control unit 21, a second LoRa module 22, and a second Bluetooth module 23. The gateway 20 is connected to the server 30.

[0092] After the vehicle 101 is loaded onto the ship and connected to the data acquisition and positioning module 10, Figure 4As shown, gateway 20 establishes a Transmission Control Protocol (TCP) connection with server 30 via a wired network and reports information such as the floor number and LAN address (MAC) of gateway 20. Upon receiving this information, server 30 responds to gateway 20 and sends network access instructions to gateway 20 every 1 second. Gateway 20 responds to the instructions and simultaneously sends a timestamp to first LoRa module 12 and first Bluetooth module 13 to calibrate their real-time clocks (RTCs). After successfully joining the network, first LoRa module 12 returns an event to first main control unit 11 via the serial port. Upon receiving this event, first main control unit 11 sends the vehicle frame's vehicle identification number (VIN) for recording by first LoRa module 12 and first Bluetooth module 13.

[0093] After all the data acquisition and positioning modules 10 have successfully joined the network, they need to upload a heartbeat packet containing the VIN for the first time within 30 minutes. The heartbeat packet includes a LoRa signal and a Bluetooth signal. After the gateway 20 receives the first heartbeat packet, it immediately establishes a mapping relationship, matches the VIN with the location of the data acquisition and positioning module 10 one by one, and pushes feedback to the server 30 in a timely manner. After that, the heartbeat packet of the data acquisition and positioning module 10 is reported once every half an hour. If the heartbeat packet is lost twice in a row, it can be considered that the data acquisition and positioning module 10 is offline. The gateway 20 needs to feedback to the server 30 in a timely manner, so that the offline data acquisition and positioning module 10 can be quickly located based on the correspondence between the VIN and the data acquisition and positioning module 10 stored on the server 30. At the same time, the server 30 can actively send a batch acquisition VIN instruction to the gateway 20. After receiving the instruction, the gateway 20 returns the status information obtained by the data acquisition and positioning module 10 in batches.

[0094] It should be noted that, except for the first heartbeat packet sent, which includes a Bluetooth signal, under normal conditions, the data acquisition and positioning module 10 only communicates with the gateway 20 via LoRa signals. When the data acquisition and positioning module 10 detects that the vehicle 101 is in an abnormal state, the status information includes abnormal state information, and the first main control unit 11 performs digital signal processing on the status information to obtain a first LoRa signal. The first main control unit 11 also interrupts and wakes up the first LoRa module 12 and the first Bluetooth module 13, and sends the first LoRa signal to the first LoRa module 12, so that the first LoRa signal is sent to the gateway 20 via the first LoRa module 12. At the same time, the first Bluetooth module 13 sends the first Bluetooth signal to the gateway 20.

[0095] The second LoRa module 22 and second Bluetooth module 23 of the gateway 20 are used to receive the first LoRa signal and the first Bluetooth signal. Upon receiving the first LoRa signal, the second LoRa module 22 can obtain the Received Signal Strength Indicator (RSSI) value of the first LoRa signal. The second LoRa module 22 and second Bluetooth module 23 interrupt and wake up the second main control module 21, enabling the second main control unit 21 to obtain abnormal status data based on the first LoRa signal. The second main control unit 21 then performs an algorithmic comparison and fusion of the RSSI value of the first LoRa signal and the first Bluetooth signal to obtain the location information of the vehicle 101. The abnormal status data and location information are transmitted to the server 30, allowing the user to determine the status of the vehicle 101 and locate the abnormal vehicle 101.

[0096] In the related art, the positioning of the vehicle 101 is performed based on the RSSI value of the LoRa signal, which is subject to external interference such as the environment, the vehicle 101, and personnel, and is prone to positioning errors, drift, or false alarms.

[0097] In the embodiment of the present application, the second LoRa module 22 and the second Bluetooth module 23 of the gateway 20 receive the first LoRa signal and the first Bluetooth signal sent by the data acquisition and positioning module 10. The second main control unit 21 obtains abnormal status data and positioning information of the vehicle 101 based on the first LoRa signal and the first Bluetooth signal. The abnormal status data and positioning information can be sent to the server 30. In this way, the status data of the vehicle 101 during the transportation process can be monitored, and the specific location of the abnormal vehicle 101 can be located, thereby improving the accuracy of the positioning of the abnormal vehicle 101.

[0098] In some embodiments, when the vehicle 101 is in a normal state, the first main control unit 11 is used to perform signal processing on the status information to obtain a second LoRa signal, the first LoRa module 12 is used to send the second LoRa signal to the gateway 20, the second LoRa module 22 is used to receive the second LoRa signal, and the second main control unit 21 is used to obtain normal status data based on the second LoRa signal to send the normal status data to the server 30.

[0099] Specifically, when the vehicle 101 is in a normal state, the state information includes normal state information. The first main control unit 11 performs digital signal processing on the state information to obtain a second LoRa signal. The second LoRa signal is sent to the first LoRa module 12 via the Secure Digital Input and Output (SDIO) interface or the Serial Peripheral Interface (SPI). The first LoRa module 12 can send the second LoRa signal to the gateway 20, which is received by the second LoRa module 22 of the gateway 20, thereby achieving normal communication between the data acquisition and positioning module 10 and the gateway 20. The gateway 20 also sends the second LoRa signal to the server 30 to achieve real-time monitoring of the status of the vehicle 101.

[0100] See also Figure 3 and Figure 5 In some embodiments, the second Bluetooth module 23 includes a Bluetooth AOA antenna array 231 , which includes a plurality of dipole antennas 2311 , and an isolation member 2312 is provided between the plurality of dipole antennas 2311 .

[0101] See also Figure 3 and Figure 5 The Bluetooth AOA antenna array 231 further includes a dielectric plate 2313 and a metal ground 2314 . The plurality of dipole antennas 2311 are connected to the metal ground 2314 . The plurality of dipole antennas 2311 and the metal ground 2314 are disposed on the dielectric plate 2313 .

[0102] Specifically, the second Bluetooth module 23 performs positioning based on Bluetooth Angle of Arrival (AOA) positioning technology and includes a Bluetooth AOA antenna array 231 , which includes a dielectric plate 2313 , a metal ground 2314 , and multiple dipole antennas 2311 .

[0103] The dielectric plate 2313 can be made of FR4 flame-resistant material with a thickness of 1 mm. The dipole antenna 2311 has a constant phase center, which prevents phase error from increasing due to phase center movement, making the positioning of the digital acquisition and positioning module 10 more accurate. In one example, to improve the positioning accuracy of the gateway 20, the number of dipole antennas 2311 is eight.

[0104] It should be noted that if the dipole antennas 2311 are too close together, coupling will be significant, thereby affecting the efficiency of the Bluetooth AOA antenna array 231. Therefore, to reduce coupling between the dipole antennas 2311, a spacer 2312 is provided between each pair of dipole antennas 2311 to improve isolation between the two dipole antennas 2311. In one example, a wall is used as the spacer 2312.

[0105] contrast Figure 6 and Figure 7 It can be clearly seen that by adding an isolation wall between each two dipole antennas 2311, the isolation between the dipole antennas 2311 can be improved by approximately 9.5 dB. This effectively reduces the coupling between the dipole antennas 2311 and improves the efficiency of the Bluetooth AOA antenna array 231.

[0106] See also Figure 5 In some embodiments, the distance between each two dipole antennas 2311 is less than half the wavelength of the center frequency of the communication frequency band of the second Bluetooth module 23 .

[0107] Specifically, Bluetooth AOA positioning technology uses hardware devices to sense the arrival angle of signals sent by other devices and calculate the relative direction of the receiving node and the sending node. In the embodiment of the present application, the first Bluetooth module 13 includes a Bluetooth antenna, which transmits a direction-finding signal. The direction-finding signal arrives at the Bluetooth AOA antenna array 231 from different angles. There will be a time difference when the signals are received on multiple dipole antennas 2311. This time difference corresponds to the arrival angle of the direction-finding signal. When the distance between the two dipole antennas 2311 is less than half the wavelength of the center frequency of the communication frequency band of the second Bluetooth module 23, the direction of the incoming wave can be uniquely determined. In other words, the phase difference between the two dipole antennas 2311 needs to be less than 180°. The communication frequency band of the second Bluetooth module 23 is 2.4-2.483GHz. Research has found that the spacing between the two dipole antennas 2311 needs to be less than 61.5mm.

[0108] Therefore, in order to receive the first Bluetooth signal transmitted by the data acquisition and positioning modules 10 in the surrounding areas, eight identical dipole antennas 2311 are arranged in an octagonal array, with a spacing of 50 mm between each two dipole antennas 2311 to ensure that the phase difference between the two dipole antennas 2311 is no more than 180°.

[0109] The dipole antenna 2311 is placed in an octagonal pattern, which allows for two-dimensional positioning (azimuth and elevation). Taking elevation as an example, the formula is as follows:

[0110]

[0111] in, is the arrival angle of the direction-finding signal (i.e., the first Bluetooth signal), is the wavelength of the direction-finding signal, is the phase difference of the same signal received by two dipole antennas 2311, is the distance between the two dipole antennas 2311.

[0112] like Figure 8 As shown, the return loss of the multiple dipole antennas 2311 in the communication frequency band of 2.4-2.483 GHz is less than -15 dB, which meets the requirements of the gateway 20 and the data acquisition and positioning module 10 for communication via the Bluetooth frequency band. Figure 9 and Figure 10 As shown, the radiation direction of a single dipole antenna 2311 is relatively symmetrical, and is a typical apple shape. Figure 11 and Figure 12 As shown, the radiation pattern of the Bluetooth AOA antenna array 231 is relatively omnidirectional and symmetrical, and can receive first Bluetooth signals from all directions.

[0113] See also Figure 5 In some embodiments, the first LoRa module 12 includes a first LoRa antenna 121, and the second LoRa module 22 includes a second LoRa antenna 221. The second LoRa antenna 221 is disposed in an empty area in the middle of the Bluetooth AOA antenna array 231. The first LoRa antenna 121 communicates with the second LoRa antenna 221 to achieve a communication connection between the first LoRa module 12 and the second LoRa module 22.

[0114] See also Figure 1 and Figure 2 In some embodiments, there are multiple data acquisition and positioning modules 10, and the corresponding multiple first LoRa modules 12 send the first LoRa signal to the gateway 20 at different communication frequencies and different communication times.

[0115] Specifically, the number of data acquisition and positioning modules 10 is consistent with the number of vehicles 101, that is, one data acquisition and positioning module 10 is connected to one vehicle 101 and correspondingly obtains the status information of the vehicle 101. Figure 1 As shown, the ro-ro ship has six floors, each accommodating 1,000 vehicles. Accordingly, the data acquisition and positioning system 100 includes 6,000 data acquisition and positioning modules 10. Multiple gateways 20 are provided, one on each floor of the ro-ro ship, for a total of six gateways 20. Each gateway 20 is used to communicate with multiple data acquisition and positioning modules 10 on the corresponding floor.

[0116] In related technologies, as the number of LoRa communication devices increases, spectrum interference occurs between devices, which reduces the accuracy of information transmission and increases the packet loss rate.

[0117] In the embodiment of the present application, different communication frequencies can be assigned to the data acquisition and positioning modules 10 on different floors. For example, a roll-on / roll-off ship has 10 floors, and the LoRa communication frequency band of 470-510MHz is divided into 70 communication frequencies. Each cabin floor includes one gateway sending communication frequency and six gateway receiving communication frequencies, as shown in Table 1. The floor of the gateway 20 can be manually set. The data acquisition and positioning module 10 determines its own floor based on the RSSI value of the network access instruction received from the gateway 20 and binds to the MAC address of the gateway 20. Once the gateway 20 is bound, the communication frequency is determined. In this way, spectrum interference between data acquisition and positioning modules 10 on different floors can be effectively avoided.

[0118] Table 1 Communication frequency divisions on different floors of a ro-ro ship

[0119]

[0120] Different communication times can be assigned to the data acquisition and positioning modules 10 on the same floor. The gateway 20 issues network access commands to all data acquisition and positioning modules 10 at a predetermined interval, such as 10 seconds. After receiving the network access command, the data acquisition and positioning module 10 responds to the gateway 20 at a random time within 5 seconds to establish a connection with the gateway 20, record the gateway 20 MAC address, and configure the corresponding receiving communication frequency. If another data acquisition and positioning module 10 is already establishing a connection with the gateway 20 when the data acquisition and positioning module 10 responds to the gateway 20, the data acquisition and positioning module 10 will wait for the next network access command. After the gateway 20 sends multiple rounds of network access commands, the data acquisition and positioning module 10 can be guaranteed to be 100% connected to the network. Once the data acquisition and positioning module 10 is connected to the network, the data acquisition and positioning module 10 uses the current time as the initial time and communicates with the gateway 20 at regular intervals. This ensures that the communication time between each data acquisition and positioning module 10 and the gateway 20 is differentiated, thereby avoiding spectrum interference between data acquisition and positioning modules 10 on the same floor.

[0121] See also Figure 2 In some embodiments, the data acquisition and positioning module 10 further includes a first communication interface 14 and a bus chip 15. The data acquisition and positioning module 10 is physically connected to the vehicle 101 via the first communication interface 14, and status information is transmitted to the first main control unit 11 via the first communication interface 14 and the bus chip 15.

[0122] Specifically, the data acquisition and positioning module 10 also includes a first communication interface 14 and a bus chip 15. The first communication interface 14 can be an on-board diagnostics (OBD) interface, and the bus chip 15 can be a controller area network (CAN) physical layer (PHY) chip. Status information is transmitted to the first main control unit 11 via the first communication interface 14 and bus chip 15.

[0123] The data acquisition and positioning module 10 is physically connected to the vehicle 101 via the first communication interface 14. The data acquisition and positioning module 10 is removable from the vehicle 101 for reuse. Once the vehicle 101 connected to the data acquisition and positioning module 10 is parked on the ro-ro vessel, the server 30 simply issues a network access command, and the data acquisition and positioning module 10 is fully connected to the network within 30 minutes.

[0124] The data acquisition and positioning module 10 also includes a power supply 16, a secure digital (SD) card 17, and a first indicator light 18. Vehicle 101 supplies power to the power supply 16 through the first communication interface 14, which in turn powers the entire data acquisition and positioning module 10. The SD card 17 is used to store data acquired by the data acquisition and positioning module 10. The first indicator light 18 displays the status of the data acquisition and positioning module 10.

[0125] See also Figure 3 In some embodiments, the gateway 20 further includes a second communication interface 24. The gateway 20 is physically connected to the server 30 via a network cable via the second communication interface 24 to send the abnormal status data and positioning information to the server 30 via the network cable.

[0126] Specifically, the gateway 20 also includes a second communication interface 24, which can be an RJ45 (Registered Jack 45) interface. The gateway 20 is physically connected to the server 30 via a network cable via the second communication interface 24. Abnormal status data and location information are transmitted to the server 30 via the network cable. The gateway 20 is powered by a 12V power supply and also includes a direct current-to-direct current (DC-DC) converter circuit 25 and a second indicator light 26. The 12V power is stepped down by the DC-DC converter 25 to power other components of the gateway 20. The second indicator light 26 indicates the status of the gateway 20.

[0127] See also Figure 13The application embodiment also provides a data acquisition and positioning method. The data acquisition and positioning method is applied to a data acquisition and positioning module 10, which is connected to a vehicle 101. The data acquisition and positioning module 10 includes a first main control unit 11, a first LoRa module 12, and a first Bluetooth module 13. The data acquisition and positioning method includes:

[0128] S101: Acquire status information of vehicle 101;

[0129] S102: When the vehicle 101 is in an abnormal state, the first main control unit 11 processes the state information to obtain a first LoRa signal, and interrupts and wakes up the first LoRa module 12 and the first Bluetooth module 13;

[0130] S103: Sending the first LoRa signal to the gateway 20 through the first LoRa module 12, and sending the first Bluetooth signal to the gateway 20 through the first Bluetooth module 13. The gateway 20 is used to: receive the first LoRa signal and the first Bluetooth signal through the second LoRa module 22 and the second Bluetooth module 23, and obtain abnormal status data and positioning information based on the first LoRa signal and the first Bluetooth signal through the second main control unit 21; and send the abnormal status data and positioning information to the server 30.

[0131] In the data acquisition and positioning method of the embodiment of the present application, the data acquisition and positioning module 10 sends the first LoRa signal and the first Bluetooth signal to the gateway 20, so that the second LoRa module 22 and the second Bluetooth module 23 receive the first LoRa signal and the first Bluetooth signal. The second main control unit 21 obtains the abnormal status data and positioning information of the vehicle 101 based on the first LoRa signal and the first Bluetooth signal, and sends the abnormal status data and positioning information to the server 30. In this way, the status data of the vehicle 101 during the transportation process can be monitored, and the specific location of the abnormal vehicle 101 can be located, thereby improving the accuracy of the positioning of the abnormal vehicle 101.

[0132] See also Figure 14 The embodiment of the present application also provides a data acquisition and positioning method. The data acquisition and positioning method is applied to a gateway 20, which includes a second main control unit 21, a second LoRa module 22, and a second Bluetooth module 23. The gateway 20 is connected to a server 30. The data acquisition and positioning method includes:

[0133] S201: receiving a first LoRa signal and a first Bluetooth signal through the second LoRa module 22 and the second Bluetooth module 23, wherein the first LoRa signal and the first Bluetooth signal are derived from: the data acquisition and positioning module 10 obtains status information of the vehicle 101; when the vehicle 101 is in an abnormal state, the first main control unit 11 processes the status information to obtain a first LoRa signal, and interrupts and wakes up the first LoRa module 12 and the first Bluetooth module 13; the first LoRa signal is sent to the gateway 20 through the first LoRa module 12, and the first Bluetooth signal is sent to the gateway 20 through the first Bluetooth module 13;

[0134] S202: Obtaining abnormal status data and positioning information based on the first LoRa signal and the first Bluetooth signal through the second main control unit 21;

[0135] S203: Send the abnormal status data and positioning information to the server 30.

[0136] In the data acquisition and positioning method of the embodiment of the present application, the second LoRa module 22 and the second Bluetooth module 23 of the gateway 20 receive the first LoRa signal and the first Bluetooth signal sent by the data acquisition and positioning module 10. The second main control unit 21 obtains abnormal status data and positioning information of the vehicle 101 based on the first LoRa signal and the first Bluetooth signal, and sends the abnormal status data and positioning information to the server 30. In this way, the status data of the vehicle 101 during the transportation process can be monitored, and the specific location of the abnormal vehicle 101 can be located, thereby improving the accuracy of the positioning of the abnormal vehicle 101.

[0137] Specifically, when the data acquisition and positioning module 10 detects that the vehicle 101 is in an abnormal state, the state information includes abnormal state information. The first main control unit 11 performs digital signal processing on the state information to obtain a first LoRa signal, which includes a received signal strength indicator (RSSI) value. The first main control unit 11 also interrupts and wakes up the first LoRa module 12 and the first Bluetooth module 13, and sends the first LoRa signal to the first LoRa module 12, which then transmits the first LoRa signal to the gateway 20. Simultaneously, the first Bluetooth module 13 transmits the first Bluetooth signal to the gateway 20.

[0138] The second LoRa module 22 and the second Bluetooth module 23 of the gateway 20 are used to receive the first LoRa signal and the first Bluetooth signal. The second LoRa module 22 and the second Bluetooth module 23 interrupt and wake up the second main control module, so that the second main control unit 21 can obtain abnormal status data and positioning information of the vehicle 101 based on the first LoRa signal and the first Bluetooth signal. The abnormal status data and positioning information are sent to the server 30 so that the user can determine the status of the vehicle 101 and locate the abnormal vehicle 101.

[0139] See also Figure 15 In some embodiments, obtaining abnormal status data and positioning information (i.e., S202) by the second main control unit 21 based on the first LoRa signal and the first Bluetooth signal includes:

[0140] S2021: Obtain abnormal status data based on the first LoRa signal, and perform algorithm comparison and fusion on the received signal strength value of the first LoRa signal and the first Bluetooth signal to obtain positioning information.

[0141] Specifically, when the second LoRa module 22 receives the first LoRa signal, it can obtain the RSSI value of the first LoRa signal. The second LoRa module 22 and the second Bluetooth module 23 interrupt and wake up the second main control module, so that the second main control unit 21 obtains abnormal status data based on the first LoRa signal, and performs an algorithm comparison and fusion on the RSSI value of the first LoRa signal and the first Bluetooth signal to obtain the positioning information of the vehicle 101.

[0142] See also Figure 16 In some embodiments, the data acquisition and positioning method further includes:

[0143] S104: When the vehicle 101 is in a normal state, the first main control unit 11 performs signal processing on the state information to obtain a second LoRa signal;

[0144] S105 : Sending the second LoRa signal to the gateway 20 via the first LoRa module 12 .

[0145] See also Figure 17 In some embodiments, the data acquisition and positioning method further includes:

[0146] S204: Receive a second LoRa signal through the second LoRa module 22;

[0147] S205: Obtaining normal state data based on the second LoRa signal through the second main control unit 21;

[0148] S206 : Send the normal status data to the server 30 .

[0149] Specifically, when the vehicle 101 is in a normal state, the data acquisition and positioning module 10 communicates only with the gateway 20 via LoRa signals. At this point, the status information includes normal status information. The first main control unit 11 performs digital signal processing on the status information to obtain a second LoRa signal, which is then sent to the first LoRa module 12 via SDIO or SPI. The first LoRa module 12 can then send the second LoRa signal to the gateway 20, which is received by the second LoRa module 22 of the gateway 20, thus achieving normal communication between the data acquisition and positioning module 10 and the gateway 20. The gateway 20 also sends the second LoRa signal to the server 30 to enable real-time monitoring of the vehicle 101 status.

[0150] See also Figure 18 In some embodiments, before obtaining the status information of the vehicle 101 (ie, S101), the data acquisition and positioning method further includes:

[0151] S106 : Receive the timestamp sent by the gateway 20 to calibrate the real-time clocks of the first LoRa module 12 and the first Bluetooth module 13 .

[0152] See also Figure 19 In some embodiments, the gateway 20 includes a second communication interface 24. Before receiving the first LoRa signal and the first Bluetooth signal through the second LoRa module 22 and the second Bluetooth module 23 (ie, S201), the data acquisition and positioning method further includes:

[0153] S207: Establishing a connection with the server 30 via the wired network via the second communication interface 24, and reporting the location and LAN address;

[0154] S208 : Receive the network access instruction sent by the server 30 , respond to the server 30 , and send a timestamp to the data acquisition and positioning module 10 .

[0155] Specifically, after the vehicle 101 is loaded onto the ship and connected to the data acquisition and positioning module 10, before the data acquisition and positioning module 10 obtains the status information of the vehicle 101, as shown in FIG. Figure 4 As shown, the gateway 20 is connected to the server 30 via a network cable via the second communication interface 24, establishes a TCP connection with the server 30 via the wired network, and reports information such as the floor number and MAC address of the gateway 20. After receiving the information, the server 30 responds to the gateway 20 and sends a network access instruction to the gateway 20 every 1 second. After receiving the instruction, the gateway 20 responds to the server 30 and sends a timestamp to the first LoRa module 12 and the first Bluetooth module 13 to calibrate their own RTCs.

[0156] See also Figure 20In some embodiments, the number of the data acquisition and positioning modules 10 is multiple, and the data acquisition and positioning method further includes:

[0157] S107: After multiple data acquisition and positioning modules 10 successfully access the network, control each data acquisition and positioning module 10 to send a first heartbeat packet to the gateway 20;

[0158] S108: After each data acquisition and positioning module 10 sends the first heartbeat packet, control each data acquisition and positioning module 10 to send a second heartbeat packet once at a predetermined interval.

[0159] See also Figure 21 In some embodiments, the number of the data acquisition and positioning modules 10 is multiple, and the data acquisition and positioning method further includes:

[0160] S209: After multiple data acquisition and positioning modules 10 successfully access the network, receiving a first heartbeat packet sent by each data acquisition and positioning module 10;

[0161] S2010: After receiving the first heartbeat packet sent by each data acquisition and positioning module 10, receive the corresponding second heartbeat packet once every predetermined time interval;

[0162] S2011: When the second heartbeat packet is not received for a predetermined number of consecutive times, it is determined that the data acquisition and positioning module 10 is offline.

[0163] Specifically, after each data acquisition and positioning module 10 successfully joins the network, the first LoRa module 12 needs to return an event to the first main control unit 11 through the serial port. After receiving it, the first main control unit 11 sends the VIN of the vehicle frame so that the first LoRa module 12 and the first Bluetooth module 13 can record it.

[0164] After all the data acquisition and positioning modules 10 are successfully connected to the network, it is necessary to upload the first heartbeat packet containing the VIN for the first time within 30 minutes. The first heartbeat packet includes a LoRa signal and a Bluetooth signal. After the gateway 20 receives the first heartbeat packet, it immediately establishes a mapping relationship, matches the VIN with the location of the data acquisition and positioning module 10 one by one, and pushes feedback to the server 30 in a timely manner. After that, the data acquisition and positioning module 10 reports a second heartbeat packet to the gateway once every predetermined time. In one example, the predetermined time is half an hour. When the gateway fails to receive the second heartbeat packet twice in a row, it can be considered that the data acquisition and positioning module 10 is offline. The gateway 20 needs to feedback to the server 30 in a timely manner, so that the offline data acquisition and positioning module 10 can be quickly located based on the corresponding relationship between the VIN and the data acquisition and positioning module 10 stored on the server 30.

[0165] See also Figure 22 In some embodiments, there are multiple vehicles 101, and the data acquisition and positioning method further includes:

[0166] S2012: receiving a batch acquisition instruction sent by the server 30;

[0167] S2013: According to the batch acquisition instruction, the device data of multiple vehicles 101 are sent to the server 30 in batches, wherein the device data includes normal state data of vehicles 101 in normal state, and abnormal state data and positioning information of vehicles 101 in abnormal state.

[0168] Specifically, the server 30 can proactively send a batch acquisition instruction to the gateway 20. After receiving the batch acquisition instruction, the gateway 20 batch-sends the status information of the multiple vehicles 101 acquired by the data acquisition and positioning module 10 to the server 30 in the form of device data. The multiple vehicles 101 may include vehicles in normal status and vehicles in abnormal status. Therefore, the device data may include normal status data of vehicles 101 in normal status, as well as abnormal status data and positioning information of vehicles 101 in abnormal status.

[0169] See also Figure 23 , the embodiment of the present application also provides a data acquisition and positioning device 200. The data acquisition and positioning device 200 is applied to the data acquisition and positioning module 10, which is connected to the vehicle 101. The data acquisition and positioning module 10 includes a first main control unit 11, a first LoRa module 12 and a first Bluetooth module 13. The data acquisition and positioning device 200 includes an acquisition module 210, a first control module 220 and a second control module 230. The acquisition module 210 is used to obtain status information of the vehicle 101. The first control module 220 is used to control the first main control unit 11 to perform signal processing on the status information when the vehicle 101 is in an abnormal state, obtain a first LoRa signal and a first Bluetooth signal, and interrupt and wake up the first LoRa module 12 and the first Bluetooth module 13. The second control module 230 is used to send the first LoRa signal to the gateway 20 through the first LoRa module 12, and to send the first Bluetooth signal to the gateway 20 through the first Bluetooth module 13. The gateway 20 is used to: receive the first LoRa signal and the first Bluetooth signal through the second LoRa module 22 and the second Bluetooth module 23, and obtain abnormal status data and positioning information based on the first LoRa signal and the first Bluetooth signal through the second main control unit 21; and send the abnormal status data and positioning information to the server 30.

[0170] In some embodiments, the first control module 220 is further configured to process the state information through the first main control unit 11 to obtain a second LoRa signal when the vehicle 101 is in a normal state. The second control module 230 is further configured to send the second LoRa signal to the gateway 20 through the first LoRa module 12.

[0171] See also Figure 24In some embodiments, the data acquisition and positioning device 200 further includes a first receiving module 240. Before acquiring the status information of the vehicle 101, the first receiving module 240 is configured to receive a timestamp sent by the gateway 20 to calibrate the real-time clocks of the first LoRa module 12 and the first Bluetooth module 13.

[0172] In some embodiments, the data acquisition and positioning device 200 also includes a fifth control module 250. There are multiple data acquisition and positioning modules 10. The fifth control module 250 is used to control each data acquisition and positioning module 10 to send a first heartbeat packet to the gateway 20 after multiple data acquisition and positioning modules 10 successfully access the network; after each data acquisition and positioning module 10 sends the first heartbeat packet, it controls each data acquisition and positioning module 10 to send a second heartbeat packet once every predetermined time interval.

[0173] It should be noted that the explanation of the data acquisition and positioning method in the aforementioned embodiment is also applicable to the data acquisition and positioning device 200 of the embodiment of the present application, and will not be elaborated here.

[0174] See also Figure 25 , the embodiment of the present application also provides a data acquisition and positioning device 300. The data acquisition and positioning device 300 is applied to the gateway 20, which includes a second main control unit 21, a second LoRa module 22 and a second Bluetooth module 23. The gateway 20 is connected to the server 30. The data acquisition and positioning device 300 includes a third control module 310, a fourth control module 320 and a sending module 330. The third control module 310 is used to receive a first LoRa signal and a first Bluetooth signal through the second LoRa module 22 and the second Bluetooth module 23, wherein the first LoRa signal and the first Bluetooth signal are derived from: the data acquisition and positioning module 10 obtains the status information of the vehicle 101; when the vehicle 101 is in an abnormal state, the status information is processed by the first main control unit 11 to obtain a first LoRa signal, and the first LoRa module 12 and the first Bluetooth module 13 are interrupted and woken up; the first LoRa signal is sent to the gateway 20 through the first LoRa module 12, and the first Bluetooth signal is sent to the gateway 20 through the first Bluetooth module 13. The fourth control module 320 is configured to obtain abnormal status data and positioning information based on the first LoRa signal and the first Bluetooth signal through the second main control unit 21. The sending module 330 is configured to send the abnormal status data and positioning information to the server 30.

[0175] In some embodiments, the fourth control module 320 is specifically configured to obtain abnormal status data based on the first LoRa signal, and perform algorithmic comparison and fusion on the received signal strength value of the first LoRa signal and the first Bluetooth signal to obtain positioning information.

[0176] In some embodiments, the data acquisition and positioning method further includes: a third control module 310 further configured to receive a second LoRa signal via a second LoRa module 22. A fourth control module 320 further configured to obtain normal status data based on the second LoRa signal via the second main control unit 21. A sending module 330 further configured to send the normal status data to the server 30.

[0177] See also Figure 26 In some embodiments, the gateway 20 includes a second communication interface 24, and the data acquisition and positioning device 300 further includes a sixth control module 340. Before receiving the first LoRa signal and the first Bluetooth signal via the second LoRa module 22 and the second Bluetooth module 23 (i.e., S201), the sixth control module 340 is configured to establish a connection with the server 30 via the second communication interface 24 via a wired network and report its location and local area network address; receive a network access instruction from the server 30, respond to the server 30, and send a timestamp to the data acquisition and positioning module 10.

[0178] In some embodiments, there are multiple data acquisition and positioning modules 10, and the data acquisition and positioning device 300 further includes a second receiving module 350. The second receiving module 350 is configured to receive a first heartbeat packet sent by each data acquisition and positioning module 10 after the multiple data acquisition and positioning modules 10 successfully access the network; after receiving the first heartbeat packet sent by each data acquisition and positioning module 10, receive a corresponding second heartbeat packet at a predetermined interval;

[0179] In some embodiments, there are multiple vehicles 101, and the data acquisition and positioning device 300 further includes a third receiving module 360. The third receiving module 360 ​​is configured to receive a batch acquisition instruction sent by the server 30 and, in response to the batch acquisition instruction, batch-send device data of multiple vehicles 101 to the server 30, wherein the device data includes normal state data of vehicles 101 in a normal state, abnormal state data of vehicles 101 in an abnormal state, and positioning information.

[0180] It should be noted that the explanation of the data acquisition and positioning method in the aforementioned embodiment is also applicable to the data acquisition and positioning device 300 of the embodiment of the present application, and will not be elaborated here.

[0181] See Figure 27 The present application also provides a data acquisition and positioning device 400. The data acquisition and positioning device 400 includes one or more processors 410 and a memory 420. The memory 420 stores a computer program. When the computer program is executed by the processor 410, the data acquisition and positioning method of any of the above embodiments is implemented.

[0182] For example, when the computer program is executed by the processor 410, the following data acquisition and positioning method is implemented:

[0183] S101: Acquire status information of vehicle 101;

[0184] S102: When the vehicle 101 is in an abnormal state, the first main control unit 11 processes the state information to obtain a first LoRa signal and a first Bluetooth signal, and interrupts and wakes up the first LoRa module 12 and the first Bluetooth module 13;

[0185] S103: Sending the first LoRa signal to the gateway 20 through the first LoRa module 12, and sending the first Bluetooth signal to the gateway 20 through the first Bluetooth module 13. The gateway 20 is used to: receive the first LoRa signal and the first Bluetooth signal through the second LoRa module 22 and the second Bluetooth module 23, and obtain abnormal status data and positioning information based on the first LoRa signal and the first Bluetooth signal through the second main control unit 21; and send the abnormal status data and positioning information to the server 30.

[0186] For another example, when the computer program is executed by the processor 410, the following data acquisition and positioning method is implemented:

[0187] S201: receiving a first LoRa signal and a first Bluetooth signal through the second LoRa module 22 and the second Bluetooth module 23, wherein the first LoRa signal and the first Bluetooth signal are derived from: the data acquisition and positioning module 10 obtains status information of the vehicle 101; when the vehicle 101 is in an abnormal state, the first main control unit 11 processes the status information to obtain a first LoRa signal, and interrupts and wakes up the first LoRa module 12 and the first Bluetooth module 13; the first LoRa signal is sent to the gateway 20 through the first LoRa module 12, and the first Bluetooth signal is sent to the gateway 20 through the first Bluetooth module 13;

[0188] S202: Obtaining abnormal status data and positioning information based on the first LoRa signal and the first Bluetooth signal through the second main control unit 21;

[0189] S203: Send the abnormal status data and positioning information to the server 30.

[0190] It should be noted that the explanation of the data acquisition and positioning method in the aforementioned embodiment is also applicable to the data acquisition and positioning device 400 of the embodiment of the present application, and will not be further explained here.

[0191] See Figure 28 The embodiment of the present application further provides a computer-readable storage medium 500 on which a computer program 510 is stored. When the program is executed by a processor 520, the data acquisition and positioning method of any of the above embodiments is implemented.

[0192] For example, when the computer program 510 is executed by the processor 520, the following data acquisition and positioning method is implemented:

[0193] S101: Acquire status information of vehicle 101;

[0194] S102: When the vehicle 101 is in an abnormal state, the first main control unit 11 processes the state information to obtain a first LoRa signal and a first Bluetooth signal, and interrupts and wakes up the first LoRa module 12 and the first Bluetooth module 13;

[0195] S103: Sending the first LoRa signal to the gateway 20 through the first LoRa module 12, and sending the first Bluetooth signal to the gateway 20 through the first Bluetooth module 13. The gateway 20 is used to: receive the first LoRa signal and the first Bluetooth signal through the second LoRa module 22 and the second Bluetooth module 23, and obtain abnormal status data and positioning information based on the first LoRa signal and the first Bluetooth signal through the second main control unit 21; and send the abnormal status data and positioning information to the server 30.

[0196] For another example, when the computer program is executed by the processor 410, the following data acquisition and positioning method is implemented:

[0197] S201: receiving a first LoRa signal and a first Bluetooth signal through the second LoRa module 22 and the second Bluetooth module 23, wherein the first LoRa signal and the first Bluetooth signal are derived from: the data acquisition and positioning module 10 obtains status information of the vehicle 101; when the vehicle 101 is in an abnormal state, the first main control unit 11 processes the status information to obtain a first LoRa signal, and interrupts and wakes up the first LoRa module 12 and the first Bluetooth module 13; the first LoRa signal is sent to the gateway 20 through the first LoRa module 12, and the first Bluetooth signal is sent to the gateway 20 through the first Bluetooth module 13;

[0198] S202: Obtaining abnormal status data and positioning information based on the first LoRa signal and the first Bluetooth signal through the second main control unit 21;

[0199] S203: Send the abnormal status data and positioning information to the server 30.

[0200] It should be noted that the explanation of the data acquisition and positioning method in the aforementioned embodiment is also applicable to the computer-readable storage medium 500 in the embodiment of the present application, and will not be further explained here.

[0201] In summary, in the data acquisition and positioning system 100, method, apparatus 300, device 400, and computer-readable storage medium 500 of the embodiments of the present application, the second LoRa module 22 and the second Bluetooth module 23 of the gateway 20 receive the first LoRa signal and the first Bluetooth signal sent by the data acquisition and positioning module 10. The second main control unit 21 obtains the abnormal status data and positioning information of the vehicle 101 based on the first LoRa signal and the first Bluetooth signal, and sends the abnormal status data and positioning information to the server 30. In this way, the status data of the vehicle 101 during the transportation process can be monitored, and the specific location of the abnormal vehicle 101 can be located at the same time, thereby improving the accuracy of positioning the abnormal vehicle 101.

[0202] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0203] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application belong.

[0204] The logic and / or steps represented in a flowchart or otherwise described herein, for example, can be considered a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable storage medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a computer-readable storage medium can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable storage media include the following: an electrical connection with one or more wires (electronic devices), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and portable compact disc read-only memory (CDROM). In addition, the computer-readable storage medium may even be paper or other suitable medium on which the program is printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing it in another suitable manner as necessary, and then stored in a computer memory.

[0205] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used: a discrete logic circuit having logic gate circuits for implementing logic functions on data signals, an application-specific integrated circuit having suitable combinational logic gate circuits, a programmable gate array (PGA), a field-programmable gate array (FPGA), etc.

[0206] Those skilled in the art will appreciate that all or part of the steps carried out in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a program, and the program can be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment. In addition, the various functional units in the various embodiments of the present application can be integrated into a processing module, or each unit can exist physically alone, or two or more units can be integrated into one module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. The storage medium mentioned above can be a read-only memory, a disk or an optical disk, etc.

[0207] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are illustrative and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application. The scope of the present application is defined by the claims and their equivalents.

Claims

1. A data acquisition and positioning system (100), characterized in that: The data acquisition and positioning system (100) comprises a data acquisition and positioning module (10), a gateway (20) and a server (30); the data acquisition and positioning module (10) comprises a first main control unit (11), a first LoRa module (12) and a first Bluetooth module (13); the data acquisition and positioning module (10) is connected to a vehicle (101) and is used to obtain status information of the vehicle (101); the gateway (20) comprises a second main control unit (21), a second LoRa module (22) and a second Bluetooth module (23); and the gateway (20) is connected to the server (30); When the vehicle (101) is in an abnormal state, the first main control unit (11) is used to perform signal processing on the state information to obtain a first LoRa signal, and interrupt and wake up the first LoRa module (12) and the first Bluetooth module (13), so as to send the first LoRa signal to the gateway (20) through the first LoRa module (12), and send the first Bluetooth signal to the gateway (20) through the first Bluetooth module (13); the second LoRa module (22) and the second Bluetooth module (23) are used to receive the first LoRa signal and the first Bluetooth signal, and obtain the RSSI value of the first LoRa signal; the second main control unit (21) is used to obtain abnormal state data based on the first LoRa signal, and perform algorithm comparison and fusion on the RSSI value of the first LoRa signal and the first Bluetooth signal to obtain positioning information, so as to send the abnormal state data and the positioning information to the server (30).

2. The data acquisition and positioning system (100) according to claim 1, characterized in that: When the vehicle (101) is in a normal state, the first main control unit (11) is used to perform signal processing on the state information to obtain a second LoRa signal, the first LoRa module (12) is used to send the second LoRa signal to the gateway (20), the second LoRa module (22) is used to receive the second LoRa signal, and the second main control unit (21) is used to obtain normal state data based on the second LoRa signal, so as to send the normal state data to the server (30).

3. The data acquisition and positioning system (100) according to claim 1, characterized in that: The second Bluetooth module (23) comprises a Bluetooth AOA antenna array (231), wherein the Bluetooth AOA antenna array (231) comprises a plurality of dipole antennas (2311), and an isolation element (2312) is provided between the plurality of dipole antennas (2311).

4. The data acquisition and positioning system (100) according to claim 3, characterized in that: The Bluetooth AOA antenna array (231) further comprises a dielectric plate (2313) and a metal ground (2314); the plurality of dipole antennas (2311) are connected to the metal ground (2314); and the plurality of dipole antennas (2311) and the metal ground (2314) are arranged on the dielectric plate (2313).

5. The data acquisition and positioning system (100) according to claim 1, characterized in that: The number of the data acquisition and positioning modules (10) is plural, and the corresponding plural first LoRa modules (12) respectively send the first LoRa signal to the gateway (20) at different communication frequencies and different communication times.

6. The data acquisition and positioning system (100) according to claim 3, characterized in that: The distance between each two of the dipole antennas (2311) is less than half the wavelength of the center frequency point of the communication frequency band of the second Bluetooth module (23).

7. The data acquisition and positioning system (100) according to claim 1, characterized in that: The data acquisition and positioning module (10) further comprises a first communication interface (14) and a bus chip (15); the data acquisition and positioning module (10) is physically connected to the vehicle (101) via the first communication interface (14); and the status information is transmitted to the first main control unit (11) via the first communication interface (14) and the bus chip (15).

8. The data acquisition and positioning system (100) according to claim 1, characterized in that: The gateway (20) further comprises a second communication interface (24), and the gateway (20) is physically connected to the server (30) via a network cable via the second communication interface (24), so as to send the abnormal status data and the positioning information to the server (30) via the network cable.

9. A data acquisition and positioning method, characterized in that: Applied to a data acquisition and positioning module (10), the data acquisition and positioning module (10) is connected to a vehicle (101), the data acquisition and positioning module (10) comprises a first main control unit (11), a first LoRa module (12) and a first Bluetooth module (13), and the data acquisition and positioning method comprises: Acquiring status information of the vehicle (101); When the vehicle (101) is in an abnormal state, the first main control unit (11) performs signal processing on the state information to obtain a first LoRa signal, and performs interrupt wake-up on the first LoRa module (12) and the first Bluetooth module (13); The first LoRa signal is sent to a gateway (20) through the first LoRa module (12), and the first Bluetooth signal is sent to the gateway (20) through the first Bluetooth module (13). The gateway (20) is used to: receive the first LoRa signal and the first Bluetooth signal through a second LoRa module (22) and a second Bluetooth module (23), and receive an RSSI value of the first LoRa signal; obtain abnormal state data based on the first LoRa signal through a second main control unit (21), and obtain positioning information based on algorithm comparison and fusion of the RSSI value of the first LoRa signal and the first Bluetooth signal; and send the abnormal state data and the positioning information to a server (30).

10. The data acquisition and positioning method according to claim 9, characterized in that: The data acquisition and positioning method also includes: When the vehicle (101) is in a normal state, the first main control unit (11) performs signal processing on the state information to obtain a second LoRa signal; The second LoRa signal is sent to the gateway (20) via the first LoRa module (12).

11. The data acquisition and positioning method according to claim 9, characterized in that: Before acquiring the status information of the vehicle (101), the data acquisition and positioning method further comprises: A timestamp sent by the gateway (20) is received to calibrate the real-time clocks of the first LoRa module (12) and the first Bluetooth module (13).

12. The data acquisition and positioning method according to claim 9, characterized in that: The number of the data acquisition and positioning modules (10) is multiple, and the data acquisition and positioning method further comprises: After the plurality of data acquisition and positioning modules (10) have successfully accessed the network, controlling each of the data acquisition and positioning modules (10) to send a first heartbeat packet to the gateway (20); After each of the data acquisition and positioning modules (10) sends the first heartbeat packet, each of the data acquisition and positioning modules (10) is controlled to send a second heartbeat packet once at a predetermined interval.

13. A data acquisition and positioning method, characterized in that: Applied to a gateway (20), the gateway (20) comprises a second main control unit (21), a second LoRa module (22) and a second Bluetooth module (23), the gateway (20) is connected to a server (30), and the data acquisition and positioning method comprises: The first LoRa signal and the first Bluetooth signal are received through the second LoRa module (22) and the second Bluetooth module (23), and the RSSI value of the first LoRa signal is received; wherein the first LoRa signal and the first Bluetooth signal are derived from: the data acquisition and positioning module (10) acquires the status information of the vehicle (101); when the vehicle (101) is in an abnormal state, the first main control unit (11) performs signal processing on the status information to obtain the first LoRa signal, and performs interrupt wake-up on the first LoRa module (12) and the first Bluetooth module (13); the first LoRa signal is sent to the gateway (20) through the first LoRa module (12), and the first Bluetooth signal is sent to the gateway (20) through the first Bluetooth module (13); The second main control unit (21) obtains abnormal state data based on the first LoRa signal, and obtains positioning information based on algorithm comparison and fusion of the RSSI value of the first LoRa signal and the first Bluetooth signal; The abnormal state data and the positioning information are sent to the server (30).

14. The data acquisition and positioning method according to claim 13, characterized in that: The data acquisition and positioning method also includes: Receiving a second LoRa signal through the second LoRa module (22); Obtaining normal state data based on the second LoRa signal by the second main control unit (21); The normal status data is sent to the server (30).

15. The data acquisition and positioning method according to claim 13, characterized in that: The gateway (20) comprises a second communication interface (24), and before receiving the first LoRa signal and the first Bluetooth signal through the second LoRa module (22) and the second Bluetooth module (23), the data acquisition and positioning method further comprises: Establishing a connection with the server (30) via the second communication interface (24) through a wired network, and reporting the location and local area network address; Receive a network access instruction sent by the server (30), respond to the server (30), and send a timestamp to the data acquisition and positioning module (10).

16. The data acquisition and positioning method according to claim 13, characterized in that: The number of the data acquisition and positioning modules (10) is multiple, and the data acquisition and positioning method further comprises: After the plurality of data acquisition and positioning modules (10) have successfully accessed the network, receiving a first heartbeat packet sent by each of the data acquisition and positioning modules (10); After receiving the first heartbeat packet sent by each of the data acquisition and positioning modules (10), receiving a corresponding second heartbeat packet once at a predetermined interval; When the second heartbeat packet is not received for a predetermined number of consecutive times, it is determined that the data acquisition and positioning module (10) is offline.

17. The data acquisition and positioning method according to claim 13, characterized in that: The number of the vehicles (101) is multiple, and the data acquisition and positioning method further includes: Receiving a batch acquisition instruction sent by the server (30); According to the batch acquisition instruction, the device data of a plurality of the vehicles (101) are sent in batches to the server (30), wherein the device data includes normal state data of the vehicles (101) in a normal state, and the abnormal state data and the positioning information of the vehicles (101) in an abnormal state.

18. A data acquisition and positioning device (200), characterized in that: Applied to a data acquisition and positioning module (10), the data acquisition and positioning module (10) is connected to a vehicle (101), the data acquisition and positioning module (10) comprises a first main control unit (11), a first LoRa module (12) and a first Bluetooth module (13), and the data acquisition and positioning device (200) comprises: An acquisition module (210), used for acquiring status information of the vehicle (101); A first control module (220) is used to, when the vehicle (101) is in an abnormal state, perform signal processing on the state information through the first main control unit (11), obtain a first LoRa signal, and perform interrupt wake-up on the first LoRa module (12) and the first Bluetooth module (13); The second control module (230) is used to send the first LoRa signal to a gateway (20) through the first LoRa module (12), and to send the first Bluetooth signal to the gateway (20) through the first Bluetooth module (13), wherein the gateway (20) is used to: receive the first LoRa signal and the first Bluetooth signal through the second LoRa module (22) and the second Bluetooth module (23), and receive the RSSI value of the first LoRa signal; obtain abnormal state data based on the first LoRa signal through the second main control unit (21), and obtain positioning information based on algorithm comparison and fusion of the RSSI value of the first LoRa signal and the first Bluetooth signal; and send the abnormal state data and the positioning information to a server (30).

19. A data acquisition and positioning device (300), characterized in that: Applied to a gateway (20), the gateway (20) comprises a second main control unit (21), a second LoRa module (22) and a second Bluetooth module (23), the gateway (20) is connected to a server (30), and the data acquisition and positioning device (300) comprises: A third control module (310) is used to receive a first LoRa signal and a first Bluetooth signal through the second LoRa module (22) and the second Bluetooth module (23), wherein the first LoRa signal and the first Bluetooth signal are derived from: the data acquisition and positioning module (10) acquires status information of the vehicle (101); when the vehicle (101) is in an abnormal state, the first main control unit (11) performs signal processing on the status information to obtain a first LoRa signal, and performs interrupt wake-up on the first LoRa module (12) and the first Bluetooth module (13); the first LoRa signal is sent to the gateway (20) through the first LoRa module (12), and the first Bluetooth signal is sent to the gateway (20) through the first Bluetooth module (13); a fourth control module (320), configured to obtain, through the second main control unit (21), an RSSI value of the first LoRa signal based on the first LoRa signal, and obtain abnormal state data, and obtain positioning information based on algorithm comparison and fusion of the RSSI value of the first LoRa signal and the first Bluetooth signal; A sending module (330) is used to send the abnormal state data and the positioning information to the server (30).

20. A data acquisition and positioning device (400), characterized in that: The data acquisition and positioning device (400) comprises one or more processors (410) and a memory (420), wherein the memory (420) stores a computer program, and when the computer program is executed by the processor (410), the data acquisition and positioning method according to any one of claims 9 to 17 is implemented.

21. A computer-readable storage medium (500) having a computer program (510) stored thereon, characterized in that: When the program is executed by the processor (520), the data acquisition and positioning method according to any one of claims 9 to 17 is implemented.

Images