Automatic drop-and-pull receiving method

Abstract

The invention relates to a drop-and-pull connecting technology in the field of commercial vehicle intelligent transportation management systems and an automatic drop-and-pull connecting method. According to the invention, the tractor and the plurality of trailers form the wireless mesh network, and the number of received data packets and the first hop signal strength are taken as the basis of automatic identification matching, so that the problem of tedious operation of manual binding is solved, the reliability and accuracy of system identification are improved, and the system reliability and accuracy are improved. Automatic identification matching and sorting of tractor transceivers and single-trailer transceivers or multi-trailer transceivers can be achieved.

Description

Technical Field

[0001] The invention relates to the technical field of coupling, dropping and hooking transportation, and in particular to an automatic coupling, dropping and hooking method. Background Art

[0002] In the drop-and-hook transport industry, vehicle status monitoring is generally achieved through data communication between sensors and transceivers installed on the tractor and trailer. The trailer will be equipped with a transceiver to receive data from various sensors installed on the trailer. The transceiver then sends the data to the transceiver or terminal device (TBOX or Gateway) or display device installed on the tractor through wired or wireless communication methods for data display or forwarding. The existing technology adopts the following three solutions: The first solution uses wired communication to transmit data, which requires reconnecting the data cable after the drop-and-hook connection. The second solution uses wireless transparent transmission to transmit data, which is prone to data crosstalk in an environment where multiple vehicles coexist. The third solution uses wireless addressing communication for data transmission, which requires rebinding the vehicle after each drop-and-hook connection, and this operation step is prone to omission or error.

[0003] The above three solutions all have the disadvantage of insufficient intelligence. In addition, each solution has the following different disadvantages: The first solution: using wired communication, the product cost and installation cost of this solution will increase. When used on site, the communication lines and connectors may be forgotten to be connected or damaged, resulting in system failure. The second solution: using wireless transparent communication. When multiple trailers coexist, the head vehicle data reception will have crosstalk problems, and the reliability of data communication is not high. The third solution: using wireless addressing communication. This solution requires manual binding after each connection and drop. This operation is prone to omissions and binding errors. In addition, it has certain requirements on the skills of the operator and is prone to binding errors.

[0004] Therefore, the industry is in urgent need of a solution that can automatically identify and match a tractor and trailer or multiple trailers. Summary of the invention

[0005] In view of the problems existing in the prior art, the present invention provides a method for automatic hooking and dropping.

[0006] The present invention provides an automatic hook-up and drop-off method, which is applied to a target tractor, wherein the target tractor and at least one trailer form a wireless mesh network, in which each trailer is used to send a data packet to the target tractor, and is also used to forward a data packet sent to the target tractor by other trailers, wherein the data packet includes a trailer identifier of a source trailer that sends the data packet; the first trailer that forwards the data packet is also used to record a first-hop signal strength in the forwarded data packet, wherein the first-hop signal strength is a signal strength received by the first trailer after the data packet is sent, and the first-hop signal strength remains unchanged during the subsequent data packet forwarding process; all trailers that forward the data packet are also used to record a forwarding hop count in the forwarded data packet, wherein the forwarding hop count indicates the number of times the data packet is forwarded, and the number of times includes the current forwarding; The method includes a trailer automatic identification and matching process, and the trailer automatic identification and matching process includes: Determine a first set value, where the first set value is the total number of trailers matched with the target tractor; Starting from the forwarding hop count of 0, a matching process is performed; the matching process includes: identifying a trailer matching the target tractor based on one or more of a trailer identifier, a forwarding hop count, and a first hop signal strength contained in a data packet received by the target tractor; When the number of trailers matching the target tractor does not reach the first set value, the forwarding hop count is increased by 1, and the matching process is continued until the number of trailers matching the target tractor reaches the first set value.

[0007] Optionally, the identifying a trailer matching the target tractor based on one or more of a trailer identifier, a forwarding hop count, and a first-hop signal strength contained in a data packet received by the target tractor includes: Counting the number of data packets including the same trailer identifier and the same forwarding hop number, and when it is determined that the number is greater than a first threshold, calculating an average first-hop signal strength based on the first-hop signal strength and the number recorded in the data packets including the same trailer identifier and the same forwarding hop number; Based on the average first-hop signal strength, a matching position of the trailer corresponding to the trailer identifier among all trailers matching the target tractor is determined.

[0008] Optionally, determining, based on the average first-hop signal strength, a matching position of the trailer corresponding to the trailer identifier among all trailers matching the target tractor includes: For the trailers matched under the same forwarding hop count, the matching positions are determined in descending order of the average first-hop signal strengths; For the trailers matched under different forwarding hops, the matching positions are determined in the order of the forwarding hops from small to large.

[0009] Optionally, the method further comprises: The trailer identifiers of the trailers matching the target tractor and the matching positions corresponding to the trailers are stored locally on the target tractor.

[0010] Optionally, the method further comprises: When the first window time arrives, the trailer automatic identification and matching process is executed; the first window time refers to a preset time period for matching the target tractor with the trailer.

[0011] Optionally, the method further comprises: Receiving a first blacklist sent by other tractors, wherein the first blacklist includes trailer identifiers of trailers that have been identified and matched with the other tractors; The received data packets are filtered based on the trailer identifiers included in the first blacklist.

[0012] Optionally, the method further comprises: A second blacklist is periodically sent to the other tractors, wherein the second blacklist includes trailer identifiers of trailers that have completed identification and matching with the target tractor.

[0013] Optionally, the method further comprises: an automatic trailer sorting process; The automatic trailer sorting process includes: Starting from the forwarding hop count of 0, a sorting process is performed; the sorting process includes: calculating an average first-hop signal strength based on the first-hop signal strength recorded in the data packets including the same trailer identifier and the same forwarding hop count and the number of data packets; determining a sorting position of the trailer corresponding to the trailer identifier among all trailers matching the target tractor based on the average first-hop signal strength; The forwarding hop count is increased by 1, and the sorting process is continued until all trailers matching the target tractor have their corresponding sorting positions.

[0014] Optionally, determining, based on the average first-hop signal strength, a sorting position of the trailer corresponding to the trailer identifier among all trailers matching the target tractor, includes: For the trailers matched under the same forwarding hop count, the sorting position is determined according to the order of the average first-hop signal strength from high to low; For the trailers matched under different forwarding hops, the sorting positions are determined according to the order of the forwarding hops from small to large.

[0015] Optionally, the method further comprises: The sorting position is stored locally on the target tractor to replace the matching position.

[0016] Optionally, the process of executing the automatic trailer sorting includes: When the second window time arrives, the automatic trailer sorting process is executed; the second window time refers to a preset time period for sorting the target tractor and the trailer.

[0017] Optionally, the method further comprises: The data packet also records synchronization information, and the synchronization information is used to characterize the synchronization state between the source trailer and the target tractor.

[0018] Optionally, the synchronization information is first synchronization information, and the first synchronization information is a first running time that the source trailer has been running; Accordingly, the method further comprises: Obtaining a second running time of the target tractor; The received data packets are filtered based on the difference between the first running time and the second running time, and a second threshold.

[0019] Optionally, the synchronization information is second synchronization information, and the second synchronization information is generated under the triggering of an external hardware signal and is set to a valid value; Accordingly, the method further comprises: The second synchronization information is obtained, and when it is determined that the second synchronization information is not the valid value, the received data packet is filtered.

[0020] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, any of the above-mentioned methods for automatic connection and drop-off is implemented.

[0021] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, any of the above-mentioned methods for automatic hooking and dropping is implemented.

[0022] The method for automatic connection and drop-off provided in the embodiment of the present invention solves the problem of cumbersome operation of manual binding by forming a wireless mesh network with a tractor and multiple trailers, using the number of received data packets and the first-hop signal strength as the basis for automatic identification and matching, increases the reliability and accuracy of system identification, and can realize automatic identification, matching and sorting of the tractor transceiver and the single-trailer transceiver or multi-trailer transceivers. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 A schematic diagram of a transceiver system provided by an embodiment of the present invention.

[0025] Figure 2 A schematic diagram of a display system provided by an embodiment of the present invention.

[0026] Figure 3 This is one of the flow charts of the method for automatic hooking and dropping provided in an embodiment of the present invention.

[0027] Figure 4a The second flowchart of the method for automatic connection and drop-off provided in the embodiment of the present invention.

[0028] Figure 4b The third flow chart of the method for automatic hooking and dropping provided in the embodiment of the present invention.

[0029] Figure 4c This is a fourth flow chart of the method for automatic hooking and dropping provided in an embodiment of the present invention.

[0030] Figure 4d This is a fifth flow chart of the method for automatic hooking and dropping provided in an embodiment of the present invention.

[0031] Figure 5 Flowchart 6 of the method for automatic hooking and dropping provided in an embodiment of the present invention.

[0032] Figure 6 A flowchart of the automatic trailer identification and matching process provided by an embodiment of the present invention.

[0033] Figure 7 A flow chart of the automatic trailer sorting process provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] In order to complete the automatic identification and matching of the tractor and trailer or multiple trailers, in the prior art, when the trailer transceiver uses a wired method to communicate with the transceiver or terminal device (TBOX or Gateway) or display device on the tractor, the vehicle needs to reconnect the data communication line every time it performs a connection, drop and hook operation. This solution will increase the system cost and installation cost. In addition, whether the communication line and connector are connected or damaged during use is also a risk in the use of this solution. When the trailer transceiver uses a wireless method to communicate with the tractor transceiver or terminal device or display, the trailer transceiver generally uses a transparent transmission method to send data to the tractor-end device or manually bind the trailer information to the tractor device with the help of a tool. The tractor device performs address filtering on the received trailer data to prevent data crosstalk. If a wireless transparent transmission solution is used for communication, there will be a risk of data crosstalk. If a manual binding method is used for communication, additional operation procedures will be added after connection, drop and hook, and the operation procedure is easy to be ignored, forgotten, or there will be binding errors during the operation process. In addition, the above-mentioned solution has problems in terms of cost, reliability and operational feasibility in multi-trailer applications. In view of the problems existing in the above-mentioned prior art, the embodiments of the present invention provide a solution to solve the problems of long-distance information transmission and variable positioning of trailer combinations encountered in single trailers or multiple trailer combinations, thereby making it possible to realize intelligent and networked management of automatic matching, automatic positioning, monitoring, and safe operation of trailers in a fleet with variable application environments during logistics transportation. After the vehicle is reassembled, the tractor and trailer or multiple trailer transceivers can automatically identify, match, and automatically sort. The embodiments of the present invention adopt a wireless mesh network MESH solution to reduce product costs, and use the number of data frames and signal strength RSSI value as the basis for matching and sorting to ensure the reliability and accuracy of the system.

[0036] Figure 1 A schematic diagram of a transceiver system provided by an embodiment of the present invention, Figure 2 A schematic diagram of a display system provided by an embodiment of the present invention, such as Figure 1 and Figure 2 As shown, the embodiments of the present invention adopt different system architectures according to different application scenarios. In the first architecture, both the tractor and the trailer are equipped with transceivers, and in the second architecture, the tractor is equipped with a display and the trailer is equipped with a transceiver.

[0037] The tractor transceiver and trailer transceiver in the first solution and the trailer transceiver in the second solution have the same appearance structure and hardware design. The hardware structure is described as follows: Sub-1G communication unit: responsible for receiving sensor data and communicating between transceivers.

[0038] 2.4G, 5G communication unit: responsible for communicating with smart devices, sensor devices and devices with this communication function.

[0039] External communication interface: including RS232, RS485, CAN, CANFD communication interfaces, used to communicate with external devices such as receiving commands, files, and response messages.

[0040] Processing unit: responsible for receiving, analyzing, processing various types of data and managing various functions of the system (alarm management, fault management, etc.).

[0041] Storage unit: responsible for storing upgraded firmware and system setting parameters.

[0042] Power management unit: responsible for providing power supply to the above units and controlling battery charge and discharge.

[0043] The hardware structure of the tractor display in the second solution is as follows: 2.4G, 5G communication unit: responsible for communicating with smart devices, sensor devices and devices with this communication function.

[0044] Display unit: responsible for interface display and human-computer interaction.

[0045] Key control unit: Combined with the display unit to realize human-computer interaction function.

[0046] Processing unit: responsible for receiving, analyzing, processing various types of data and managing various functions of the system (alarm management, fault management, etc.).

[0047] Storage unit: responsible for storing upgraded firmware and system setting parameters.

[0048] Power management unit: responsible for providing power supply to the above units and controlling battery charge and discharge.

[0049] Figure 3One of the flow charts of the method for automatic connection and drop-off provided by an embodiment of the present invention. The target tractor of the method, the target tractor and at least one trailer form a wireless mesh network, such as a wireless MESH network. In the wireless mesh network, each trailer is used to send a data packet to the target tractor, and is also used to forward a data packet sent to the target tractor by other trailers. The data packet includes the trailer identifier of the source trailer that sends the data packet (such as trailer address and other information). The target tractor and at least one trailer can be regarded as a node in the wireless MESH network. In the wireless MESH network, each node can send a data packet to other nodes, and the data packet carries the node identifier of the node. The node receiving the data packet can know which node (such as the source trailer) the data packet is sent from based on the node identifier (such as the trailer identifier of the source trailer). The data packet can also include the node identifier of the destination node (such as the trailer identifier of the target tractor), and the receiving node or the forwarding node can know the destination node (such as the target tractor) of the data packet, and can forward the data packet to the target tractor hop by hop. In the embodiment of the present invention, each node in the wireless MESH network specifies a window period, during which a data packet sent by other nodes can be forwarded only once, that is, the forwarded data packet is ignored and not processed, so as to prevent the same data frame from oscillating in the network.

[0050] The first trailer that forwards the data packet is also used to record the first hop signal strength in the forwarded data packet, and the first hop signal strength is the signal strength received by the first trailer after the data packet is sent, and the first hop signal strength remains unchanged during the subsequent data packet forwarding process. Specifically, in order to identify the trailers that can be matched, and to better sort the matching trailers later, each trailer in the embodiment of the present invention also has the following function, that is, for any data packet, after the data packet is sent out by the source node, the first trailer that forwards the data packet is also used to record the first hop signal strength in the forwarded data packet. The first hop signal strength means the signal strength received by the first trailer after a data packet is sent, and the first hop signal strength in the data packet remains unchanged after each subsequent forwarding. It can be seen from the above that the first hop signal strength is the signal strength when the first node trailer receives the data packet after the data packet is sent, and does not refer to the signal strength when the target tractor finally receives the data packet forwarded by at least one trailer.

[0051] In addition, all trailers that forward data packets are also used to record the forwarding hop count in the forwarded data packets, and the forwarding hop count indicates the number of times the data packet is forwarded, and the number includes this forwarding. Specifically, the forwarding hop count indicates the number of times a data packet is forwarded, that is, the corresponding forwarding hop count is increased by 1 after one forwarding. For example, after a data packet is sent by a source trailer, it is directly received by the target tractor without being forwarded by any trailer. At this time, the forwarding hop count included in the data packet is 0, because the data packet is not forwarded by other trailers from the source trailer to the target tractor. For another example, after a data packet is sent by a source trailer, the data packet is forwarded by another trailer before being received by the target tractor. At this time, the forwarding hop count included in the data packet is 1, because the data packet is forwarded by only one trailer from the source trailer to the target tractor, and the forwarding hop count in the data packet can be recorded by the intermediate trailer that forwards the data packet, and specifically, the forwarding hop count can be updated from the previous 0 to 1. And so on, it will not be repeated. After receiving a data packet, the target tractor can know through the included forwarding hop count that the data packet has been forwarded by several intermediate trailers before reaching the target tractor.

[0052] Furthermore, after receiving a data packet, if the target tractor detects that the forwarding hop count is 0, it means that after the data packet is sent from the source trailer, the first to receive the data packet is the target tractor. At this time, the target tractor can use the signal strength when receiving the data packet as the first hop signal strength of the data packet. If the forwarding hop count is 2, it means that after the data packet is sent from the source trailer, it is forwarded by two trailers. And based on the first hop signal strength included in the data packet, it can also be known that the signal strength of the first trailer that receives the data packet after the data packet is sent from the source trailer receives the data packet.

[0053] like Figure 3 As shown, the method for automatic connection and drop-off includes a trailer automatic identification and matching process, and the trailer automatic identification and matching process may include the following steps: Step 301, determining a first set value, where the first set value is the total number of trailers matched with the target tractor; A data connection with the tractor transceiver or tractor display is established through a dedicated App installed on the user terminal. The user can operate the App to set the number of trailers that the tractor transceiver or display needs to hook up, i.e., the first setting value. For example, if the total number of matching trailers set for the target tractor is 3, then the first setting value is 3. After the number of trailers that the tractor transceiver or display needs to hook up is successfully set, the trailer automatic identification and matching function will be started.

[0054] Step 302, starting from the forwarding hop count of 0, executing a matching process; the matching process includes: identifying a trailer matching the target tractor based on one or more of a trailer identifier, a forwarding hop count, and a first hop signal strength contained in a data packet received by the target tractor; Specifically, when the first window time arrives, the target tractor can execute the trailer automatic identification and matching process. The first window time can be set in advance based on actual needs. When the first window time arrives, the target tractor receives data packets sent by all trailers. The first window time refers to a preset time period for matching the target tractor with the trailer.

[0055] The target tractor first matches the trailer that directly sends the data packet without forwarding, that is, starts from the forwarding hop count of 0 included in the data packet, and performs the matching process. The target tractor counts all the data packets with a forwarding hop count of 0, and divides these data packets according to the trailer identifiers included therein, so as to divide the data packets corresponding to each identical trailer identifier and a forwarding hop count of 0. Then, based on the number of these data packets and the first hop signal strength included in each data packet, the trailer matching the target tractor is identified. Specifically, it may include: counting the number of data packets including the same trailer identifier and the same forwarding hop count, and when it is determined that the number is greater than the first threshold, calculating the average first hop signal strength based on the first hop signal strength and the number recorded in the data packets including the same trailer identifier and the same forwarding hop count, that is, summing the first hop signal strengths included in all data packets with the trailer identifier and a forwarding hop count of 0, and dividing it by the number of data packets, to obtain the average first hop signal strength. Then, based on the average first hop signal strength, the matching position of the trailer corresponding to the trailer identifier among all trailers matching the target tractor is determined.

[0056] For example, Figure 4a The second flow chart of the method for automatic hook-up and drop-off provided by the embodiment of the present invention is as follows: Figure 4a As shown, there are three trailers near the target tractor, namely trailer #1, trailer #2 and trailer #3. When the first window time arrives, the target tractor receives the data packets sent by trailer #1, trailer #2 and trailer #3, and then starts the matching process.

[0057] Specifically, starting from the forwarding hop count of 0: Assuming that trailer #1, trailer #2 and trailer #3 can all directly send data packets to the target tractor, the target tractor counts the number of data packets with the same trailer identifier and forwarding hop count of 0, for example, the number of data packets with forwarding hop count of 0 sent by trailer #1 is N1, the number of data packets with forwarding hop count of 0 sent by trailer #2 is N2, and the number of data packets with forwarding hop count of 0 sent by trailer #3 is N3. Then, N1 is compared with the first threshold, N2 is compared with the first threshold, and N3 is compared with the first threshold. Assuming that N1, N2 and N3 are all greater than the first threshold, the next step is entered.

[0058] Calculate the sum of the first-hop signal strengths included in the N1 data packets sent by trailer #1, and divide it by N1 to obtain the average first-hop signal strength corresponding to trailer #1. Similarly, calculate the average first-hop signal strength corresponding to trailer #2 and the average first-hop signal strength corresponding to trailer #3. Assume that the average first-hop signal strength of trailer #1 received by the tractor is Trailer[0].RSSI[0], the average first-hop signal strength of trailer #2 is Trailer[1].RSSI[0], and the average first-hop signal strength of trailer #3 is Trailer[2].RSSI[0]. After comparison, we know that: Trailer[0].RSSI[0]>Trailer[1].RSSI[0]>Trailer[2].RSSI[0], then we can determine that the matching positions corresponding to trailer #1, trailer #2 and trailer #3 are "position 1", "position 2" and "position 3" respectively, which means that trailer #1, trailer #2 and trailer #3 are distributed from near to far away from the target tractor.

[0059] Step 303: When the number of trailers matching the target tractor does not reach the first set value, the forwarding hop count is increased by 1, and the matching process is continued until the number of trailers matching the target tractor reaches the first set value.

[0060] Figure 4b The third flow chart of the method for automatic hooking and dropping provided by the embodiment of the present invention is as follows: Figure 4b As shown, in Figure 4a Based on the provided embodiment, assuming that N1 is greater than the first threshold, but N2 and N3 are not greater than the first threshold, then at this time only trailer #1 is successfully matched with the target tractor, but the total number of trailers set for the target tractor is 3, and the number 1 of trailers matched with the target tractor has not yet reached the first set value 3, then at this time the forwarding hop number can be increased by 1, and the matching process is continued, that is, the matching process is executed again for the forwarding hop number of 1.

[0061] Specifically, if only Trailer[0].RSSI[0] is valid, and the number of data packets received by the other trailers #2 and #3 is less than the set first threshold, it can be determined that trailer #1 is the trailer closest to the tractor, and the average first-hop signal strength of 1 hop is continued to be compared. Since the signals of trailers #2 and #3 cannot be directly transmitted to the tractor, trailers #2 and #3 need to be forwarded by trailer #1 before they can reach the tractor. In addition, the first-hop signal strength in the data packet defined in the embodiment of the present invention refers to the signal strength when a frame of signal is received for the first time. Each time it is forwarded, the number of hops in the data frame will increase by one, but the first-hop signal strength remains unchanged. Therefore, the tractor compares the average first-hop signal strength of 1 hop to determine the trailer that is closer to trailer #1. The following situations may occur after comparison: Trailer[1].RSSI[1]>Trailer[2].RSSI[1] Based on this result, it is easy to determine that trailer #2 is close to trailer #1, and trailer #3 is far from trailer #1. Therefore, the arrangement order is obtained after this comparison, that is, the matching positions corresponding to trailer #1, trailer #2 and trailer #3 are "position 1", "position 2" and "position 3" respectively, which means that trailer #1, trailer #2 and trailer #3 are distributed from near to far away from the target tractor.

[0062] Figure 4c The fourth flow chart of the method for automatic hook-up and drop-off provided by the embodiment of the present invention is as follows: Figure 4c As shown, in Figure 4a and Figure 4b Based on the provided embodiment, if Trailer[1].RSSI[1] is valid, that is, the RSSI value of trailer #2 is valid, but the number of received data packets of trailer #3 is less than the set first threshold, then it is necessary to continue to compare the average first-hop signal strength of the two hops.

[0063] Since trailer #3 cannot transmit the signal directly to trailer #1, the information of trailer #3 needs to be forwarded by trailer #2 before it can reach trailer #1. From the above description, we know that the signal of trailer #2 cannot reach the tractor directly, so trailer #3 is forwarded once by trailer #2 to trailer #1, and then forwarded once by trailer #1 to reach the tractor. Therefore, the data packet sent by trailer #3 reaches the tractor after two hops. At this time, the tractor transceiver will compare the average first-hop signal strength of 2 hops. Since the average first-hop signal strength of 2 hops is only that of trailer #3, it is easy to determine the sorting result, that is, the matching positions corresponding to trailer #1, trailer #2 and trailer #3 are "position 1", "position 2" and "position 3" respectively, which means that trailer #1, trailer #2 and trailer #3 are distributed from near to far from the target tractor.

[0064] It can be understood that, in the embodiment of the present invention, determining the matching position of the trailer corresponding to the trailer identifier among all trailers matching the target tractor based on the average first-hop signal strength includes: For the trailers matched under the same forwarding hop count, the matching positions are determined in descending order of the average first-hop signal strengths; For the trailers matched under different forwarding hops, the matching positions are determined in the order of the forwarding hops from small to large.

[0065] Comparing 0 jumps means finding the trailer that is closer to the tractor, comparing 1 jump means finding the trailer that is closer to trailer No. 1 (assuming trailer No. 1 is the first vehicle to be attached), comparing 2 jumps means finding the vehicle that is closer to trailer No. 2, comparing 3 jumps means finding the trailer that is closer to trailer No. 3, and so on.

[0066] Optionally, after the target tractor completes the trailer automatic identification and matching process to determine the matching positions corresponding to the matched trailers, the method may further include: The trailer identifiers of the trailers matching the target tractor and the matching positions corresponding to the trailers are stored locally on the target tractor.

[0067] Based on the above embodiments, the first window time can be set to check whether a specified number of trailer transceivers are matched, or whether any previously matched trailer transceivers are lost. When it is detected that the number of trailers matched with the target tractor does not reach the first set value, the trailer transceiver automatic identification process can be entered.

[0068] On the basis of the above embodiments, the method for solving the problem of mismatch caused by data crosstalk in a parallel state of multiple vehicles may further include: Receiving a first blacklist sent by other tractors, wherein the first blacklist includes trailer identifiers of trailers that have been identified and matched with the other tractors; The received data packets are filtered based on the trailer identifiers included in the first blacklist.

[0069] Specifically, the tractor transceiver or tractor display will automatically filter the data sent by the trailer transceiver in the blacklist. The blacklist here refers to the trailer identification sent by other nearby tractor transceivers or displays that have been matched by themselves, such as the trailer transceiver address, to prevent other devices from matching incorrectly. For trailers that are not in the blacklist, the tractor transceiver or display first filters the trailer transceivers whose number of data packets received is less than the set threshold, and then compares the average first-hop signal strength of the received data, that is, the average RSSI value, and takes the trailer with the largest signal strength as a matched trailer transceiver. Each automatic identification process will output a matching object until all unmatched or lost trailer transceivers are matched successfully.

[0070] Optionally, the method further comprises: The target tractor periodically sends a second blacklist to other tractors, wherein the second blacklist includes trailer identifiers of trailers that have completed identification matching with the target tractor.

[0071] The embodiment of the present invention designs a time interval for the tractor transceiver to broadcast the trailer transceiver address that it has matched. The time interval is configurable and is used for other receivers to establish a trailer transceiver blacklist.

[0072] Figure 4d The fifth flow chart of the method for automatic hooking and unhooking provided by the embodiment of the present invention. In some scenarios, for example, the three trailers that have been matched before are lost due to some uncertain reasons, that is, the number of trailers set by the target tractor is 3, and the three trailers have been successfully matched through the previous trailer automatic identification and matching process, for example, trailer #1, trailer #2 and trailer #3. However, it is detected during a certain window period that trailer #2 is no longer in communication with the tractor, that is, trailer #2 is lost. At this time, the identification and matching process of a new trailer needs to be continued. After identification and matching, trailer #4 is found. Based on the matching positions of the previous three trailers, trailer #4 occupies the "position 2" before the lost trailer #2, but it is unknown whether the distance between the newly matched trailer #4 and the target tractor is farther than trailer #1 or closer than trailer #3. Therefore, it is necessary to execute the trailer automatic sorting process provided by the embodiment of the present invention.

[0073] The automatic trailer sorting process includes: Starting from the forwarding hop count of 0, a sorting process is performed; the sorting process includes: calculating an average first-hop signal strength based on the first-hop signal strength and the number recorded in the data packets including the same trailer identifier and the same forwarding hop count; determining a sorting position of the trailer corresponding to the trailer identifier among all trailers matching the target tractor based on the average first-hop signal strength; The forwarding hop count is increased by 1, and the sorting process is continued until all trailers matching the target tractor have their corresponding sorting positions.

[0074] It can be seen that the automatic trailer sorting process is similar to the automatic trailer identification and matching process provided in the above embodiment, which also calculates the average first-hop signal strength from the data packet with 0 hops, and then sorts the average first-hop signal strength to determine the sorting position of each trailer; if the data packet based on 0 hops cannot be completely sorted, then continue to perform another round of calculation and sorting of the average first-hop signal strength from the data packet with 1 hop, until all trailers matched with the target tractor have their corresponding sorting positions. In the above sorting process, for the trailers matched under the same forwarding hop count, the sorting position is determined in the order of the average first-hop signal strength from high to low; for the trailers matched under different forwarding hop counts, the sorting position is determined in the order of the forwarding hop count from small to large.

[0075] For example, Figure 4d As shown, before sorting, the target tractor has successfully identified and matched trailer #1, trailer #4 and trailer #3, and the matching positions corresponding to trailer #1, trailer #4 and trailer #3 are "position 1", "position 2" and "position 3" respectively. Start sorting: Specifically, starting from the forwarding hop count of 0: Assuming that trailer #1, trailer #4 and trailer #3 can all directly send data packets to the target tractor, the target tractor counts the number of data packets with the same trailer identifier and forwarding hop count of 0, for example, the number of data packets with forwarding hop count of 0 sent by trailer #1 is N1, the number of data packets with forwarding hop count of 0 sent by trailer #4 is N4, and the number of data packets with forwarding hop count of 0 sent by trailer #3 is N3. Then, N1 is compared with the first threshold, N4 is compared with the first threshold, and N3 is compared with the first threshold. Assuming that N1, N4 and N3 are all greater than the first threshold, proceed to the next step.

[0076] Calculate the sum of the first-hop signal strengths included in the N1 data packets sent by trailer #1, and divide it by N1 to obtain the average first-hop signal strength corresponding to trailer #1. Similarly, calculate the average first-hop signal strength corresponding to trailer #4 and the average first-hop signal strength corresponding to trailer #3. Assume that the average first-hop signal strength of trailer #1 received by the tractor is Trailer[0].RSSI[0], the average first-hop signal strength of trailer #4 is Trailer[3].RSSI[0], and the average first-hop signal strength of trailer #3 is Trailer[2].RSSI[0]. After comparison, it is known that: Trailer[0].RSSI[0]>Trailer[2].RSSI[0]>Trailer[3].RSSI[0], then it can be determined that after sorting: the sorting positions corresponding to trailer #1, trailer #3 and trailer #4 are "position 1", "position 2" and "position 3" respectively.

[0077] Assuming that N1 is greater than the first threshold, but N4 and N3 are not greater than the first threshold, then at this time only trailer #1 is successfully matched with the target tractor, but the total number of trailers set for the target tractor is 3, and the number 1 of trailers matched with the target tractor has not yet reached the first set value 3, then at this time, the forwarding hop number can be increased by 1 and the matching process can be continued, that is, the matching process is executed again for the forwarding hop number of 1.

[0078] Specifically, if only Trailer[0].RSSI[0] is valid, and the number of data packets received by the other trailers #4 and #3 is less than the set first threshold, it can be determined that trailer #1 is the trailer closest to the tractor, and the average first-hop signal strength of 1 hop is continued to be compared. Since the signals of trailer #4 and trailer #3 cannot be directly transmitted to the tractor, both trailer #4 and trailer #3 need to be forwarded by trailer #1 before they can reach the tractor. In addition, the first-hop signal strength in the data packet defined in the embodiment of the present invention refers to the signal strength when a frame of signal is received for the first time. Each time it is forwarded, the number of hops in the data frame will increase by one, but the first-hop signal strength remains unchanged. Therefore, the tractor compares the average first-hop signal strength of 1 hop to determine the trailer that is closer to trailer #1. The following situations may occur after comparison: Trailer[2].RSSI[1]>Trailer[3].RSSI[1] Based on this result, it is easy to determine that trailer #3 is close to trailer #1, and trailer #4 is far from trailer #1. Therefore, the arrangement order is determined after this comparison, that is, the corresponding sorting positions of trailer #1, trailer #3 and trailer #4 are "position 1", "position 2" and "position 3" respectively.

[0079] Optionally, the method further comprises: The sorting position is stored locally on the target tractor to replace the matching position.

[0080] Optionally, the process of executing the automatic trailer sorting includes: When the second window time arrives, the trailer automatic sorting process is executed. Specifically, when the automatic identification process is completed and a trailer transceiver is successfully matched, the trailer transceiver automatic sorting function will be started. Before the automatic function is executed, a second window time will be enabled. The second window time can be set. When the second window time arrives, the automatic sorting function will be executed. Among them, the second window time refers to a preset time period for sorting the target tractor and the trailer.

[0081] The embodiment of the present invention designs window times for automatic identification and automatic sorting respectively, and both window times can be configured to control the speed, accuracy and reliability of automatic matching and automatic sorting.

[0082] In each embodiment of the present invention, the number of received data packet events and the received signal strength are used as the basis for matching, identification and sorting. Since the wireless signal strength is inversely proportional to the distance, and the signal strength is directly proportional to the receiving rate, it is a more feasible solution to use this method to determine whether the tractor and trailer are connected or to sort the trailers in a multi-trailer application.

[0083] Optionally, the method further comprises: The data packet also records synchronization information, and the synchronization information is used to characterize the synchronization state between the source trailer and the target tractor.

[0084] Specifically, in the embodiment of the present invention, the source trailer records synchronization information in a data packet to notify the target tractor of the synchronization status between the trailer and the target tractor.

[0085] The synchronization information may be first synchronization information, and the first synchronization information is a first running time that the source trailer has been running. Accordingly, the method further includes: Obtaining a second running time of the target tractor; The received data packets are filtered based on the difference between the first running time and the second running time, and a second threshold.

[0086] Specifically, an embodiment of the present invention defines a data area in a data packet called a synchronization signal check field, where the synchronization signal is a time value, which indicates the time that the device sending the data packet has been running. When the tractor device, including the tractor transceiver and the tractor display, checks the time synchronization field value of the received data packet, and subtracts the value from its own current running time value, the absolute value of the difference will be compared with a duration threshold, i.e., a second threshold. The threshold can be changed. The smaller the threshold, the higher the recognition accuracy. Vehicles within the threshold will enter the process of comparing the number of subsequent data packets and the average first-hop signal strength for vehicle identification matching and sorting. Devices outside the threshold will ignore and do not execute subsequent processes.

[0087] Because the tractor equipment and the trailer equipment use the same power supply, when the vehicle is started, they are powered on and run at the same time, so their running time should be consistent. The equipment on other vehicles has a large difference in running time from them. Therefore, this method can solve the problem of errors in identification, matching and sorting of tractor equipment when multiple vehicles are parked side by side in a parking lot environment. Just like the blacklist filtering mentioned above, this embodiment adds a layer of time synchronization filtering to make identification, matching and sorting more accurate and reliable.

[0088] The synchronization information may also be second synchronization information, where the second synchronization information is generated under the triggering of an external hardware signal and is set to a valid value. Accordingly, the method further includes: The second synchronization information is obtained, and when it is determined that the second synchronization information is not the valid value, the received data packet is filtered.

[0089] Specifically, the embodiment of the present invention defines a data area in the data packet called a synchronization signal check field, where the synchronization signal is generated by triggering an external hardware signal. When the hardware signal is triggered, the signal is valid, and when the hardware signal is not triggered, the signal is invalid. When the tractor equipment, including the tractor transceiver and the tractor display, checks whether the synchronization signal of the received data packet is valid, if the synchronization signal is valid, it will enter the process of comparing the number of subsequent data packets and the average first-hop signal strength to perform vehicle identification and sorting, if it is invalid, it will not enter the subsequent process.

[0090] Because the trailer transceiver has a signal line connected to the trailer brake signal line, or to the side light control signal line, when synchronization is required, stepping on the brake or turning on the side light will trigger the synchronization signal. When the trailer transceiver detects that the synchronization signal is valid, the synchronization signal data field in the broadcast data frame will be set to a valid value. When the brake is not applied or the side light is not turned on, the data field in the data frame broadcast by the trailer transceiver is an invalid value. Therefore, this method can solve the problem of errors in identification, matching and sorting of tractor equipment when multiple vehicles are parked side by side in a parking lot environment. Just like the blacklist filtering mentioned above, this embodiment adds a layer of signal value synchronization filtering function, which can make identification, matching and sorting more accurate and reliable.

[0091] The method provided by the embodiment of the present invention can realize automatic identification and matching of the tractor transceiver and the single-trailer transceiver or the multi-trailer transceiver. The tractor transceiver and the single-trailer or multi-trailer transceiver are networked in a wireless MESH network manner, and a method for filtering the same data packets within a specified time and a blacklist identification mechanism are adopted to solve the problem of oscillation of the same data frame in the network and data reception crosstalk.

[0092] Compared with the existing technology, the wireless MESH networking method solves the wiring and wiring harness and connector cost problems. The wireless MESH networking method and blacklist mechanism solve the long-distance data reception stability problem and data crosstalk problem. The number of received data packets and RSSI value are used as the basis for automatic identification and matching, which increases the reliability and accuracy of system identification and solves the cumbersome operation problem of manual binding.

[0093] Figure 5 The sixth flow chart of the method for automatic hook-up and drop-off provided by the embodiment of the present invention is as follows: Figure 5 As shown, after the process starts, it is first detected whether there is a trailer that has not been matched or whether the trailer is lost. If not, the process ends; if so, the identification and matching process is performed when the matching identification window is reached; and the automatic sorting process is performed when the sorting window is reached.

[0094] Figure 6 The flowchart of the automatic trailer identification and matching process provided by the embodiment of the present invention is as follows: Figure 6 As shown, in the trailer automatic identification and matching process, the data in the blacklist is first filtered. The blacklist refers to the trailer transceiver addresses that have been matched by other nearby tractor transceivers or displays to prevent the target tractor from matching incorrectly.

[0095] Then, determine whether the six levels of signal strength have been traversed. If not, determine whether the maximum total number of trailers set has been traversed. If not, then, if the number of data packets received at this level is greater than the threshold, continue to determine whether the average first-hop signal strength of this level is greater than the reference value; if it is greater than the reference value, save the trailer identification of the level, and set the average first-hop signal strength of this level as the reference value. If the total number of trailers has been traversed, check whether the reference value is a valid value and whether the stored trailer identification is a valid value. If they are all valid values, store the identified trailer information, and set the identified trailer to invalid and not participate in the subsequent matching process.

[0096] Specifically, the embodiment of the present invention designs a multi-level signal strength identification strategy, and the specific number of levels is configurable. The default number of levels can be six, which represents the number of hops that the trailer transceiver data passes through when it is transmitted to the tractor transceiver. The number of hops here represents the number of times a data packet is forwarded. After one forwarding, the number of hops increases by 1, and there are a total of 6 levels from 0 to 5 hops, corresponding to the situation where a tractor is connected to 6 trailers. Each level is designed with a first-hop signal strength sum and a received data frame number statistical parameter. The first-hop signal strength sum represents the sum of the first-hop signal strengths of each data packet. In actual application, the first-hop signal strength of each data packet is calculated based on the first-hop signal strength of each data packet. The sum of the signal strengths is divided by the total number of data packets received to calculate the average first-hop signal strength of the device in each level, and then the device with the largest signal strength from level 0 to level 5 is compared and searched respectively; first check level 0 to see if there is a device at this level with a number of received data packets exceeding the set threshold, if so, compare the average first-hop signal strength, and use this method to find the device with the largest average first-hop signal strength in level 0; if found, the device is the level 0 trailer; if not found, query the device with the largest average first-hop signal strength in level 1, and use this method to find the level 1 trailer, level 2 trailer, and so on.

[0097] Figure 7 The automatic trailer sorting process flow chart provided by the embodiment of the present invention is as follows: Figure 7 As shown in the figure, in the automatic sorting process of the trailer, the automatic sorting process is Figure 6The automatic trailer identification and matching process is similar. The automatic sorting function also sorts according to the number of received data packets and the first-hop signal strength RSSI value of the data packets. The sorting order starts from 0. First, check whether the number of data packets sent by the trailer transceiver exceeds the set minimum threshold. If the number of received data packets is less than the set minimum threshold, ignore the trailer and check the information of the next trailer. If it exceeds, compare whether the average RSSI value is greater than the reference RSSI value. If it is greater than the reference value, record the index value of the trailer transceiver, and set the average first-hop signal strength of the data sent by the trailer transceiver as the reference value. Check the set number of trailers in turn to find the maximum value, which is the serial number of the corresponding trailer transceiver found in this cycle. Repeat this method for multiple times, and the number of times is the number of trailer transceivers set to be attached. When all cycles are completed, the sorting of all trailer transceivers is completed.

[0098] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the methods for automatic connecting and dropping provided in the above embodiments.

[0099] On the other hand, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, and the computer program is used by a processor to execute the method for automatic connection and drop-off provided in the above-mentioned embodiments.

[0100] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0101] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for automatic hook-up and drop-off, characterized in that: Applied to a target tractor, the target tractor and at least one trailer form a wireless mesh network, in which each trailer is used to send a data packet to the target tractor and to forward a data packet sent to the target tractor by other trailers, wherein the data packet includes a trailer identifier of a source trailer that sends the data packet; the first trailer that forwards the data packet is also used to record a first-hop signal strength in the forwarded data packet, wherein the first-hop signal strength is a signal strength received by the first trailer after the data packet is sent, and the first-hop signal strength remains unchanged during subsequent data packet forwarding; all trailers that forward the data packet are also used to record a forwarding hop count in the forwarded data packet, wherein the forwarding hop count indicates the number of times the data packet is forwarded, and the number of times includes this forwarding; The method includes a trailer automatic identification and matching process, and the trailer automatic identification and matching process includes: Determine a first set value, where the first set value is the total number of trailers matched with the target tractor; Starting from the forwarding hop count of 0, a matching process is performed; the matching process includes: identifying a trailer matching the target tractor based on one or more of a trailer identifier, a forwarding hop count, and a first hop signal strength contained in a data packet received by the target tractor; When the number of trailers matching the target tractor does not reach the first set value, the forwarding hop count is increased by 1, and the matching process is continued until the number of trailers matching the target tractor reaches the first set value.

2. The method for automatic connection, drop and hooking according to claim 1, characterized in that: The identifying a trailer matching the target tractor based on one or more of a trailer identifier, a forwarding hop count, and a first hop signal strength contained in a data packet received by the target tractor includes: Counting the number of data packets including the same trailer identifier and the same forwarding hop number, and when it is determined that the number is greater than a first threshold, calculating an average first-hop signal strength based on the first-hop signal strength and the number recorded in the data packets including the same trailer identifier and the same forwarding hop number; Based on the average first-hop signal strength, a matching position of the trailer corresponding to the trailer identifier among all trailers matching the target tractor is determined.

3. The method for automatic connection, drop and hooking according to claim 2, characterized in that: The determining, based on the average first-hop signal strength, a matching position of the trailer corresponding to the trailer identifier among all trailers matching the target tractor, comprises: For the trailers matched under the same forwarding hop count, the matching positions are determined in descending order of the average first-hop signal strengths; For the trailers matched under different forwarding hops, the matching positions are determined in the order of the forwarding hops from small to large.

4. The method for automatic connection, drop and hooking according to claim 3, characterized in that: The method further comprises: The trailer identifiers of the trailers matching the target tractor and the matching positions corresponding to the trailers are stored locally on the target tractor.

5. The method for automatic connection, drop and hooking according to any one of claims 1 to 4, characterized in that: The method further comprises: When the first window time arrives, the trailer automatic identification and matching process is executed; the first window time refers to a preset time period for matching the target tractor with the trailer.

6. The method for automatic connection, drop and hooking according to claim 1, characterized in that: The method further comprises: Receiving a first blacklist sent by other tractors, wherein the first blacklist includes trailer identifiers of trailers that have been identified and matched with the other tractors; The received data packets are filtered based on the trailer identifiers included in the first blacklist.

7. The method for automatic connection, drop-off and hooking according to claim 6, characterized in that: The method further comprises: A second blacklist is periodically sent to the other tractors, wherein the second blacklist includes trailer identifiers of trailers that have completed identification and matching with the target tractor.

8. The method for automatic connection, drop and hooking according to claim 1 or 2, characterized in that: The method further includes: an automatic trailer sequencing process; The automatic trailer sorting process includes: Starting from the forwarding hop count of 0, a sorting process is performed; the sorting process includes: calculating an average first-hop signal strength based on the first-hop signal strength recorded in the data packets including the same trailer identifier and the same forwarding hop count and the number of the data packets; determining a sorting position of the trailer corresponding to the trailer identifier among all trailers matching the target tractor based on the average first-hop signal strength; The forwarding hop count is increased by 1, and the sorting process is continued until all trailers matching the target tractor have their corresponding sorting positions.

9. The method for automatic connection, drop-off and hooking according to claim 8, characterized in that: The determining, based on the average first-hop signal strength, a sorting position of the trailer corresponding to the trailer identifier among all trailers matching the target tractor, comprises: For the trailers matched under the same forwarding hop count, the sorting position is determined according to the order of the average first-hop signal strength from high to low; For the trailers matched under different forwarding hops, the sorting positions are determined according to the order of the forwarding hops from small to large.

10. The method for automatic connection, drop and hooking according to claim 8, characterized in that: The method further comprises: The sorting position is stored locally on the target tractor to replace the matching position.

11. The method for automatic connection, drop and hooking according to claim 8, characterized in that: The process of executing automatic trailer sorting includes: When the second window time arrives, the automatic trailer sorting process is executed; the second window time refers to a preset time period for sorting the target tractor and the trailer.

12. The method for automatic connection, drop and hooking according to claim 1, characterized in that: The method further comprises: The data packet also records synchronization information, and the synchronization information is used to characterize the synchronization state between the source trailer and the target tractor.

13. The method for automatic connection, drop and hooking according to claim 12, characterized in that: The synchronization information is first synchronization information, and the first synchronization information is a first running time of the source trailer; Accordingly, the method further comprises: Obtaining a second running time of the target tractor; The received data packets are filtered based on the difference between the first running time and the second running time, and a second threshold.

14. The method for automatic connection, drop and hooking according to claim 12, characterized in that: The synchronization information is second synchronization information, which is generated under the triggering of an external hardware signal and is set to a valid value; Accordingly, the method further comprises: The second synchronization information is obtained, and when it is determined that the second synchronization information is not the valid value, the received data packet is filtered.

15. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for automatic connection and drop-off is implemented as described in any one of claims 1 to 14.

16. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the method for automatic connection and drop-off is implemented as described in any one of claims 1 to 14.

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