Charging type mobile machinery real-time positioning monitoring method and device based on LoRa ad hoc network

Abstract

The embodiment of the invention relates to the technical field of Internet of Things and intelligent transportation, and discloses a charging type mobile machine real-time positioning monitoring method and device based on a LoRa ad hoc network, and the method comprises the steps: obtaining the real-time position information of a target charging type mobile machine (such as an electric vehicle) based on the communication data of a target positioning module and the LoRa ad hoc network, and carrying out the real-time positioning monitoring of the target charging type mobile machine; determining real-time three-dimensional position information of the target charging type mobile machine, and marking the real-time three-dimensional position information of the target charging type mobile machine in the BIM model of the target area; and sending early warning information when the real-time three-dimensional position information meets a preset early warning condition, wherein the early warning condition at least comprises a charging area calibrated by the anchor point beacon. The technical effects that the charging type mobile machine is efficiently and conveniently supervised by means of the LoRa ad hoc network, and potential safety hazards caused by the charging type mobile machine are eliminated in advance in an early warning mode are achieved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical fields of the Internet of Things and intelligent transportation, and particularly to a real-time positioning and monitoring method and device for a rechargeable mobile machine based on a LoRa self-organizing network. Background Art

[0002] At present, rechargeable mobile machines are deeply loved by people for their convenient features and can be said to be essential transportation tools for every household. However, with the continuous growth in the number of rechargeable mobile machines, their safety issues have become prominent. Since people's current safety awareness regarding rechargeable mobile machines is not high enough, the parking and charging of rechargeable mobile machines mainly rely on property manual supervision, which has high labor costs, great supervision difficulties, and is difficult to conduct 24-hour real-time supervision. Therefore, in the prior art, due to the high supervision cost and great supervision difficulty of rechargeable mobile machines, the supervision of rechargeable mobile machines is not in place, which in turn leads to relatively large safety hazards caused by the illegal parking and charging of rechargeable mobile machines. Summary of the Invention

[0003] The purpose of the present invention is to provide at least a real-time positioning and monitoring method and device for a rechargeable mobile machine based on a LoRa self-organizing network, which can at least solve the technical problem that due to the high supervision cost and great supervision difficulty of rechargeable mobile machines, the supervision of rechargeable mobile machines is not in place, which in turn leads to relatively large safety hazards caused by the illegal parking and charging of rechargeable mobile machines, and can at least achieve the technical effect of supervising rechargeable mobile machines in a convenient and low-cost manner and eliminating the safety hazards caused by the illegal parking and charging of rechargeable mobile machines to the greatest extent.

[0004] To solve the above technical problem, at least one embodiment of the present application provides a real-time positioning and monitoring method for a rechargeable mobile machine based on a LoRa self-organizing network, including: obtaining real-time position information of a target rechargeable mobile machine based on communication data between a target positioning module and a LoRa self-organizing network, where the target positioning module is disposed on the target rechargeable mobile machine; determining real-time three-dimensional position information of the target rechargeable mobile machine based on the real-time position information and a BIM model of a target area, and marking the real-time three-dimensional position information of the target rechargeable mobile machine in the BIM model of the target area; and sending a warning message when the real-time three-dimensional position information meets a preset warning condition, where the warning condition at least includes a charging area calibrated by an anchor beacon.

[0005] At least one embodiment of the present application further provides a rechargeable mobile machinery real-time positioning and monitoring device based on a LoRa self-organizing network, including: an acquisition module, configured to acquire real-time position information of a target rechargeable mobile machinery based on communication data between a target positioning module and the LoRa self-organizing network, where the target positioning module is disposed on the target rechargeable mobile machinery; a determination module, configured to determine real-time three-dimensional position information of the target rechargeable mobile machinery based on the real-time position information and a BIM model of a target area, and mark the real-time three-dimensional position information of the target rechargeable mobile machinery in the BIM model of the target area; a sending module, configured to send a warning message when the real-time three-dimensional position information meets a preset warning condition, where the warning condition at least includes a charging area calibrated by an anchor beacon.

[0006] At least one embodiment of the present application further provides a rechargeable mobile machinery real-time positioning and monitoring system based on a LoRa self-organizing network, including: at least three base stations; at least one anchor beacon for calibrating a charging area; a positioning module disposed on a target rechargeable mobile machinery for collecting real-time position information of the target rechargeable mobile machinery; and a device for executing the foregoing rechargeable mobile machinery real-time positioning and monitoring method based on a LoRa self-organizing network.

[0007] At least one embodiment of the present application further provides an electronic device, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and when the instructions are executed by the at least one processor, the at least one processor is enabled to execute the foregoing rechargeable mobile machinery real-time positioning and monitoring method based on a LoRa self-organizing network.

[0008] At least one embodiment of the present application further provides a computer-readable storage medium storing a computer program, where the computer program, when executed by a processor, implements the foregoing rechargeable mobile machinery real-time positioning and monitoring method based on a LoRa self-organizing network.

[0009] The real-time positioning and monitoring method for a rechargeable mobile machine based on a LoRa self-organizing network provided by an embodiment of the present application includes: obtaining real-time position information of a target rechargeable mobile machine based on communication data between a target positioning module and the LoRa self-organizing network, where the target positioning module is disposed on the target rechargeable mobile machine; determining real-time three-dimensional position information of the target rechargeable mobile machine based on the real-time position information and a BIM model of a target area, and marking the real-time three-dimensional position information of the target rechargeable mobile machine in the BIM model of the target area; sending a warning message when the real-time three-dimensional position information meets a preset warning condition, where the warning condition at least includes a charging area calibrated by an anchor beacon. The LoRa self-organizing network is used to perform real-time high-precision positioning and monitoring on rechargeable mobile machines in a target area, reducing the positioning error of rechargeable mobile machines, and determining whether alarm intervention is required for the rechargeable mobile machine based on accurate real-time three-dimensional position information, improving the accuracy of warning. There is no need to spend a large amount of manpower to monitor rechargeable mobile machines. With the help of the LoRa self-organizing network, efficient and convenient supervision of rechargeable mobile machines is realized. By means of warning, potential safety hazards caused by illegal parking and charging of rechargeable mobile machines are eliminated in advance. Moreover, the equipment cost required to build the LoRa self-organizing network is relatively low, the operation and maintenance cost of the LoRa self-organizing network is relatively low, and it can also be remotely managed and maintained, greatly reducing the cost of supervising rechargeable mobile machines. Thus, the technical effect of supervising rechargeable mobile machines in a convenient and low-cost manner and eliminating potential safety hazards caused by illegal parking and charging of rechargeable mobile machines to the greatest extent is achieved.

[0010] In some alternative embodiments, the LoRa self-organizing network includes at least three base stations. The obtaining of real-time position information of a target rechargeable mobile machine based on communication data between a target positioning module and the LoRa self-organizing network includes: obtaining at least three communication times between the target positioning module and at least three of the base stations; determining path depths between the target positioning module and at least three of the base stations based on the at least three communication times; determining real-time position information of the target rechargeable mobile machine corresponding to the target positioning module based on the at least three path depths and the reference coordinates of each base station. By using multiple base stations to determine the real-time position information of a target rechargeable mobile machine, the accuracy of the real-time position information is improved, the positioning error is reduced, and thus the accuracy of warning is improved.

[0011] In some alternative embodiments, the method further includes: based on other positioning modules and the LoRa ad-hoc network, correcting the real-time position information corresponding to the target positioning module. By cross-referencing and correcting multiple positioning data, the position of the rechargeable mobile machine can be determined more precisely, avoiding the problem of large errors in the obtained real-time position information caused by relying solely on a single positioning method. Using multiple positioning methods can play a complementary role to improve the accuracy of the obtained real-time position information.

[0012] In some alternative embodiments, the correcting the real-time position information corresponding to the target positioning module based on other positioning modules and the LoRa ad-hoc network includes: obtaining the signal strength between the target positioning module and at least one of the anchor beacons; based on the signal strength and the anchor coordinates of each anchor beacon, correcting the real-time position information corresponding to the target positioning module. Cross-verifying the real-time position information based on the signal strength, the anchor beacons with high credibility can be determined using the signal strength, and the anchor beacons with low credibility can be identified. The real-time position information can be corrected using the anchor beacons with high credibility to reduce the errors in the obtained real-time position information caused by obstacles between the base station and the target rechargeable mobile machine, thereby improving the accuracy of the real-time position information.

[0013] In some alternative embodiments, the method further includes: performing wireless dynamic networking based on the target positioning module, the other positioning modules, and the LoRa ad-hoc network to obtain a data forwarding path for forwarding the real-time position information of the target positioning module; based on the position information of at least one node in the data forwarding path, correcting the real-time position information of the target positioning module. Wireless dynamic networking forms multiple data forwarding paths. When a node on one of the paths fails, the real-time position information can be transmitted through other paths. This ensures the timeliness and effectiveness of the real-time position information. At the same time, when constructing the wireless dynamic network, the positions of its nodes are relatively fixed and accurate. Therefore, when correcting the real-time position information based on the position information of the nodes, the accuracy of the real-time position information can be improved.

[0014] In some alternative embodiments, the method further includes: obtaining temperature distribution data and geomagnetic distribution data respectively acquired by the target positioning module and the other positioning modules; and correcting the real-time position information of the target positioning module based on the temperature distribution data and the geomagnetic distribution data. The temperature distribution data and the geomagnetic distribution data can be used to more comprehensively understand the environmental characteristics of the target positioning module, thereby providing a richer reference basis for correcting its real-time position information, improving the positioning accuracy, and thus enhancing the accuracy of the real-time position information. Moreover, by combining the temperature distribution data and the geomagnetic distribution data, it is possible to better distinguish the floor information and the specific position information where the target positioning module is located, reduce the ambiguity of positioning, and improve the accuracy of the real-time position information. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] One or more embodiments are exemplarily illustrated by the pictures in the corresponding drawings, and these exemplary illustrations do not limit the embodiments.

[0016] Figure 1 is an implementation environment architecture diagram for supervising a rechargeable mobile machine provided by an embodiment of the present application; Figure 2 is a schematic flowchart of a method for real-time positioning and monitoring of a rechargeable mobile machine based on a LoRa self-organizing network provided by an embodiment of the present application; Figure 3 is a schematic structural diagram of optimizing real-time position information provided by an embodiment of the present application; Figure 4 is a schematic structural diagram of the angular relationship between an anchor beacon and a positioning module provided by an embodiment of the present application; Figure 5 is a schematic structural diagram of a wireless dynamic networking provided by another embodiment of the present application; Figure 6 is another schematic structural diagram of optimizing real-time position information provided by another embodiment of the present application; Figure 7 is a display schematic diagram of a background monitoring system provided by another embodiment of the present application; Figure 8 is a schematic structural diagram of a device for real-time positioning and monitoring of a rechargeable mobile machine based on a LoRa self-organizing network provided by another embodiment of the present application; Figure 9 is a schematic structural diagram of an electronic device provided by another embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0017] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the following will elaborate on each embodiment of this application in conjunction with the accompanying drawings. However, those of ordinary skill in the art can understand that in the embodiments of this application, many technical details are presented to help readers better understand this application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed in this application can still be implemented. The division of the following embodiments is for convenience of description and should not impose any limitation on the specific implementation of this application. The various embodiments can be combined and cross-referenced with each other on the premise of not being contradictory.

[0018] It should be noted that the acquisition or use of the data in the embodiments of this application requires user consent. Relevant data can only be obtained after the user authorizes and permits it, and the acquisition or use of the data complies with the provisions of relevant laws and regulations.

[0019] It should be understood that in order to clearly understand the content of this solution, the relationship between the devices or modules required in the actual application of this solution will be explained here. For specific details, please refer to Figure 1 , Figure 1 This is an implementation environment architecture diagram for supervising a rechargeable mobile machine provided by the embodiments of this application: This solution requires at least a server 11, a target positioning module 12, a target rechargeable mobile machine 13, at least one anchor beacon 14, at least three base stations 15, and a display terminal 16 in the application; Among them, at least one anchor beacon 14 is used to calibrate the charging area, which is the target placement area and charging area for the device to be supervised 13, and is used to achieve unified management of the rechargeable mobile machine. Among them, the target placement area is usually an area provided for users or staff in the target area for storing the target rechargeable mobile machine 13, such as a shed in a community, etc. The charging area is an area in the target area for charging electrical devices such as the target rechargeable mobile machine 13 or electric vehicles, such as outdoor charging piles, etc. And when an accident such as spontaneous combustion or self-explosion occurs to the rechargeable mobile machine, it can maximize the protection of the user's life safety and reduce the harmfulness of the accident; The server 11 is used to execute the communication data based on the target positioning module 12 and the LoRa self-organizing network, obtain the real-time position information of the target rechargeable mobile machine; determine the real-time three-dimensional position information of the target rechargeable mobile machine based on the real-time position information and the BIM model of the target area, and mark the real-time three-dimensional position information of the target rechargeable mobile machine in the BIM model of the target area; send a warning message when the real-time three-dimensional position information meets the preset warning conditions.

[0020] The target positioning module 12 is installed on the target rechargeable mobile machine 13 and is used to calibrate the real-time position information of the target rechargeable mobile machine 13.

[0021] The display terminal 16 is used to display the real-time three-dimensional position information of the target rechargeable mobile machine marked in the BIM model of the target area and to display warning information.

[0022] To solve the above-mentioned technical problems, the present invention proposes a real-time positioning and monitoring method for rechargeable mobile machines based on a LoRa self-organizing network. The following specifically describes the implementation details of the real-time positioning and monitoring method for rechargeable mobile machines based on a LoRa self-organizing network in this embodiment. The following content is only the implementation details provided for convenient understanding and is not necessary for implementing this solution.

[0023] Embodiment 1: The real-time positioning and monitoring method for rechargeable mobile machines based on a LoRa self-organizing network in this embodiment can be applied to an electronic device with communication, computing, and data storage capabilities. In the embodiments of this application, it is preferably a server, and its specific process can be as Figure 2 shown, including: Step 201, based on the communication data between the target positioning module and the LoRa self-organizing network, obtain the real-time position information of the target rechargeable mobile machine, and the target positioning module is set on the target rechargeable mobile machine.

[0024] Specifically, this solution can be applied to scenarios where effective supervision of the parking positions of rechargeable mobile machines is required. It is not limited to the number of rechargeable mobile machines stored. It can be applied to areas with a large number, such as communities or construction sites, or areas with a small number of rechargeable mobile machines.

[0025] Specifically, the target rechargeable mobile machine refers to the rechargeable mobile machine that needs to be supervised. The rechargeable mobile machine refers to a mechanical device powered by an electric motor. The rechargeable mobile machine can be an electric vehicle, specifically an electric bicycle, an electric car, an electric sanitation vehicle, an electric motorcycle, etc. Exemplarily, the target rechargeable mobile machine can be a rechargeable mobile machine entering the target area, especially a rechargeable mobile machine registered in the target area and entering the target area. Specifically, because it may be in the target area for a long time or charging in the target area, therefore, it is necessary to accurately locate the target rechargeable mobile machine by obtaining the real-time position information of the target rechargeable mobile machine, so as to achieve reliable charging management and avoid fires.

[0026] Specifically, the target area refers to the area covered by the LoRa self-organizing network. This area can be a residential community, a commercial street, an industrial park, a construction site, etc., or a residential area or other areas.

[0027] In some embodiments, the target positioning module is used to monitor the position information of the target rechargeable mobile machine in real time. Specifically, the target positioning module may include a positioning device, and the positioning device may be a GPS positioning device, a Beidou positioning device, or other positioning devices. Specifically, the real-time position information refers to the current three-dimensional position information of the target rechargeable mobile machine obtained through GPS or other positioning technologies, including at least longitude, latitude, and altitude data. In some embodiments, the target positioning module may also be used to monitor the charging status of the target in real time, such as the charging state and the non-charging state, etc. The target positioning module may include a charging status monitoring device, and the charging status monitoring device may be a device capable of detecting the change state of the power, such as current detection and voltage detection. Preferably, both a charging status monitoring device and a positioning device may be provided in the target positioning module at the same time.

[0028] In some examples, at least three base stations are required to construct a LoRa self-organizing network. The number of base stations required to construct a LoRa self-organizing network can be determined based on the area to be covered by the LoRa self-organizing network. For a LoRa self-organizing network that needs to cover a smaller area, a smaller number of base stations need to be set. For a LoRa self-organizing network that needs to cover a larger area, a larger number of base stations need to be set. This is to improve the utilization rate of the LoRa self-organizing network and avoid wasting base station resources.

[0029] In some examples, to ensure the stability and safety of the target positioning module. On the target rechargeable mobile machine, a position with stable installation, not affecting the use of the target rechargeable mobile machine, and safe for both the target rechargeable mobile machine and the target positioning module needs to be selected to install the target positioning module. For example, the target positioning module can be placed under the position where the feet are placed inside the seat or inside the front of the vehicle body of the target rechargeable mobile machine. Therefore, by installing the target positioning module at a non-exposed position such as under the position where the feet are placed inside the seat or inside the front of the vehicle body, which is not easily collided and does not affect the user's use of the target rechargeable mobile machine, the safety of the target positioning module is ensured.

[0030] In some examples, the LoRa self-organizing network includes at least three base stations. In the foregoing step 201, based on the communication data between the target positioning module and the LoRa self-organizing network, the real-time position information of the target rechargeable mobile machine is obtained, including: obtaining at least three communication times between the target positioning module and at least three base stations; based on the at least three communication times, determining the path depths between the target positioning module and at least three base stations; based on the at least three path depths and the reference coordinates of each base station, determining the real-time position information of the target rechargeable mobile machine corresponding to the target positioning module.

[0031] Specifically, the target positioning module further includes a communication module to determine the real-time position information of the target rechargeable mobile machine based on the time of signal transmission between the target positioning module and the base station, such as the Time-of-Flight Method (TOF).

[0032] Specifically, the path depth refers to the length of the transmission path that the communication signal passes through from the target positioning module to the base station. If the communication signal directly reaches the base station from the target positioning module, the path depth is relatively small, and this situation is called "direct arrival". If the communication signal reaches the base station after being indirectly relayed through other devices (such as repeaters or reflectors, etc.), the transmission distance of the communication signal will become longer and the path depth will increase, which is called "indirect relay arrival".

[0033] In a specific embodiment, when the LoRa self-organizing network is constructed by multiple base stations, the parameter information obtained by the target positioning module (including the position information of the target rechargeable mobile machine and the time information of which time point the position information is obtained) is transmitted to each base station through the communication signal, and the time when each base station obtains the position information is obtained, so as to obtain the communication time between each base station and the target positioning module, and then obtain the time difference between different base stations receiving the position information. Based on the main fading path and time difference of the communication signal, distance estimation is performed to obtain the path depth between each base station and the target positioning module.

[0034] Exemplarily, see Figure 3 , when the LoRa self-organizing network is constructed by three base stations J1, J2, and J3, the parameter information obtained by the target positioning module of the rechargeable mobile machine 1 (including the position information of the target rechargeable mobile machine and the time information of which time point the position information is obtained) is transmitted to J1, J2, and J3 respectively through the communication signal, and the time when J1, J2, and J3 obtain the position information respectively is obtained as the communication time between each of J1, J2, and J3 and the target positioning module. Then, the time difference between different base stations J1, J2, and J3 receiving the position information is obtained. Based on the main fading path and time difference of the communication signal, distance estimation is performed to obtain the path depth d2 between J1 and the target positioning module, the path depth d1 between J2 and the target positioning module, and the path depth d3 between J3 and the target positioning module.

[0035] In some examples, in order to obtain the accurate real-time position information of the target positioning module or the target rechargeable mobile machine, after obtaining the different path depths between different base stations and the target positioning module, a circle is drawn with the location of the base station as the center and the path depth between the base station and the target positioning module as the radius to obtain the possible position range of the target positioning module relative to the base station, that is, the circle corresponding to the base station, so as to obtain the circles respectively corresponding to multiple different base stations. The overlapping position of different circles is used as the real-time position information of the target positioning module.

[0036] Exemplarily, reference can be made to Figure 3 , based on the path depth d2 corresponding to J1 and the circle Y2 corresponding to J1 obtained with the position of J1 as the center; based on the path depth d1 corresponding to J2 and the circle Y1 corresponding to J2 obtained with the position of J2 as the center, and based on the path depth d3 corresponding to J3 and the circle Y3 corresponding to J3 obtained with the position of J3 as the center, the position of the overlapping part of Y1, Y2, and Y3 is used as the real-time position information of the rechargeable mobile machine 1.

[0037] Thus, by using multiple base stations to determine the real-time position information of the target rechargeable mobile machine, the accuracy of the real-time position information is improved, the positioning error is reduced, and thus the accuracy of the early warning is improved. In some examples, at least three path depths and the reference coordinates of each base station are processed through multi-modal information fusion to determine the real-time position information of the target rechargeable mobile machine corresponding to the target positioning module. Among them, multi-modal information fusion is a technology that uses multiple sensors or data sources to improve the performance and reliability of the system. That is to say, the present application can also use multi-modal information fusion technology to obtain relatively accurate real-time position information.

[0038] It should be understood that, in order to improve the accuracy of the real-time position information of the target rechargeable mobile machine, to improve the accuracy of the early warning of the target rechargeable mobile machine, to avoid false early warnings of the target rechargeable mobile machine, and to save early warning resources. This solution sets three ways to correct the real-time position information. Specifically, reference can be made to the following three ways: Way 1: In some examples, the real-time position information corresponding to the target positioning module can also be corrected based on other positioning modules and the LoRa self-organizing network.

[0039] In some examples, other positioning modules include anchor beacons. In the aforementioned Way 1, correcting the real-time position information corresponding to the target positioning module based on other positioning modules and the LoRa self-organizing network includes: obtaining the signal strength between the target positioning module and at least one anchor beacon; correcting the real-time position information corresponding to the target positioning module based on the signal strength and the anchor coordinates of each anchor beacon.

[0040] Specifically, an anchor beacon refers to a fixed positioning device with a known position, which is used as a reference point during positioning. Preferably, the installation position of the anchor beacon is the target placement area or the charging area, etc.

[0041] Specifically, the signal strength is used to describe the distance between the target positioning module and the anchor beacon. If the signal strength is high, the distance between the anchor beacon and the target positioning module is close, that is, the target charging mobile machine corresponding to the target positioning module is close to the target placement area or the charging area; if the signal strength is low, the distance between the anchor beacon and the target positioning module is far, that is, the target charging mobile machine corresponding to the target positioning module is far from the target placement area or the charging area.

[0042] In some examples, the anchor beacon can also be deployed according to the pre-surveyed and divided geographical information. For example, electronic fence beacons are deployed as anchor beacons in a few key areas such as the entrance and exit of the community gate and the ground public roads blocked by buildings to provide signal references for calibrating the positioning error of the target positioning module.

[0043] Therefore, it should be understood that the communication signal will be affected by the occlusion of buildings, trees or other objects during the propagation process, resulting in a weakening of the signal strength. The real-time position information corresponding to the target positioning module can be corrected by the anchor beacon set at the occluder, which can reduce the error caused by buildings, trees or other objects to the real-time position information, thereby improving the accuracy of the real-time position information.

[0044] In some examples, based on the signal strength and the anchor coordinates of each anchor beacon, the real-time position information corresponding to the target positioning module is corrected, including: obtaining the anchor beacon whose signal strength is higher than the preset signal strength threshold and its corresponding anchor coordinates, and correcting the real-time position information corresponding to the target positioning module based on the anchor coordinates, where the anchor coordinates include the anchor position coordinates and the angle of arrival AoA.

[0045] Specifically, the angle of arrival AoA refers to the angle between the communication signal emitted by the target positioning module when it reaches the base station and the reference direction of the base station location. Among them, the reference direction is usually the due north direction or a certain specific direction set in advance.

[0046] Exemplarily, see Figure 4 , A, B, and C refer to three anchor beacons, and 1, 2, 3, 4, 5, 6, 7, and 8 are the positioning modules of different charging mobile machines respectively. The two dotted lines point to the due north and the due east respectively, and any pointing of any dotted line can be used as the reference direction. Taking the reference direction of C as the due north as an example, the angle θ can be used to describe the angle of arrival AoA between the charging mobile machine 7 and the anchor beacon C. Taking the reference direction of A as the due north as an example, the angle θ2 can be used to describe the angle of arrival AoA between the charging mobile machine 6 and the anchor beacon A; taking the reference direction of B as the due east as an example, the angle θ1 can be used to describe the angle of arrival AoA between the charging mobile machine 5 and the anchor beacon B.

[0047] It should be understood that cross-verification of real-time position information is achieved through signal strength. By using signal strength, anchor beacons with high credibility can be determined, and anchor beacons with low credibility can also be identified. The real-time position information can be corrected by using the anchor beacons with high credibility to reduce the error in the obtained real-time position information caused by obstacles between the base station and the target rechargeable mobile machinery, thereby improving the accuracy of the real-time position information.

[0048] Exemplarily, a preset signal strength threshold can be used as the strength standard for position information correction. The signal strength between the target positioning module and each anchor beacon is identified. When the signal strength between the target positioning module and any anchor beacon is greater than the preset signal strength threshold, this anchor beacon is used as another positioning module for position correction of the target positioning module, and the anchor coordinates corresponding to this anchor beacon are obtained, that is, the anchor position coordinates of this anchor beacon and the angle of arrival collected between the target positioning module and this anchor beacon. At the same time, based on the position information determined by the communication time between the target positioning module and the aforementioned base station, the calculated angle of arrival between this position information and this anchor beacon is determined. If the error between the calculated angle of arrival and the collected angle of arrival is within the preset error range, it is determined that the position information determined by the communication time between the target positioning module and the aforementioned base station is accurate and can be directly used for display and warning. If the error between the calculated angle of arrival and the collected angle of arrival is greater than the preset error range, it is determined that there is a large error in the position information determined by the communication time between the target positioning module and the aforementioned base station. At this time, the position information can be corrected by using the collected angle of arrival. For example, calculate the coincidence position between the collected angle of arrival and the circles corresponding to multiple base stations (such as base stations J1, J2, J3) (circles determined based on the path depth between the target positioning module and the base station), and use the position that coincides with the circles corresponding to multiple base stations simultaneously in this coincidence position as the final position information of the target positioning module.

[0049] In some embodiments, when there is no position that coincides with the circles corresponding to multiple base stations simultaneously in the coincidence position, the position that coincides with at least three base station corresponding circles with the smallest path depth is preferentially selected as the final position information of the target positioning module.

[0050] Exemplarily, the final position information of the target positioning module can be determined by calculating the priority of multiple positions in the coincidence position. Specifically, the priority of each position can be calculated according to the weights corresponding to each base station. For example, obtain the coincidence path depth between each position point in the coincidence position and each base station, perform reverse normalization processing on each coincidence path depth to obtain the normalized coincidence path depth, obtain the weights corresponding to each coincidence path depth, calculate the sum of the weights corresponding to each coincidence path depth as the priority corresponding to each coincidence path depth, and use the coincidence position with the highest priority as the final position information of the target positioning module.

[0051] It should be understood that in this application, reverse normalization can not only eliminate the influence when the distances between the target positioning module and multiple base stations are not in the same order of magnitude, but also further increase the influence degree of the base stations with closer distances on the selection of the coincidence position. Additionally, in the embodiments of this application, the coincidence path depth is inversely proportional to the weight. Specifically, the smaller the coincidence path depth, the larger the corresponding weight, and the larger the coincidence path depth, the smaller the corresponding weight.

[0052] Method 2: In some examples, the method further includes: performing wireless dynamic networking based on the target positioning module, other positioning modules, and the LoRa self-organizing network to obtain a data forwarding path for forwarding the real-time position information of the target positioning module; correcting the real-time position information of the target positioning module based on the position information of at least one node in the data forwarding path.

[0053] It should be noted that there can be a communication link between the base station target positioning module and other positioning modules for communication. In addition, there can also be a communication link between different electric vehicle positioning modules, that is, the target positioning modules communicate with each other, realizing wireless dynamic networking between different electric vehicle positioning modules. Thus, when the target positioning module is far from the base station or the anchor beacon, positioning communication can be carried out through other target positioning modules via wireless dynamic networking, improving the communication reliability of the target positioning module in the target area and avoiding early warning failures caused by the lack of information of the target positioning module. It should be understood that in the target area, the positions farther from the base station and the anchor beacon are more remote or easily overlooked, with a higher probability of danger. Based on this, in this application, by enabling the target positioning module, other positioning modules, and the LoRa self-organizing network to perform dynamic networking, the probability of obtaining the positioning information of the target positioning module is increased, effectively avoiding missed detections and further improving the reliability of danger early warning.

[0054] Specifically, the data forwarding path of the target positioning module can be obtained from the communication network formed by wireless dynamic networking. Based on the electric vehicle positioning module with the determined real-time position information adjacent to this electric vehicle positioning module in the data forwarding path, the real-time position information of this electric vehicle positioning module far from the base station can be inferred. And the electric vehicle positioning module far from the base station is position-associated with the electric vehicle positioning module with the determined real-time position information, facilitating position comparison and adjustment with each other. Exemplarily, such as Figure 5As shown, the base station J4, the target positioning module A, the target positioning module C and the target positioning module B form a wireless dynamic network, wherein J4, A and B form a data forwarding path; J4, A and C form a data forwarding path, and both B and C can be used as forwarding nodes in the data forwarding path for communication between A and J4. After the real-time location information of B is determined, the real-time location information of A can be inferred based on the real-time location information of B; if the communication between C and J4 is interrupted, the real-time location information of C can also be determined based on the real-time location information of A.

[0055] Therefore, multi-source location reference information can be obtained through the target positioning module, other positioning modules and LoRa self-organizing network, and the real-time location information of the target positioning module can be corrected based on the multi-source location reference information to improve the accuracy of the real-time location information. In addition, the advantages of different positioning modules and LoRa self-organizing networks in different scenarios can be used to achieve complementary advantages in various scenarios, so that more accurate real-time location information can be obtained in different scenarios. For example, GPS has high positioning accuracy in open outdoor environments, but is easily affected by occlusion indoors; Bluetooth and Wi-Fi can provide relatively good positioning effects in indoor environments. Through wireless dynamic networking, these different positioning modules are combined with LoRa self-organizing networks to fully utilize their complementary advantages. When the target positioning module is in a complex environment, the positioning data of different positioning modules can be referenced and corrected with each other, thereby improving the positioning accuracy and the accuracy of the real-time location information. In addition, adaptive environmental changes can be achieved through weight setting, and the reliability of each positioning module is different in different environments. Therefore, the location information of the positioning module with high reliability can be obtained based on different environments to correct the real-time location information of the target positioning module. For example, when indoors, increase the weight of Bluetooth or Wi-Fi positioning data; when outdoors and the GPS signal is good, increase the weight of GPS positioning data. This dynamic weight adjustment enables the positioning system to better adapt to various environments, improve positioning accuracy, and improve the accuracy of real-time location information. Multiple data forwarding paths formed by wireless dynamic networking can better ensure the timeliness of communication data transmission. For example, when a node on one of the paths fails, data can be transmitted through other paths. This ensures the continuity of positioning information and enhances the stability of the positioning system.

[0056] Method three: In some examples, the method further includes: obtaining temperature distribution data and geomagnetic distribution data respectively obtained by the target positioning module and other positioning modules; and correcting the real-time position information of the target positioning module based on the temperature distribution data and geomagnetic distribution data.

[0057] Exemplarily, it should be understood that the temperature and geomagnetic distribution data are different for different floors. To better determine the floor where the target positioning module is located or the height of the target positioning module from the sea level, it can be determined based on the temperature distribution data and geomagnetic distribution data of the target positioning module and other positioning modules, so as to better determine the real-time position information of the target positioning module. Taking the temperature distribution data as an example, refer to Figure 6 , Figure 6 The upper half shows a heat map, which is used to display the distribution of positioning modules at different distances, as well as the temperature distribution data corresponding to each positioning module. A circle represents the position and temperature of a positioning module. For multiple overlapping circles, they represent multiple positioning modules at the same horizontal position but at different heights. Among them, the smaller the radius of the circle, the higher the temperature, and the larger the radius of the circle, the lower the temperature. For circles at different horizontal positions with the same overlapping circles, for the highest temperature at different positions, it is determined by the area of the circle with the smallest radius at different positions. The larger the area, the higher the highest temperature. Taking the points 1 and 2 in the upper left corner of the figure as an example, that is, two adjacent points both include the target positioning modules of three target rechargeable mobile machines, and the highest temperature among the multiple target positioning modules in the lower point 2 is higher than the highest temperature among the multiple target positioning modules in the upper point 1. Figure 6 The lower half shows a graph of the relationship between temperature and height (meters). For Figure 6 circles with different radii at the same position in the upper half, based on the temperature corresponding to the radius, the corresponding height can be found in the Figure 6 lower half of the graph, so as to determine the floor where the positioning module represented by the circle with that radius is located or the height from the sea level.

[0058] Specifically, the real-time position information of the target positioning module can be corrected through crowd sensing based on the temperature distribution data and geomagnetic distribution data.

[0059] Specifically, crowd sensing is a way of using a large number of spatially dispersed intelligent devices (such as smartphones, sensors, etc.) to sense physical world phenomena or events. In a scenario where the distances are close, the hat (positioning module) senses the temperature and geomagnetic environment characteristics, and this can use crowd sensing to analyze the temperature distribution data and geomagnetic distribution data sensed by the hat (positioning module) to correct the real-time position information.

[0060] Therefore, the temperature may exhibit a specific distribution pattern in different regions due to environmental factors (such as sunlight exposure, building shading, human activities, etc.), and the geomagnetic distribution data reflects the characteristics of the Earth's magnetic field in a specific region. For example, in an indoor environment, the heat generated by the operation of electrical equipment may cause a local temperature increase, and at the same time, the electrical equipment may cause a certain interference to the geomagnetic signal. By comprehensively analyzing these two types of data, the environmental characteristics of the target positioning module can be more comprehensively understood, thereby providing a richer reference basis for the correction of its position information and improving the positioning accuracy.

[0061] It should be understood that when correcting the real-time position information of the target positioning module, any one of the three methods can be selected for correction, or any two or three of them can be selected for combined correction. If different methods are combined, there is no limit on the correction order of different methods.

[0062] Step 202: Based on the real-time position information and the BIM model of the target area, determine the real-time three-dimensional position information of the target charging mobile machine, and mark the real-time three-dimensional position information of the target charging mobile machine in the BIM model of the target area.

[0063] Specifically, the real-time position information refers to the current three-dimensional position information of the target charging mobile machine obtained through GPS or other positioning technologies, including at least longitude, latitude, and altitude data.

[0064] Specifically, the target area refers to a specific geographical area where charging mobile machines need to be monitored or managed, such as a city, a community, a construction site, or a specific building group.

[0065] Specifically, BIM (Building Information Modeling) is a digital building design and management tool that contains information related to buildings, such as structure, equipment, spatial layout, etc. In the embodiments of the present application, the BIM model of the target area includes digital information of at least one building in the target area and the associated space between them.

[0066] Specifically, the real-time three-dimensional position information refers to the position of the target charging mobile machine in the BIM model.

[0067] In some examples, if the real-time position information is GPS coordinates obtained based on GPS technology, then based on the real-time position information and the BIM model of the target area, determining the real-time three-dimensional position information of the target charging mobile machine includes: using the real-time position information and the BIM model to calculate the real-time three-dimensional position information of the target charging mobile machine in three-dimensional space to achieve the conversion of GPS coordinates to the corresponding position in the BIM model.

[0068] Exemplarily, taking a construction site as an example, refer to Figure 7 , through the BIM model, the relationships between different buildings in the target area (construction site), the floor distribution, the room distribution on each floor, and the roads at the bottom of the holes can be constructed. The distribution of different rechargeable mobile machines can be displayed through yellow markings. It can intuitively enable managers to obtain the location of each rechargeable mobile machine, facilitating managers to intervene in rechargeable mobile machines with potential safety hazards in a timely manner. In addition, the BIM model can be displayed through the built-in background monitoring system. In the background monitoring system, the time records of each rechargeable mobile machine entering and leaving the construction site can be viewed in real time. At the same time, the ground coordinates, the number of people present in real time, the number of people on duty, and the personnel distribution of different types of work at each location in the construction site, the attendance rate, and the abnormal attendance rate can also be viewed. In the background monitoring system, a more comprehensive understanding of the construction site can be clearly obtained to better ensure the safety of the construction site.

[0069] Thus, when the real-time three-dimensional position information of the rechargeable mobile machine is obtained, it can be marked in the BIM model. And this marking can be a visual mark, icon or other forms of representation, so that managers can intuitively see the location of the rechargeable mobile machine. In order to better learn about the real-time status of each rechargeable mobile machine and facilitate the management and intervention of each rechargeable mobile machine. For example, when a rechargeable mobile machine is in a stationary state for a long time and its location is outside the dedicated parking area, the background monitoring system can be used to view the location of the rechargeable mobile machine in real time and send it to the display device of the relevant property management personnel in real time in the form of phone calls, text messages, WeChat, and emails. This display device is the display terminal described above. Property management personnel can respond, investigate, and dispose immediately, urging construction workers to store the electric vehicle in the specified parking area to avoid safety accidents and ensure the safety of construction workers.

[0070] Step 203, when the real-time three-dimensional position information meets the preset warning conditions, send a warning message, and the warning conditions at least include the charging area calibrated by the anchor beacon.

[0071] In a feasible embodiment, when the real-time three-dimensional position information exceeds the charging area calibrated by the anchor beacon and the duration of the stationary state exceeds the preset duration, it is considered that the real-time three-dimensional position information meets the preset warning conditions and a warning message needs to be issued. Among them, the target positioning module also includes a stationary state and a moving state monitoring module, such as a gyroscope.

[0072] In some examples, the warning message can be sent to the manager for management, or it can be sent to the user of the target rechargeable mobile machine of the target positioning module to prompt the user to put it into the charging area.

[0073] In summary, the embodiments of the present application obtain the real-time position information of the target rechargeable mobile machine by using the communication data between the target positioning module and the LoRa self-organizing network. The target positioning module is arranged on the target rechargeable mobile machine; based on the real-time position information and the BIM model of the target area, determine the real-time three-dimensional position information of the target rechargeable mobile machine, and mark the real-time three-dimensional position information of the target rechargeable mobile machine in the BIM model of the target area; send a warning message when the real-time three-dimensional position information meets the preset warning conditions, and the warning conditions at least include the charging area plan calibrated by the anchor beacon. The LoRa self-organizing network is used to perform real-time high-precision positioning and monitoring of the rechargeable mobile machines in the target area, reducing the positioning error of the rechargeable mobile machines, and determining whether alarm intervention is required for the rechargeable mobile machine based on the accurate real-time three-dimensional position information, improving the accuracy of the warning. There is no need to spend a lot of manpower to monitor the rechargeable mobile machines. With the help of the LoRa self-organizing network, the efficient and convenient supervision of the rechargeable mobile machines is realized, and the safety hazards caused by the illegal parking and charging of the rechargeable mobile machines are eliminated in advance by means of warning. Moreover, the equipment cost required to build the LoRa self-organizing network is relatively low, the operation and maintenance cost of the LoRa self-organizing network is relatively low, and it can also be remotely managed and maintained, greatly reducing the cost of supervising the rechargeable mobile machines. Thus, the technical effect of supervising the rechargeable mobile machines in a convenient and low-cost manner and eliminating the safety hazards caused by the illegal parking and charging of the rechargeable mobile machines to the greatest extent is achieved.

[0074] Specifically, this solution uses a LoRa self-organizing network to transmit the real-time position information of the rechargeable mobile machinery. By taking advantage of the characteristics of LoRa signals, such as long transmission distance, strong penetration, and low energy consumption, it effectively makes up for the disadvantage of poor communication signals when the target positioning module is in locations such as basements and stairwells. This ensures smooth communication between the base station and the rechargeable mobile machinery, and guarantees the monitoring efficiency of the rechargeable mobile machinery. Moreover, selecting the LoRa self-organizing network can simultaneously meet the positioning and monitoring requirements of a large number of rechargeable mobile machinery, and issue warning messages to ensure the stability and reliability of positioning and the timeliness of warnings. By comprehensively applying technical means such as LoRa self-organizing networks, cloud computing, the Internet of Things, and big data, an intelligent warning scheme is constructed to realize the dynamic analysis of the real-time position of the rechargeable mobile machinery, and it is displayed using the background monitoring system. The real-time position of the intelligent module can be sent and displayed, including location information such as the floor and ground coordinates, which are all clear at a glance, ensuring the safety and stability of the positioning and charging supervision of the rechargeable mobile machinery, preventing accidents such as fires caused by users randomly charging the rechargeable mobile machinery. It greatly reduces the potential safety hazards caused by the rechargeable mobile machinery. It can also assist managers in making scientific decisions, reducing the occurrence of risk events, safeguarding people's lives and property, and improving the supervision efficiency of the rechargeable mobile machinery. It realizes the all-weather real-time positioning and status warning of the rechargeable mobile machinery. It effectively prevents the phenomenon of electric vehicles going upstairs and being parked randomly. It improves the safety management level of charging the rechargeable mobile machinery and effectively guarantees people's life safety.

[0075] Embodiment 2: Another embodiment of this application relates to a real-time positioning and monitoring device for rechargeable mobile machinery based on a LoRa self-organizing network. The implementation details of the real-time positioning and monitoring device for rechargeable mobile machinery based on the LoRa self-organizing network in this embodiment will be specifically described below. The following content is only the implementation details provided for easy understanding and is not necessary for implementing this solution. The schematic diagram of the real-time positioning and monitoring device for rechargeable mobile machinery based on the LoRa self-organizing network in this embodiment can be as Figure 8 shown. The real-time positioning and monitoring device 91 for rechargeable mobile machinery based on the LoRa self-organizing network includes an acquisition module 191, a determination module 291, and a transmission module 391.

[0076] The acquisition module 191 is used to obtain the real-time position information of the target rechargeable mobile machinery based on the communication data between the target positioning module and the LoRa self-organizing network, and the target positioning module is arranged on the target rechargeable mobile machinery; The determination module 291 is used to determine the real-time three-dimensional position information of the target rechargeable mobile machinery based on the real-time position information and the BIM model of the target area, and mark the real-time three-dimensional position information of the target rechargeable mobile machinery in the BIM model of the target area; A sending module 391, configured to send a warning message when the real-time three-dimensional position information meets a preset warning condition, where the warning condition at least includes a charging area calibrated by an anchor beacon.

[0077] In some examples, when the device is used for the LoRa self-organizing network including at least three base stations, and acquiring the real-time position information of the target rechargeable mobile machine based on the communication data between the target positioning module and the LoRa self-organizing network, it is specifically configured to: acquire at least three communication times between the target positioning module and at least three of the base stations; determine the path depth between the target positioning module and at least three of the base stations based on the at least three communication times; and determine the real-time position information of the target rechargeable mobile machine corresponding to the target positioning module based on the at least three path depths and the reference coordinates of each base station.

[0078] In some examples, the device is further configured to correct the real-time position information corresponding to the target positioning module based on another positioning module and the LoRa self-organizing network.

[0079] In some examples, when the device is used for correcting the real-time position information corresponding to the target positioning module based on another positioning module and the LoRa self-organizing network, it is specifically configured to: acquire the signal strength between the target positioning module and at least one of the anchor beacons; and correct the real-time position information corresponding to the target positioning module based on the signal strength and the anchor coordinates of each anchor beacon.

[0080] In some examples, the device is further configured to: perform wireless dynamic networking based on the target positioning module, the other positioning module, and the LoRa self-organizing network to obtain a data forwarding path for forwarding the real-time position information of the target positioning module; and correct the real-time position information of the target positioning module based on the position information of at least one node in the data forwarding path.

[0081] In some examples, the device is further configured to: acquire the temperature distribution data and the geomagnetic distribution data respectively acquired by the target positioning module and the other positioning module; and correct the real-time position information of the target positioning module based on the temperature distribution data and the geomagnetic distribution data.

[0082] It is worth mentioning that each module involved in this embodiment is a logical module. In practical applications, a logical unit can be a physical unit, a part of a physical unit, or a combination of multiple physical units. In addition, to highlight the innovative part of this application, units that are not closely related to solving the technical problems proposed in this application are not introduced in this embodiment, but this does not mean that there are no other units in this embodiment.

[0083] Embodiment Three: Another embodiment of this application relates to a rechargeable mobile machinery real-time positioning and monitoring system based on a LoRa self-organizing network. The implementation details of the rechargeable mobile machinery real-time positioning and monitoring system based on the LoRa self-organizing network in this embodiment will be specifically described below. The following content is only the implementation details provided for convenience of understanding and is not necessary for implementing this solution. The rechargeable mobile machinery real-time positioning and monitoring system based on the LoRa self-organizing network in this embodiment includes: At least three base stations; At least one anchor beacon for calibrating the charging area; A positioning module, arranged on the target rechargeable mobile machinery, for collecting real-time position information of the target rechargeable mobile machinery; and A device for executing the foregoing rechargeable mobile machinery real-time positioning and monitoring method based on the LoRa self-organizing network.

[0084] Embodiment Four: Another embodiment of this application relates to an electronic device, as Figure 9 shown, including: at least one processor 901; and a memory 902 communicatively connected to the at least one processor 901; wherein, the memory 902 stores instructions executable by the at least one processor 901, and the instructions are executed by the at least one processor 901 so that the at least one processor 901 can execute the rechargeable mobile machinery real-time positioning and monitoring method in the foregoing embodiments.

[0085] Among them, the memory and the processor are connected in a bus manner. The bus can include any number of interconnected buses and bridges, and the bus connects various circuits of one or more processors and memories together. The bus can also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art, so they will not be further described herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be a single component or multiple components, such as multiple receivers and transmitters, and provides a unit for communicating with various other devices over a transmission medium. The data processed by the processor is transmitted over a wireless medium via an antenna. Further, the antenna also receives data and transmits the data to the processor.

[0086] The processor is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interface, voltage regulation, power management, and other control functions. The memory can be used to store the data used by the processor when executing operations.

[0087] Embodiment Five: Another embodiment of the present application relates to a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the above method embodiments are implemented.

[0088] That is, those skilled in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by instructing relevant hardware through a program. The program is stored in a storage medium, including several instructions for causing a device (which can be a single-chip microcomputer, a chip, etc.) or a processor to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: various media such as USB flash drives, external hard drives, read-only memories (ROM), random access memories (RAM), magnetic disks, or optical discs that can store program codes.

[0089] Those of ordinary skill in the art can understand that the above embodiments are specific embodiments for implementing the present application, and in practical applications, various changes can be made in form and details without departing from the spirit and scope of the present application.

Claims

1. A real-time positioning and monitoring method for a rechargeable mobile machine based on a LoRa self-organizing network, characterized in that: include: Based on the communication data between the target positioning module and the LoRa self-organizing network, the real-time location information of the target rechargeable mobile machine is obtained, and the target positioning module is arranged on the target rechargeable mobile machine; Based on the real-time position information and the BIM model of the target area, determine the real-time three-dimensional position information of the target rechargeable mobile machinery, and mark the real-time three-dimensional position information of the target rechargeable mobile machinery in the BIM model of the target area; When the real-time three-dimensional position information meets a preset warning condition, a warning message is sent, and the warning condition at least includes a charging area marked by an anchor beacon.

2. The real-time positioning and monitoring method of a rechargeable mobile machinery based on a LoRa ad hoc network according to claim 1 is characterized in that: The LoRa self-organizing network includes at least three base stations, and the real-time location information of the target rechargeable mobile machinery is obtained based on the communication data between the target positioning module and the LoRa self-organizing network, including: Acquire at least three communication times between the target positioning module and at least three of the base stations; Determining the path depth between the target positioning module and at least three of the base stations based on at least three of the communication times; Based on at least three of the path depths and the reference coordinates of each of the base stations, the real-time position information of the target rechargeable mobile machinery corresponding to the target positioning module is determined.

3. The real-time positioning and monitoring method of a rechargeable mobile machinery based on a LoRa ad hoc network according to claim 1 or 2, characterized in that: Also includes: Based on other positioning modules and the LoRa self-organizing network, the real-time location information corresponding to the target positioning module is corrected.

4. The real-time positioning and monitoring method of a rechargeable mobile machinery based on a LoRa ad hoc network according to claim 3 is characterized in that: The method of correcting the real-time location information corresponding to the target positioning module based on other positioning modules and the LoRa self-organizing network includes: Acquire the signal strength between the target positioning module and at least one of the anchor beacons; Based on the signal strength and the anchor point coordinates of each anchor point beacon, the real-time position information corresponding to the target positioning module is corrected.

5. The real-time positioning and monitoring method of a rechargeable mobile machinery based on a LoRa ad hoc network according to claim 3 is characterized in that: Also includes: Based on the target positioning module, the other positioning modules and the LoRa self-organizing network, wireless dynamic networking is performed to obtain a data forwarding path for forwarding the real-time location information of the target positioning module; Based on the location information of at least one node in the data forwarding path, the real-time location information of the target positioning module is corrected.

6. The real-time positioning and monitoring method of a rechargeable mobile machinery based on a LoRa ad hoc network according to claim 3 is characterized in that: Also includes: Acquire the temperature distribution data and the geomagnetic distribution data respectively acquired by the target positioning module and the other positioning modules; Based on the temperature distribution data and the geomagnetic distribution data, the real-time position information of the target positioning module is corrected.

7. A real-time positioning monitoring device for rechargeable mobile machinery based on LoRa self-organizing network, characterized in that: include: An acquisition module, used to acquire real-time location information of a target rechargeable mobile machine based on communication data between the target positioning module and the LoRa self-organizing network, wherein the target positioning module is disposed on the target rechargeable mobile machine; A determination module, configured to determine the real-time three-dimensional position information of the target rechargeable mobile machine based on the real-time position information and the BIM model of the target area, and to mark the real-time three-dimensional position information of the target rechargeable mobile machine in the BIM model of the target area; The sending module is used to send warning information when the real-time three-dimensional position information meets a preset warning condition, and the warning condition at least includes a charging area calibrated by an anchor beacon.

8. A real-time positioning monitoring system for rechargeable mobile machinery based on LoRa self-organizing network, characterized in that: include: At least three base stations; At least one anchor beacon for calibrating the charging area; A positioning module, which is disposed on the target rechargeable mobile machine and is used to collect real-time position information of the target rechargeable mobile machine; as well as A device for executing the real-time positioning and monitoring method of a rechargeable mobile machinery based on a LoRa self-organizing network as described in any one of claims 1-6.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, it implements the real-time positioning and monitoring method for rechargeable mobile machinery in the LoRa self-organizing network as described in any one of claims 1-6.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, a real-time positioning and monitoring method for a rechargeable mobile machinery in a LoRa self-organizing network as described in any one of claims 1 to 6 is implemented.

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