Real-time positioning monitoring method and device for rechargeable mobile machinery based on LoRa self-organizing network

Abstract

Embodiments of the present invention relate to the fields of the Internet of Things and intelligent transportation technologies. Disclosed are a method and device for real-time positioning and monitoring of rechargeable mobile machinery based on a LoRa network. The method acquires the real-time location information of a target rechargeable mobile machinery (such as an electric vehicle) based on communication data between a target positioning module and the LoRa network, determines the real-time three-dimensional location information of the target rechargeable mobile machinery, and annotates the real-time three-dimensional location information of the target rechargeable mobile machinery in a BIM model of the target area. An early warning message is sent when the real-time three-dimensional location information meets preset early warning conditions, which include at least the charging area marked by an anchor beacon. This method achieves the technical effect of efficiently and conveniently monitoring rechargeable mobile machinery using the LoRa network, and preemptively eliminating potential safety hazards caused by rechargeable mobile machinery through early warning.

Description

Technical Field

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

[0002] At present, rechargeable mobile machinery is deeply loved by people for its convenient features. It can be said that it is an essential means of transportation for every household. However, with the continuous growth in the number of rechargeable mobile machinery, its safety issues have become prominent. Since people’s current safety awareness of rechargeable mobile machinery is not high enough, the parking and charging of rechargeable mobile machinery mainly rely on manual supervision by property management, which has high labor costs, great difficulty in supervision, and difficulty in 24-hour real-time supervision. Therefore, in the existing technology, due to the high cost and difficulty of supervising rechargeable mobile machinery, the supervision of rechargeable mobile machinery is not in place, which in turn leads to a large safety hazard caused by the illegal parking and charging of rechargeable mobile machinery. Summary of the Invention

[0003] The purpose of the present invention is to at least provide a real-time positioning and monitoring method and device for rechargeable mobile machinery based on a LoRa self-organizing network, which can at least solve the technical problem that the supervision of rechargeable mobile machinery is inadequate due to the high cost and difficulty of supervision of rechargeable mobile machinery, and then lead to large safety hazards caused by illegal parking and charging of rechargeable mobile machinery. At least it can achieve the technical effect of supervising rechargeable mobile machinery in a convenient and low-cost manner to eliminate the safety hazards caused by illegal parking and charging of rechargeable mobile machinery to the greatest extent.

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

[0005] At least one embodiment of the present application also provides a real-time positioning monitoring device for rechargeable mobile machinery based on a LoRa self-organizing network, including: an acquisition module for acquiring 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, wherein the target positioning module is arranged on the target rechargeable mobile machinery; a determination module for determining 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 marking the real-time three-dimensional position information of the target rechargeable mobile machinery in the BIM model of the target area; a sending module for sending an early warning message when the real-time three-dimensional position information meets a preset early warning condition, wherein the early warning condition at least includes the charging area calibrated by the anchor beacon.

[0006] At least one embodiment of the present application also provides a real-time positioning and monitoring system for rechargeable mobile machinery based on a LoRa self-organizing network, comprising: 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 the real-time location information of the target rechargeable mobile machinery; and a device for executing the aforementioned real-time positioning and monitoring method for rechargeable mobile machinery based on a LoRa self-organizing network.

[0007] At least one embodiment of the present application also provides an electronic device, comprising: 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 the instructions are executed by the at least one processor to enable the at least one processor to execute the above-mentioned real-time positioning and monitoring method for rechargeable mobile machinery based on the LoRa self-organizing network.

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

[0009] The present invention provides a real-time positioning and monitoring method for rechargeable mobile machinery based on a LoRa network, comprising: obtaining real-time location information of a target rechargeable mobile machinery based on communication data between a target positioning module and the LoRa network; determining the real-time three-dimensional location information of the target rechargeable mobile machinery based on the real-time location information and a BIM model of the target area, and marking the real-time three-dimensional location information of the target rechargeable mobile machinery in the BIM model of the target area; and transmitting an alert message when the real-time three-dimensional location information meets preset alert conditions, the alert conditions including at least the charging area marked by an anchor beacon. The LoRa network is used to perform real-time, high-precision positioning and monitoring of rechargeable mobile machinery within the target area, reducing positioning errors of the rechargeable mobile machinery. Based on the accurate real-time three-dimensional location information, the method determines whether an alert intervention is required for the rechargeable mobile machinery, thereby improving the accuracy of the alert. This eliminates the need for extensive manpower to monitor rechargeable mobile machinery, and utilizes the LoRa network to efficiently and conveniently monitor rechargeable mobile machinery, using early warnings to proactively eliminate safety hazards caused by illegal parking and charging of rechargeable mobile machinery. Furthermore, the equipment cost required to build a LoRa network is low, as is the cost of operating and maintaining it. Furthermore, remote management and maintenance are also possible, significantly reducing the cost of monitoring rechargeable mobile machinery. This enables convenient and low-cost monitoring of rechargeable mobile machinery, minimizing safety hazards caused by illegal parking and charging of rechargeable mobile machinery.

[0010] In some optional embodiments, the LoRa network includes at least three base stations. Acquiring the real-time location information of the target rechargeable mobile machine based on communication data between the target positioning module and the LoRa network includes: acquiring at least three communication times between the target positioning module and the at least three base stations; determining the path depths between the target positioning module and the at least three base stations based on the at least three communication times; and determining the real-time location 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. Determining the real-time location information of the target rechargeable mobile machine via multiple base stations improves the accuracy of the real-time location information, reduces positioning errors, and thereby improves the accuracy of early warnings.

[0011] In some optional embodiments, the method further includes correcting the real-time location information corresponding to the target positioning module based on other positioning modules and the LoRa network. By cross-referencing and correcting multiple positioning data, the location of the rechargeable mobile machine can be more accurately determined, avoiding the problem of large errors in the acquired real-time location information caused by relying on a single positioning method. Utilizing multiple positioning methods can complement each other to improve the accuracy of the acquired real-time location information.

[0012] In some optional embodiments, the real-time location information corresponding to the target positioning module is corrected based on other positioning modules and the LoRa self-organizing network, including: obtaining the signal strength between the target positioning module and at least one anchor beacon; and correcting the real-time location information corresponding to the target positioning module based on the signal strength and the anchor coordinates of each anchor beacon. The real-time location information is cross-validated based on the signal strength. The signal strength can be used to determine highly credible anchor beacons and less credible anchor beacons. The highly credible anchor beacons can be used to correct the real-time location information to reduce errors in the acquired real-time location information caused by obstacles between the base station and the target rechargeable mobile machine, thereby improving the accuracy of the real-time location information.

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

[0014] In some optional embodiments, the method further includes: obtaining temperature distribution data and geomagnetic distribution data obtained by the target positioning module and the other positioning modules, respectively; 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 geomagnetic distribution data can provide a more comprehensive understanding of the environmental characteristics of the target positioning module, thereby providing a richer reference basis for correcting its real-time position information, improving positioning accuracy, and thus improving the accuracy of the real-time position information. Furthermore, combining the temperature distribution data and geomagnetic distribution data can better distinguish the floor information and specific location information of the target positioning module, reducing positioning ambiguity and improving the accuracy of the real-time position information. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] One or more embodiments are exemplarily described by the figures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments.

[0016] Figure 1 This is an architecture diagram of an implementation environment for supervising rechargeable mobile machinery provided by an embodiment of the present application;

[0017] Figure 2 This is a flow chart of a method for real-time positioning and monitoring of a rechargeable mobile machine based on a LoRa ad hoc network, provided by one embodiment of the present application;

[0018] Figure 3 This is a schematic diagram of a structure for optimizing real-time location information provided by an embodiment of the present application;

[0019] Figure 4 This is a structural diagram of the angular relationship between an anchor beacon and a positioning module provided by an embodiment of the present application;

[0020] Figure 5 This is a structural diagram of a wireless dynamic network provided by another embodiment of the present application;

[0021] Figure 6 This is a schematic diagram of another structure for optimizing real-time location information provided by another embodiment of the present application;

[0022] Figure 7 This is a schematic diagram showing a background monitoring system provided by another embodiment of the present application;

[0023] Figure 8 1 is a schematic structural diagram of a real-time positioning and monitoring device for a rechargeable mobile machine based on a LoRa ad hoc network, provided by another embodiment of the present application;

[0024] Figure 9It is a structural diagram of an electronic device provided by another embodiment of the present application. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, each embodiment of the present application will be described in detail below with reference to the accompanying drawings. However, it will be understood by those skilled in the art that in each embodiment of the present application, many technical details are proposed to enable the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed in the present application can be implemented. The division of the following embodiments is for convenience of description and should not constitute any limitation on the specific implementation of the present application. The various embodiments can be combined and referenced with each other under the premise of no contradiction.

[0026] It should be noted that the acquisition or use of data in the embodiments of this application requires the user's consent. The relevant data can only be obtained after the user's authorization and permission, and the acquisition or use of the data complies with the provisions of relevant laws and regulations.

[0027] It should be understood that in order to clearly understand the content of this solution, the relationship between the devices or modules required for the actual application of this solution is explained here. For details, please refer to Figure 1 , Figure 1 An implementation environment architecture diagram for supervising rechargeable mobile machinery provided in an embodiment of the present application:

[0028] In 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;

[0029] At least one anchor beacon 14 is used to demarcate a charging area, which is the target placement area for the supervised device 13 and the charging area, for unified management of rechargeable mobile machinery. The target placement area is typically an area within the target area provided for users or staff to store the target rechargeable mobile machinery 13, such as a carport within a residential complex. The charging area is an area within the target area for charging the target rechargeable mobile machinery 13 or other electrical equipment, such as an outdoor charging station. This can also maximize user safety in the event of spontaneous combustion or explosion of a rechargeable mobile machinery, thereby minimizing the risk of the accident.

[0030] The server 11 is used to execute communication data between the target positioning module 12 and the LoRa self-organizing network to obtain the real-time location information of the target rechargeable mobile machinery; based on the real-time location information and the BIM model of the target area, determine the real-time three-dimensional location information of the target rechargeable mobile machinery, and mark the real-time three-dimensional location information of the target rechargeable mobile machinery in the BIM model of the target area; and send an early warning message when the real-time three-dimensional location information meets the preset early warning conditions.

[0031] 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 .

[0032] The display terminal 16 is used to display the real-time three-dimensional position information of the target rechargeable mobile machinery marked in the BIM model of the target area and to display warning information.

[0033] In order to solve the technical problems raised above, the present invention proposes a real-time positioning and monitoring method for rechargeable mobile machinery based on the LoRa self-organizing network. The implementation details of the real-time positioning and monitoring method for rechargeable mobile machinery based on the LoRa self-organizing network of this embodiment are specifically described below. The following content is only the implementation details provided for the convenience of understanding and is not necessary for the implementation of this solution.

[0034] Example 1:

[0035] The real-time positioning monitoring method of a rechargeable mobile machine based on a LoRa self-organizing network of this embodiment can be applied to electronic devices with communication, computing and data storage capabilities. In the embodiment of this application, a server is preferably used. The specific process can be as follows: Figure 2 As shown, including:

[0036] Step 201 : Acquire real-time location information of a target rechargeable mobile machine based on communication data between a target positioning module and a LoRa ad hoc network, wherein the target positioning module is disposed on the target rechargeable mobile machine.

[0037] Specifically, this solution can be applied to scenarios where effective supervision of the parking locations of rechargeable mobile machinery is required. It is not limited to the number of rechargeable mobile machinery stored and can be applied to areas with a large number of rechargeable mobile machinery, such as residential areas or construction sites, or to areas with a small number of rechargeable mobile machinery.

[0038] Specifically, the target rechargeable mobile machinery refers to rechargeable mobile machinery that requires supervision. Rechargeable mobile machinery refers to mechanical equipment powered by an electric motor. The rechargeable mobile machinery may be an electric vehicle, specifically an electric bicycle, electric car, electric sanitation vehicle, electric motorcycle, etc. For example, the target rechargeable mobile machinery may be a rechargeable mobile machinery entering a target area, especially a rechargeable mobile machinery registered in the target area and entering the target area. Specifically, because the target rechargeable mobile machinery may be within the target area or charging within the target area for an extended period of time, it is necessary to accurately locate the target rechargeable mobile machinery by acquiring its real-time location information, thereby achieving reliable charging management and preventing fires.

[0039] Specifically, the target area refers to the area covered by the LoRa self-organizing network, which can be a residential area, commercial block, industrial park, construction site, etc., or a residential area or other area.

[0040] In some embodiments, the target positioning module is used to monitor the location information of the target rechargeable mobile machinery in real time. Specifically, the target positioning module may include a positioning device, which may be a GPS positioning or Beidou positioning device or other positioning device. Specifically, real-time location information refers to the current three-dimensional location information of the target rechargeable mobile machinery obtained through GPS or other positioning technologies, including at least longitude, latitude and altitude data. In some embodiments, the target positioning module can also be used to monitor the charging status of the target in real time, such as the charging status and the uncharged status, etc. The target positioning module may include a charging status monitoring device, which may be a current detection, voltage detection or other device that can detect the change in the state of the electric charge. Preferably, the target positioning module may also be provided with a charging status monitoring device and a positioning device at the same time.

[0041] In some cases, building a LoRa network requires at least three base stations. The number of base stations required for building a LoRa network can be determined based on the area that the LoRa network needs to cover. For LoRa networks that need to cover a smaller area, fewer base stations are required. For LoRa networks that need to cover a larger area, more base stations are required. This improves the utilization of the LoRa network and avoids wasting base station resources.

[0042] In some examples, in order to ensure the stability and safety of the target positioning module, the target positioning module should be installed on the target rechargeable mobile machine at a location that is stable, does not affect the use of the target rechargeable mobile machine, and is safe for both the target rechargeable mobile machine and the target positioning module. For example, the target positioning module can be placed below 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 in a non-exposed position such as below the position where the feet are placed inside the seat or inside the front of the vehicle body, which is not easily bumped and does not affect the user's use of the target rechargeable mobile machine, the safety of the target positioning module is ensured.

[0043] In some examples, the LoRa self-organizing network includes at least three base stations. In the aforementioned step 201, 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: obtaining at least three communication times between the target positioning module and the at least three base stations; determining the path depth between the target positioning module and the at least three base stations based on the at least three communication times; and determining the real-time location information of the target rechargeable mobile machinery corresponding to the target positioning module based on the at least three path depths and the reference coordinates of each base station.

[0044] Specifically, the target positioning module further includes a communication module to determine the real-time location information of the target rechargeable mobile machine through the signal transmission time between the target positioning module and the base station, such as the Time-of-Flight Method (TOF).

[0045] Specifically, path depth refers to the length of the transmission path that the communication signal travels from the target positioning module to the base station. If the communication signal travels directly from the target positioning module to the base station, the path depth is relatively small, which is called "direct arrival." However, if the communication signal reaches the base station through indirect forwarding via other devices (such as repeaters or reflectors), the communication signal travels a longer distance and the path depth increases, which is called "indirect forwarding arrival."

[0046] 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 location information of the target rechargeable mobile machinery and the time information at which the location information is obtained) is transmitted to each base station through a communication signal, and the time when each base station obtains the location information is obtained, thereby obtaining the communication time between each base station and the target positioning module, and then obtaining the time difference between different base stations receiving the location information. The distance is estimated based on the main fading path of the communication signal and the time difference, and the path depth between each base station and the target positioning module is obtained.

[0047] For example, see Figure 3 When the LoRa 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 location information of the target rechargeable mobile machine and the time information at which the location information is obtained) is transmitted to J1, J2, and J3 respectively through communication signals. The time when J1, J2, and J3 respectively obtain the location information is obtained as the communication time between each base station J1, J2, and J3 and the target positioning module. Then, the time difference of receiving the location information by different base stations J1, J2, and J3 is obtained. The distance is estimated based on the main fading path of the communication signal and the time difference, and 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 are obtained.

[0048] In some examples, in order to obtain accurate real-time location information of the target positioning module or the target rechargeable mobile machinery, after obtaining 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, thereby obtaining circles corresponding to multiple different base stations, and the overlapping positions of the different circles are used as the real-time location information of the target positioning module.

[0049] For example, see Figure 3 Based on the path depth d2 corresponding to J1 and the position of J1 as the center of the circle, the circle Y2 corresponding to J1 is obtained; based on the path depth d1 corresponding to J2 and the position of J2 as the center of the circle, the circle Y1 corresponding to J2 is obtained; and based on the path depth d3 corresponding to J3 and the position of J3 as the center of the circle, the circle Y3 corresponding to J3 is obtained, and 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.

[0050] Thus, the real-time location information of the target rechargeable mobile machinery is determined by multiple base stations, which improves the accuracy of the real-time location information, reduces the positioning error, and thus improves the accuracy of the early warning. In some examples, at least three path depths and the reference coordinates of each base station are processed through multi-mode information fusion to determine the real-time location information of the target rechargeable mobile machinery corresponding to the target positioning module. Among them, multi-mode information fusion is a technology that uses multiple sensors or data sources to improve system performance and reliability. In other words, the present application can also use multi-mode information fusion technology to obtain more accurate real-time location information.

[0051] It should be understood that in order to improve the accuracy of the real-time location information of the target rechargeable mobile machine, improve the accuracy of early warning for the target rechargeable mobile machine, avoid false early warning for the target rechargeable mobile machine, and save early warning resources, this solution provides three ways to correct the real-time location information. For details, please refer to the three methods:

[0052] Method 1: In some cases, the real-time location information corresponding to the target positioning module can be corrected based on other positioning modules and the LoRa self-organizing network.

[0053] In some examples, the other positioning modules include anchor beacons. In the aforementioned method 1, the real-time position information corresponding to the target positioning module is corrected based on the other positioning modules and the LoRa self-organizing network, including: obtaining the signal strength between the target positioning module and at least one anchor beacon; 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.

[0054] Specifically, an anchor beacon refers to a fixed positioning device with a known location, which serves as a reference point during positioning. Preferably, the anchor beacon is set at a target placement area or a charging area, etc.

[0055] Specifically, signal strength describes the distance between the target positioning module and the anchor beacon. A high signal strength indicates a close distance between the anchor beacon and the target positioning module, meaning the target rechargeable mobile machine corresponding to the target positioning module is close to the target placement area or charging area. A low signal strength indicates a long distance between the anchor beacon and the target positioning module, meaning the target rechargeable mobile machine corresponding to the target positioning module is far away from the target placement area or charging area.

[0056] In some examples, anchor beacons can also be deployed based on geographic information that has been surveyed and divided in advance. For example, electronic fence beacons can be deployed as anchor beacons in a few key areas such as the entrances and exits of residential communities and public roads blocked by buildings to provide signal references for calibrating the positioning error of the target positioning module.

[0057] Therefore, it should be understood that the communication signal will be blocked by 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 setting an anchor beacon at the obstruction, 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.

[0058] 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 anchor beacons with signal strength higher than a preset signal strength threshold and their corresponding anchor coordinates, and correcting the real-time position information corresponding to the target positioning module based on the anchor coordinates, wherein the anchor coordinates include the anchor position coordinates and the arrival angle AoA.

[0059] Specifically, the angle of arrival (AoA) refers to the angle between the communication signal sent by the target positioning module and the reference direction of the base station when it reaches the base station. The reference direction is usually due north or a specific pre-set direction.

[0060] For example, see Figure 4 A, B, and C refer to the three anchor beacons, and 1, 2, 3, 4, 5, 6, 7, and 8 are the positioning modules of different rechargeable mobile machines. The two dotted lines point due north and due east, respectively. The direction of either dotted line can be used as a reference direction. For example, if C's reference direction is due north, angle θ can be used to describe the angle of arrival AoA between rechargeable mobile machine 7 and anchor beacon C. For example, if A's reference direction is due north, angle θ2 can be used to describe the angle of arrival AoA between rechargeable mobile machine 6 and anchor beacon A; for example, if B's ​​reference direction is due east, angle θ1 can be used to describe the angle of arrival AoA between rechargeable mobile machine 5 and anchor beacon B.

[0061] It should be understood that the real-time location information is cross-verified through signal strength. The signal strength can be used to determine anchor beacons with high credibility and anchor beacons with low credibility. The real-time location information can be corrected using anchor beacons with high credibility to reduce the error in the real-time location information obtained due to obstacles between the base station and the target rechargeable mobile machinery, thereby improving the accuracy of the real-time location information.

[0062] Exemplarily, the preset signal strength threshold is a strength standard that can be used as a strength standard for correcting position information. 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, the anchor beacon is used as another positioning module for correcting the position of the target positioning module, and the anchor coordinates corresponding to the anchor beacon are obtained, that is, the anchor position coordinates of the anchor beacon and the acquisition arrival angle between the target positioning module and the 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 arrival angle between the position information and the anchor beacon is determined. If the error between the calculated arrival angle and the collected arrival angle is within the preset error range, 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 early warning. If the error between the calculated arrival angle and the collected arrival angle 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 collected arrival angle can be used to correct the position information, for example, the overlapping position between the collected arrival angle and the corresponding circles of multiple base stations (for example, base stations J1, J2, and J3) (the circle determined based on the path depth between the target positioning module and the base station) is calculated, and the position of the overlapping position that coincides with the corresponding circles of multiple base stations at the same time is used as the final position information of the target positioning module.

[0063] In some embodiments, when there is no position in the overlapping positions that overlaps with circles corresponding to multiple base stations at the same time, the position that overlaps with at least three circles corresponding to base stations with the largest path depth is preferentially selected as the final position information of the target positioning module.

[0064] Exemplarily, the final location information of the target positioning module can be determined by performing priority calculation on multiple locations in the overlapping positions. Specifically, the priority of each location can be calculated based on the weight corresponding to each base station. For example, the overlapping path depth between each location point and each base station in the overlapping position is obtained, and each overlapping path depth is reversely normalized to obtain the normalized overlapping path depth. The weight corresponding to each overlapping path depth is obtained, and the sum of the weights corresponding to each overlapping path depth is calculated as the priority corresponding to each overlapping path depth, and the overlapping position with the highest priority is used as the final location information of the target positioning module.

[0065] It should be understood that the application utilizes inverse normalization to not only eliminate the influence when the distances between the target positioning module and multiple base stations are not of the same order of magnitude, but also to further increase the influence of base stations that are closer on the selection of the overlap position. In addition, in the embodiment of the present application, the overlap path depth is inversely proportional to the weight. Specifically, the smaller the overlap path depth, the greater the corresponding weight, and the greater the overlap path depth, the smaller the corresponding weight.

[0066] 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 location information of the target positioning module; and correcting 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.

[0067] It should be noted that the base station target positioning module and other positioning modules can have a communication link to communicate with each other. 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, so that when the target positioning module is far away from the base station or anchor beacon, for example, positioning communication can be performed through other target positioning modules through wireless dynamic networking, thereby improving the communication reliability of the target positioning module in the target area and avoiding the lack of warning caused by the lack of information from the target positioning module. It should be understood that in the target area, the farther away from the base station and the anchor beacon, the more remote or easily overlooked the location is, and the higher the possibility of danger. Based on this, the present application improves the probability of the target positioning module's positioning information being obtained by dynamically networking the target positioning module, other positioning modules and the LoRa self-organizing network, effectively avoiding missed detection and further improving the reliability of danger warning.

[0068] Specifically, the data forwarding path of the target positioning module can be obtained from the communication network formed by the wireless dynamic networking. Based on the electric vehicle location module with confirmed real-time location information adjacent to the electric vehicle location module in the data forwarding path, the real-time location information of the electric vehicle location module that is farther away from the base station can be inferred. The electric vehicle location module that is farther away from the base station is associated with the electric vehicle location module with confirmed real-time location information to facilitate mutual position comparison and adjustment. For example, Figure 5 As shown, base station J4, target positioning module A, target positioning module C, and target positioning module B form a wireless dynamic network. J4, A, and B form a data forwarding path; J4, A, and C form a data forwarding path. Both B and C can serve as forwarding nodes in the data forwarding path for communication between A and J4. Once B's real-time location information is determined, A's real-time location information can be inferred based on B's real-time location information. If communication between C and J4 is interrupted, C's real-time location information can also be determined based on A's real-time location information.

[0069] Thus, the target positioning module, other positioning modules, and the LoRa MANET network can obtain multi-source location reference information. Based on this multi-source location reference information, the target positioning module's real-time location information can be corrected to improve the accuracy of real-time location information. Furthermore, the advantages of different positioning modules and the LoRa MANET network in different scenarios can be leveraged to achieve complementary advantages in each scenario, thereby ensuring that relatively accurate real-time location information can be obtained in all scenarios. For example, GPS offers high positioning accuracy in open outdoor environments but is easily affected by obstructions indoors; Bluetooth and Wi-Fi provide relatively good positioning results indoors. By combining these different positioning modules with the LoRa MANET network through dynamic wireless networking, their complementary advantages can be fully utilized. When the target positioning module is located in a complex environment, the positioning data from different positioning modules can be cross-referenced and corrected, thereby improving positioning accuracy and the accuracy of real-time location information. Furthermore, adaptive environmental changes can be achieved by setting weights, so that the reliability of each positioning module varies in different environments. Therefore, the real-time location information of the target positioning module can be corrected based on the location information of the most reliable positioning module in different environments. For example, when indoors, Bluetooth or Wi-Fi positioning data is weighted more heavily; when outdoors with a strong GPS signal, GPS positioning data is weighted more heavily. This dynamic weighting adjustment enables the positioning system to better adapt to various environments, improving positioning accuracy and enhancing the accuracy of real-time location information. Multiple data forwarding paths formed by dynamic wireless networking can better ensure the timeliness of communication data transmission. For example, if a node on one path fails, data can be transmitted via other paths. This ensures the continuity of positioning information and enhances the stability of the positioning system.

[0070] Method 3: 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.

[0071] For example, it should be understood that the temperature and geomagnetic distribution data of different floors are different. In order 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, thereby better determining the real-time location information of the target positioning module. For example, the temperature distribution data can be used for illustration. Figure 6 , Figure 6The upper middle section shows a heat map that displays 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, and multiple overlapping circles represent multiple positioning modules at the same horizontal position but at different heights. The temperature of the circle with a smaller radius is higher, and the temperature of the circle with a larger radius is lower. For circles at different horizontal positions with the same overlapping circles, the maximum temperature at different positions is determined by the area of ​​the circle with the minimum radius at different positions. The larger the area, the higher the maximum temperature. For example, Point 1 and Point 2 in the upper left corner of the figure, both adjacent points include three target positioning modules of a target rechargeable mobile machine, and the maximum temperature among the multiple target positioning modules in Point 2 below is higher than the maximum temperature among the multiple target positioning modules in Point 1 above it. Figure 6 The lower part shows a graph of the relationship between temperature and altitude (meters). Figure 6 The circles of different radii at the same position in the upper part can be divided into two groups based on the temperature corresponding to the radius. Figure 6 The corresponding height can be found in the lower half of the figure, so as to determine the floor where the positioning module is located or the height from the sea level represented by the circle of the radius.

[0072] Specifically, the real-time location information of the target positioning module can be corrected based on temperature distribution data and geomagnetic distribution data through crowd sensing.

[0073] Specifically, crowd sensing is a method of using a large number of spatially dispersed smart devices (such as smartphones and sensors) to perceive phenomena or events in the physical world. In scenarios where people are close together, the hat (positioning module) senses temperature and geomagnetic environment characteristics. This can be used to analyze the temperature and geomagnetic distribution data sensed by the hat (positioning module) using crowd sensing to correct real-time location information.

[0074] Temperature distribution patterns vary across different regions due to environmental factors such as sunlight, building obstruction, and human activity. Geomagnetic distribution data reflects the characteristics of the Earth's magnetic field in specific areas. For example, in indoor environments, heat generated by electrical equipment can cause localized temperature increases, and these equipment can also interfere with geomagnetic signals. By comprehensively analyzing these two types of data, we can gain a more comprehensive understanding of the target positioning module's environmental characteristics, providing a richer reference for revising its position information and improving positioning accuracy.

[0075] 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 combined for correction. If different methods are combined, the order of correction of the different methods is not limited.

[0076] Step 202 : 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.

[0077] Specifically, the real-time location information refers to the current three-dimensional location information of the target rechargeable mobile machine obtained through GPS or other positioning technologies, including at least longitude, latitude and altitude data.

[0078] Specifically, the target area refers to a specific geographical area where rechargeable mobile machinery needs to be monitored or managed, such as a city, a community, a construction site, or a specific group of buildings.

[0079] Specifically, BIM (Building Information Modeling) is a digital building design and management tool that contains relevant information about a building, such as its structure, equipment, and spatial layout. In this embodiment of the present application, the BIM model of the target area includes digital information about at least one building in the target area and the associated spaces between them.

[0080] Specifically, the real-time three-dimensional position information refers to the position of the target rechargeable mobile machinery in the BIM model.

[0081] In some examples, if the real-time location information is GPS coordinates obtained based on GPS technology, the real-time three-dimensional location information of the target rechargeable mobile machinery is determined based on the real-time location information and the BIM model of the target area, including: using the real-time location information and the BIM model to calculate the real-time three-dimensional location information of the target rechargeable mobile machinery in three-dimensional space, so as to realize the conversion of GPS coordinates into corresponding positions in the BIM model.

[0082] For example, taking a construction site as an example, see Figure 7The BIM model can be used to construct the relationships between different buildings in the target area (construction site), including floor layout, room distribution on each floor, and various roads at the bottom of the tunnel. Yellow markers can be used to indicate the distribution of different rechargeable mobile machines. This allows managers to intuitively identify the location of each rechargeable mobile machine, enabling them to promptly intervene in any rechargeable mobile machine that poses a safety hazard. Furthermore, the BIM model can be displayed through a built-in backend monitoring system, which provides real-time access to the entry and exit times of each rechargeable mobile machine. The system also displays the ground coordinates of each location on the site, the real-time number of people present, the number of people on duty, the distribution of personnel by type of work, attendance rates, and abnormal attendance rates. This system provides a clear and comprehensive understanding of the construction site, enabling better site safety.

[0083] Therefore, once the real-time three-dimensional location information of the rechargeable mobile machinery is obtained, it can be annotated in the BIM model. This annotation can be a visual mark, icon, or other form of representation, so that managers can intuitively see the location of the rechargeable mobile machinery. This allows for better understanding of the real-time status of each rechargeable mobile machinery, facilitating management and intervention of each rechargeable mobile machinery. For example, when a rechargeable mobile machinery is stationary for a long period of time and is located outside a designated docking area, the location of the rechargeable mobile machinery can be viewed in real time using the background monitoring system and sent to the display device of the relevant property management personnel in real time via phone, text message, WeChat, and email. This display device is the display terminal described above. Property management personnel can immediately respond, investigate, and take action, urging construction workers to store electric vehicles in designated docking areas, avoiding safety accidents and ensuring the safety of construction workers.

[0084] Step 203: Send warning information when the real-time three-dimensional position information meets the preset warning conditions, and the warning conditions at least include the charging area calibrated by the anchor beacon.

[0085] 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 being in a stationary state exceeds a preset duration, the real-time three-dimensional position information is deemed to meet the preset warning conditions and a warning message needs to be issued, wherein the target positioning module also includes a stationary state and mobile state monitoring module, such as a gyroscope.

[0086] In some examples, the warning information may be sent to a management staff for management, or may be sent to a user of the target rechargeable mobile machine of the target positioning module to prompt the user to enter the charging area.

[0087] In summary, the embodiments of the present application provide a method for obtaining the real-time location information of a target rechargeable mobile machine based on communication data between a target positioning module and a LoRa network. The target positioning module is installed on the target rechargeable mobile machine. Based on the real-time location information and a BIM model of the target area, the real-time three-dimensional location information of the target rechargeable mobile machine is determined and annotated in the BIM model of the target area. An alert message is then sent when the real-time three-dimensional location information meets preset alert conditions, which include at least the charging area marked by an anchor beacon. The LoRa network is used to provide real-time, high-precision positioning and monitoring of rechargeable mobile machines within the target area, reducing positioning errors of the rechargeable mobile machine. Based on the accurate real-time three-dimensional location information, the system determines whether an alert intervention is required for the rechargeable mobile machine, thereby improving the accuracy of the alert. This eliminates the need for extensive manpower to monitor rechargeable mobile machines. The LoRa network enables efficient and convenient monitoring of rechargeable mobile machines, and uses early warnings to proactively eliminate safety hazards caused by illegal parking and charging of rechargeable mobile machines. Furthermore, the equipment cost required to build a LoRa network is low, as is the cost of operating and maintaining it. Furthermore, remote management and maintenance are also possible, significantly reducing the cost of monitoring rechargeable mobile machinery. This enables convenient and low-cost monitoring of rechargeable mobile machinery, minimizing safety hazards caused by illegal parking and charging of rechargeable mobile machinery.

[0088] Specifically, this solution uses a LoRa network to transmit real-time location information of rechargeable mobile machines. Leveraging the long transmission range, strong penetration, and low energy consumption of LoRa signals, this solution effectively compensates for the poor communication signal quality of the target positioning module in locations such as basements and stairwells. This ensures smooth communication between the base station and rechargeable mobile machines, ensuring efficient monitoring of these machines. Furthermore, the LoRa network can simultaneously monitor the location of a large number of rechargeable mobile machines and issue early warning information, ensuring stable and reliable positioning and timely warnings. By integrating LoRa networks, cloud computing, the Internet of Things, and big data technologies, this intelligent early warning solution enables dynamic analysis of the real-time location of rechargeable mobile machines and displays it on a backend monitoring system. This allows the intelligent module to upload and display the real-time location information, including location information such as floor location and ground coordinates, ensuring secure and reliable positioning and charging monitoring of rechargeable mobile machines, and preventing accidents such as fires caused by users recklessly charging rechargeable mobile machines. This significantly reduces the potential safety hazards associated with rechargeable mobile machines. This system can also assist managers in making informed decisions, reduce risk, safeguard people's lives and property, and improve the efficiency of oversight of rechargeable mobile machinery. It provides real-time positioning and status alerts for rechargeable mobile machinery around the clock, effectively preventing electric vehicles from being driven upstairs or parked inappropriately. This improves the safety management of rechargeable mobile machinery charging and effectively protects people's lives.

[0089] Example 2:

[0090] Another embodiment of the present application relates to a real-time positioning monitoring device for a rechargeable mobile machinery based on a LoRa self-organizing network. The following is a detailed description of the implementation details of the real-time positioning monitoring device for a rechargeable mobile machinery based on a LoRa self-organizing network of this embodiment. The following content is only for the convenience of understanding the implementation details provided, and is not necessary for the implementation of this solution. The schematic diagram of the real-time positioning monitoring device for a rechargeable mobile machinery based on a LoRa self-organizing network of this embodiment can be as follows: Figure 8 As shown, the real-time positioning 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 sending module 391 .

[0091] An acquisition module 191 is configured to acquire real-time location information of a target rechargeable mobile machine based on communication data between a target positioning module and a LoRa network, wherein the target positioning module is disposed on the target rechargeable mobile machine;

[0092] a determination module 291 for determining 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 marking the real-time three-dimensional position information of the target rechargeable mobile machine in the BIM model of the target area;

[0093] The sending module 391 is configured to send warning information when the real-time three-dimensional position information meets a preset warning condition, wherein the warning condition at least includes a charging area calibrated by an anchor beacon.

[0094] In some examples, when the device is used in the LoRa self-organizing network including 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, it is specifically used to: obtain at least three communication times between the target positioning module and the at least three base stations; based on the at least three communication times, determine the path depth between the target positioning module and the at least three base stations; based on the at least three path depths and the reference coordinates of each base station, determine the real-time location information of the target rechargeable mobile machinery corresponding to the target positioning module.

[0095] In some examples, the device is further configured to correct the real-time location information corresponding to the target positioning module based on other positioning modules and the LoRa self-organizing network.

[0096] In some examples, when the device is used to correct the real-time location information corresponding to the target positioning module based on other positioning modules and the LoRa self-organizing network, it is specifically used to: obtain 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 of the anchor beacons, correct the real-time location information corresponding to the target positioning module.

[0097] In some examples, the device is also used to: perform wireless dynamic networking based on the target positioning module, the other positioning modules and the LoRa self-organizing network to obtain a data forwarding path for forwarding the real-time location information of the target positioning module; and correct 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.

[0098] In some examples, the device is also used to: obtain temperature distribution data and geomagnetic distribution data obtained by the target positioning module and the other positioning modules respectively; and correct the real-time position information of the target positioning module based on the temperature distribution data and the geomagnetic distribution data.

[0099] It is worth mentioning that all modules involved in this embodiment are logical modules. In actual 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 innovation of this application, this embodiment does not include units that are not closely related to solving the technical problem proposed by this application. However, this does not mean that other units do not exist in this embodiment.

[0100] Example 3:

[0101] Another embodiment of the present application relates to a real-time positioning and monitoring system for a rechargeable mobile machine based on a LoRa network. The following describes the implementation details of the real-time positioning and monitoring system for a rechargeable mobile machine based on a LoRa network in this embodiment. The following content is only provided for ease of understanding and is not required for the implementation of this solution. The real-time positioning and monitoring system for a rechargeable mobile machine based on a LoRa network in this embodiment includes:

[0102] At least three base stations;

[0103] At least one anchor beacon for calibrating the charging area;

[0104] a positioning module, provided on the target rechargeable mobile machine, for collecting real-time position information of the target rechargeable mobile machine; and

[0105] A device for executing the aforementioned method for real-time positioning and monitoring of rechargeable mobile machinery based on a LoRa ad hoc network.

[0106] Example 4:

[0107] Another embodiment of the present application relates to an electronic device, such as Figure 9 As shown, it includes: at least one processor 901; and a memory 902 communicatively connected to the at least one processor 901; wherein the memory 902 stores instructions that can be executed by the at least one processor 901, and the instructions are executed by the at least one processor 901 to enable the at least one processor 901 to execute the real-time positioning and monitoring method of a rechargeable mobile machinery based on a LoRa self-organizing network in the above-mentioned embodiments.

[0108] The memory and processor are connected using a bus, which can include any number of interconnected buses and bridges. The bus connects various circuits of one or more processors and memories. The bus can also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits. These are all well known in the art and are therefore not described further 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, providing a unit for communicating with various other devices over a transmission medium. Data processed by the processor is transmitted over a wireless medium via an antenna. Furthermore, the antenna receives data and transmits it to the processor.

[0109] The processor is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory can be used to store data used by the processor when performing operations.

[0110] Embodiment 5:

[0111] Another embodiment of the present application relates to a computer-readable storage medium storing a computer program, which implements the above method embodiment when executed by a processor.

[0112] That is, those skilled in the art will understand that all or part of the steps in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a program. The program is stored in a storage medium and includes a number of instructions for causing a device (which may be a single-chip microcomputer, chip, etc.) or a processor to execute all or part of the steps in the methods described in the various embodiments of this application. The aforementioned storage medium includes various media that can store program code, such as a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0113] Those skilled in the art will appreciate that the above embodiments are specific embodiments for implementing the present application, and that in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present application.

Claims

1. A real-time positioning and monitoring method for rechargeable mobile machinery based on LoRa self-organizing network, characterized in that: include: Acquiring real-time location information of a target rechargeable mobile machine based on communication data between a target positioning module and a LoRa ad hoc network, wherein the target positioning module is disposed on the target rechargeable mobile machine; Determining 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 marking the real-time three-dimensional position information of the target rechargeable mobile machine in the BIM model of the target area; Sending warning information when the real-time three-dimensional position information meets a preset warning condition, the warning condition at least including a charging area marked by an anchor beacon; The method further comprises: Obtaining a signal strength between the target positioning module and at least one of the anchor beacons; correcting the real-time location information corresponding to the target positioning module based on the signal strength and the anchor coordinates of each anchor beacon; the correcting the real-time location information corresponding to the target positioning module based on the strength and the anchor coordinates of each anchor beacon includes: obtaining an anchor beacon having a signal strength greater than a preset signal strength threshold and its corresponding anchor coordinates, and correcting the real-time location information corresponding to the target positioning module based on the anchor coordinates, wherein the anchor coordinates include the anchor position coordinates and the angle of arrival (AoA), wherein the angle of arrival (AoA) refers to the angle between the communication signal emitted by the target positioning module and the reference direction of the base station when the communication signal reaches the base station; and determining, based on the location information determined during the communication time between the target positioning module and the aforementioned base station, a calculated angle of arrival between the location information and the anchor beacon, directly using the calculated angle of arrival for early warning if the error between the calculated angle of arrival and the collected angle of arrival is within a preset error range; and correcting the location information using the collected angle of arrival if the error between the calculated angle of arrival and the collected angle of arrival is greater than the preset error range; and / or The temperature distribution data and the geomagnetic distribution data respectively obtained by the target positioning module and other positioning modules are obtained; and the real-time position information of the target positioning module is corrected based on the temperature distribution data and the geomagnetic distribution data.

2. The real-time positioning and monitoring method for rechargeable mobile machinery based on LoRa self-organizing network according to claim 1, characterized in that: The LoRa network includes at least three base stations. The method of obtaining the real-time location information of the target rechargeable mobile machinery based on the communication data between the target positioning module and the LoRa network includes: Obtaining at least three communication times between the target positioning module and at least three base stations; determining, based on at least three of the communication times, a path depth between the target positioning module and at least three of the base stations; 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 machine corresponding to the target positioning module is determined.

3. The real-time positioning and monitoring method for a rechargeable mobile machine 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 for a rechargeable mobile machine based on a LoRa ad hoc network according to claim 3, characterized in that: Also includes: Performing wireless dynamic networking based on the target positioning module, the other positioning modules and the LoRa self-organizing network 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.

5. A real-time positioning monitoring device for rechargeable mobile machinery based on LoRa self-organizing network, characterized in that: include: an acquisition module, configured to acquire real-time location information of a target rechargeable mobile machine based on communication data between the target positioning module and the LoRa ad hoc 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 a 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; A sending module is used to send warning information when the real-time three-dimensional position information meets the preset warning conditions, and the warning conditions at least include the charging area marked by the anchor beacon. The determining module is specifically configured to: Obtaining a signal strength between the target positioning module and at least one of the anchor beacons; correcting the real-time location information corresponding to the target positioning module based on the signal strength and the anchor coordinates of each anchor beacon; the correcting the real-time location information corresponding to the target positioning module based on the strength and the anchor coordinates of each anchor beacon includes: obtaining an anchor beacon having a signal strength greater than a preset signal strength threshold and its corresponding anchor coordinates, and correcting the real-time location information corresponding to the target positioning module based on the anchor coordinates, wherein the anchor coordinates include the anchor position coordinates and the angle of arrival (AoA), wherein the angle of arrival (AoA) refers to the angle between the communication signal emitted by the target positioning module and the reference direction of the base station when the communication signal reaches the base station; and determining, based on the location information determined during the communication time between the target positioning module and the aforementioned base station, a calculated angle of arrival between the location information and the anchor beacon, directly using the calculated angle of arrival for early warning if the error between the calculated angle of arrival and the collected angle of arrival is within a preset error range; and correcting the location information using the collected angle of arrival if the error between the calculated angle of arrival and the collected angle of arrival is greater than the preset error range; and / or The temperature distribution data and the geomagnetic distribution data respectively obtained by the target positioning module and other positioning modules are obtained; and the real-time position information of the target positioning module is corrected based on the temperature distribution data and the geomagnetic distribution data.

6. A real-time positioning and 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 is provided 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 for a rechargeable mobile machinery based on a LoRa self-organizing network as described in any one of claims 1-4.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: 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 to 4.

8. 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 machine in a LoRa ad hoc network as described in any one of claims 1 to 4 is implemented.

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