Multi-protocol communication self-adaptive anti-lost device cooperative positioning method and system

Abstract

The invention provides a multi-protocol communication self-adaptive anti-lost device cooperative positioning method and system, and the method comprises the steps: monitoring the motion state of an anti-lost device in real time through a motion sensor, and recording and analyzing the motion data of the anti-lost device to judge whether the motion data accords with a condition for executing environment perception or not; when the motion data of the anti-lost device meets the condition of executing environment perception, executing environment perception on the surrounding environment of the anti-lost device to identify the environment type of the current position of the anti-lost device, and determining a target communication protocol matched with the environment type of the current position of the anti-lost device, a target communication module corresponding to the target communication protocol in the anti-lost device is awakened, surrounding cooperative positioning nodes are identified through the target communication module to implement cooperative positioning, and the cooperative positioning nodes are anti-lost devices or positioning base stations bound with the same anti-lost device cooperative positioning system. Therefore, the anti-lost device can have wider environment adaptability.

Description

Technical Field

[0001] The present invention relates to the technical field of anti-loss devices, and particularly to a method and system for collaborative positioning of anti-loss devices with multi-protocol communication self-adaptation. Background Art

[0002] The advent of anti-loss devices has solved the problem that people often forget to take or lose items. Especially for some commonly used small items such as keys and wallets that are casually placed and forgotten in a corner, it often takes a lot of time to search for them. After binding with an anti-loss device, these problems can be well solved. Anti-loss devices generally cooperate with smart phones. Through the APP on the smart phone, the anti-loss device can be located, and an anti-loss device with a buzzer can also emit a beeping sound under the control of the smart phone to assist users in quickly finding it. It is a powerful tool to help people manage small objects.

[0003] There are many types of anti-lost devices on the market that use different communication protocols, such as anti-lost devices using BLE (Bluetooth Low Energy) protocol, Wi-Fi protocol, UWB (Ultra Wide Band) protocol, Zigbee protocol, ANT (Advanced and Adaptive Network Technology) / ANT+ (Advanced and Adaptive Network Technology Plus) protocol, or 2.4G private protocol, etc. Due to the differences in communication distance, positioning accuracy, power consumption, and other characteristics of communication modules with different communication protocols, their application scenarios and applicable environments on anti-lost devices also vary. According to different applicable fields, BLE and Wi-Fi anti-lost devices are suitable for consumer-level needs. For example, BLE anti-lost devices are usually used for indoor short-distance anti-lost management of daily items, while Wi-Fi anti-lost devices are usually used for large-scale indoor and outdoor monitoring of children, pets, or items. UWB and Zigbee anti-lost devices are suitable for industrial-level needs. For example, UWB anti-lost devices are usually applied to position management of tools / equipment in industrial environments such as power plants and warehouses, or position management of vehicles or items in complex indoor environments such as underground garages and dense buildings, while Zigbee anti-lost devices are usually applied to equipment inspection or cargo tracking in harsh industrial environments such as high-temperature / explosion-proof scenarios of oil and natural gas. Therefore, when designing an anti-lost device, it is necessary to select the corresponding communication protocol according to the application scenario the product faces. However, in actual applications, whether in the industrial application field or the personal consumption field, the items that need to install or place the anti-lost device are usually items that are easy to move and often change positions. These items usually do not stay in a specific indoor or outdoor environment all the time. Some items that are often carried around, such as car keys, even often undergo large-scale geographical location changes and appear in various types of occasions. Therefore, the usage scenarios of existing anti-lost devices have strong limitations. Summary of the Invention

[0004] Based on the above problems, the present invention proposes a multi-protocol communication self-adaptive anti-lost device collaborative positioning method and system, enabling the anti-lost device to have a wider environmental adaptability.

[0005] In view of this, the first aspect of the present invention proposes a multi-protocol communication self-adaptive anti-lost device collaborative positioning method, including: Real-time monitoring of the motion state of the anti-lost device through a motion sensor; When it is monitored that the anti-lost device is in a motion state, recording and analyzing the motion data of the anti-lost device; Judge whether the conditions for performing environmental perception are met according to the motion data analysis result of the anti-loss device; When the motion data of the anti-loss device meets the conditions for performing environmental perception, perform environmental perception on the surrounding environment of the anti-loss device to identify the environmental type of the location where the anti-loss device is currently located; Determine a target communication protocol that matches the environmental type of the location where the anti-loss device is currently located; Wake up the target communication module corresponding to the target communication protocol in the anti-loss device; Identify surrounding cooperative positioning nodes through the target communication module to implement cooperative positioning, and the cooperative positioning nodes are anti-loss devices or positioning base stations bound to the same anti-loss device cooperative positioning system.

[0006] Further, the step of performing environmental perception on the surrounding environment of the anti-loss device to identify the environmental type of the location where the anti-loss device is currently located specifically includes: Wake up one or more communication modules in the anti-loss device; Use the communication module to detect the wireless signal strength distribution data at the location where the anti-loss device is located, and the wireless signal strength distribution data includes the data of the signal strength change of the wireless communication signals in each wireless signal frequency band over a period of time; Input the wireless signal strength distribution data into a pre-trained environmental type recognition model to identify the environmental type of the location where the anti-loss device is currently located.

[0007] Further, before the step of determining a target communication protocol that matches the environmental type of the location where the anti-loss device is currently located, it further includes: Pre-set one or more communication protocols and their priorities associated with each environmental type in the database, and multiple different communication protocols associated with the same environmental type have different priorities; The step of determining a target communication protocol that matches the environmental type of the location where the anti-loss device is currently located specifically includes: Read a first communication protocol list from the database, and the first communication protocol list includes the communication protocols associated with the environmental type of the location where the anti-loss device is currently located and their priorities under the corresponding environmental type; Obtain a second communication protocol list supported by the anti-loss device; Match the first communication protocol list with the second communication protocol list to generate a third communication protocol list, and the third communication protocol list is composed of the communication protocols that exist in both the first communication protocol list and the second communication protocol list; Configure the priority of each communication protocol in the third communication protocol list in the first communication protocol list as the priority of the corresponding communication protocol in the third communication protocol list; Determine the communication protocol with the highest priority in the third communication protocol list as the target communication protocol.

[0008] Further, the steps of identifying surrounding cooperative positioning nodes through the target communication module to implement cooperative positioning specifically include: Scan the cooperative positioning signals around the current position of the anti-loss device. The cooperative positioning signals are broadcast signals for cooperative positioning periodically broadcast by surrounding anti-loss devices or positioning base stations; Extract the position and positioning credibility information of each cooperative positioning node from the cooperative positioning signals; Calculate the relative orientation between the current anti-loss device and the cooperative positioning nodes based on the cooperative positioning signals. The relative orientation includes relative distance and relative direction.

[0009] Further, after the step of extracting the position and positioning credibility information of each cooperative positioning node from the cooperative positioning signals, it further includes: Determine the number of cooperative positioning nodes used for positioning the current anti-loss device ; Judge whether the number of first cooperative positioning nodes with positioning credibility greater than a preset first credibility threshold among the scanned cooperative positioning nodes is greater than or equal to ; When the number of first cooperative positioning nodes with positioning credibility greater than a preset first credibility threshold among the scanned cooperative positioning nodes is greater than or equal to , use the first cooperative positioning nodes to position the current anti-loss device; Configure the maximum positioning credibility among the first cooperative positioning nodes as the positioning credibility of the current anti-loss device.

[0010] Further, after the step of judging whether the number of first cooperative positioning nodes with positioning credibility greater than a preset first credibility threshold among the scanned cooperative positioning nodes is greater than or equal to , it further includes: When the number of first cooperative positioning nodes with positioning credibility greater than a preset first credibility threshold among the scanned cooperative positioning nodes is less than , determine second cooperative positioning nodes with the highest positioning credibility among the scanned cooperative positioning nodes to position the current anti-loss device; Calculate the positioning credibility of the current anti-loss device according to the positioning credibility of the used second cooperative positioning nodes.

[0011] Further, the steps of calculating the positioning credibility of the current anti-loss device according to the positioning credibility of the second co-location node used specifically include: Obtain the positioning credibility of the second co-location node used , where is a positive integer between 1 and n, and n is the number of co-location nodes used for the positioning of the current anti-loss device; Obtain the pre-configured first attenuation coefficient , and the first attenuation coefficient satisfies: , and the first attenuation coefficient is inversely related to the numerical value of the positioning accuracy of the positioning technology used; Calculate the positioning credibility of the current anti-loss device: .

[0012] Further, the steps of recording and analyzing the motion data of the anti-loss device specifically include: Obtain the previous stationary position of the anti-loss device, where the stationary position is the geographical location where the anti-loss device has remained stationary for a duration exceeding the pre-configured stationary duration threshold; Taking the stationary position as the starting point, perform time integration on the motion data of the anti-loss device to obtain and record the displacement of the anti-loss device, where the motion data includes the motion acceleration of the anti-loss device detected by the accelerometer; Real-time calculate the moving distance of the anti-loss device relative to the stationary position , and the moving distance is the straight-line distance of the anti-loss device relative to the stationary position; Judge whether the moving distance is greater than a preset distance threshold, where the distance threshold is pre-configured and is used to judge whether the moving distance of the anti-loss device is large enough to cause an obvious change in the surrounding environment type.

[0013] Further, the steps of recording and analyzing the motion data of the anti-loss device further include: Obtain the first positioning credibility corresponding to the previous stationary position of the anti-loss device ; After the step of performing time integration on the motion data of the anti-loss device to obtain and record the displacement of the anti-loss device, it further includes: Real-time calculate the cumulative displacement of the anti-loss device after leaving the stationary position ; According to the cumulative displacement Calculate the second positioning credibility of the anti-loss device: , wherein is a pre-configured second attenuation coefficient, and the second attenuation coefficient satisfies: ; After the step of determining whether the conditions for performing environmental perception are met according to the motion data analysis result of the anti-loss device, the following steps are further included: When the motion data of the anti-loss device does not meet the conditions for performing environmental perception, the second positioning credibility is configured as the positioning credibility of the current anti-loss device.

[0014] A second aspect of the present invention provides a multi-protocol communication self-adaptive anti-loss device collaborative positioning system, including a collaborative positioning node and a background server. The collaborative positioning node includes an anti-loss device and a positioning base station with unique identity identifiers uniformly allocated by the background server. The collaborative positioning node periodically broadcasts a collaborative positioning signal containing its position and positioning credibility information in a stationary state, so that the anti-loss device in a moving state or changing from a moving state to a stationary state can perform positioning through the collaborative positioning signal. The anti-loss device in the collaborative positioning node includes a processor and a memory, and the processor executes the computer program stored in the memory to implement the multi-protocol communication self-adaptive anti-loss device collaborative positioning method according to any one of the first aspects of the present invention.

[0015] The present invention provides a multi-protocol communication self-adaptive anti-loss device collaborative positioning method and system. By using a motion sensor to continuously monitor the motion state of the anti-loss device, recording and analyzing the motion data of the anti-loss device to determine whether the conditions for performing environmental perception are met. When the motion data of the anti-loss device meets the conditions for performing environmental perception, environmental perception is performed on the surrounding environment of the anti-loss device to identify the environmental type of the current location of the anti-loss device, determine the target communication protocol matching the environmental type of the current location of the anti-loss device, wake up the target communication module corresponding to the target communication protocol in the anti-loss device, and identify the surrounding collaborative positioning nodes through the target communication module to implement collaborative positioning. The collaborative positioning nodes are anti-loss devices or positioning base stations bound to the same anti-loss device collaborative positioning system, enabling the anti-loss device to have a wider environmental adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a flowchart of a multi-protocol communication self-adaptive anti-loss device collaborative positioning method provided by an embodiment of the present invention; Figure 2 is a schematic diagram of a multi-protocol communication self-adaptive anti-loss device collaborative positioning system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0017] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0018] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited by the specific embodiments disclosed below.

[0019] In the description of the present invention, the term "a plurality" means two or more, unless otherwise clearly defined. The orientation or positional relationship indicated by terms such as "upper", "lower", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention. Terms such as "connection", "installation", "fixation", etc. should all be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. In addition, terms such as "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more.

[0020] In the description of this specification, the description of terms such as "an embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or instance. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0021] Next, a multi-protocol communication self-adaptive anti-loss device collaborative positioning method and system provided according to some embodiments of the present invention will be described with reference to the accompanying drawings.

[0022] As Figure 1 shown, a first aspect of the present invention proposes a multi-protocol communication self-adaptive anti-loss device collaborative positioning method, including: Real-time monitoring of the motion state of the anti-loss device through a motion sensor; When monitoring that the anti-loss device is in a moving state, record and analyze the motion data of the anti-loss device; Judge whether the conditions for performing environmental perception are met according to the analysis result of the motion data of the anti-loss device; When the motion data of the anti-loss device meets the conditions for performing environmental perception, perform environmental perception on the surrounding environment of the anti-loss device to identify the environmental type of the current location of the anti-loss device; Determine a target communication protocol that matches the environmental type of the current location of the anti-loss device; Wake up the target communication module corresponding to the target communication protocol in the anti-loss device; Identify surrounding cooperative positioning nodes through the target communication module to implement cooperative positioning, where the cooperative positioning nodes are anti-loss devices or positioning base stations bound to the same anti-loss device cooperative positioning system.

[0023] Specifically, the motion sensor is an inertial sensor integrated with an accelerometer and a gyroscope on the anti-loss device, which is used to monitor the motion state of the anti-loss device and record data such as the motion speed and displacement of the anti-loss device. The motion state of the anti-loss device refers to the state of the anti-loss device being in motion or at rest. When the anti-loss device is in a moving state, it means that the item to which it is installed or bound is being carried or moved.

[0024] In the technical solutions of some embodiments of the present invention, the environmental types include but are not limited to indoor home environment, commercial office environment, industrial production environment, outdoor open environment, etc. Of course, the above classifications are only examples, and those skilled in the art can also divide the surrounding environment of the anti-loss device into other environmental types according to actual implementation needs.

[0025] The multi-protocol communication self-adaptive anti-loss device cooperative positioning method of the present invention is applicable to anti-loss devices having multiple communication modules using different communication protocols.

[0026] Further, in the step of waking up the target communication module corresponding to the target communication protocol in the anti-loss device, it includes that when the target communication module is in a sleep state, waking up the target communication module from the sleep state to make it enter the working state.

[0027] Further, in the step of waking up the target communication module corresponding to the target communication protocol in the anti-loss device, it also includes configuring other communication modules except the target communication module to the sleep state.

[0028] Each anti-loss device and positioning base station uses its unique identity identifier, such as its product serial number, MAC address, or other form of encoding, as the identification identifier for binding to the corresponding anti-loss device collaborative positioning system. After it is bound to the anti-loss device collaborative positioning system, within the wireless signal frequency band corresponding to the wireless communication protocol it adopts, it periodically broadcasts a collaborative positioning signal, and the collaborative positioning signal carries the unique identity identifier of the anti-loss device or positioning base station that sends the broadcast. The collaborative positioning signal also carries the position and positioning credibility information of the corresponding collaborative positioning node.

[0029] Preferably, after the step of real-time monitoring of the motion state of the anti-loss device by the motion sensor, it further includes: when it is monitored that the anti-loss device is in a motion state, stop sending the collaborative positioning broadcast.

[0030] Further, the step of performing environmental perception on the surrounding environment of the anti-loss device to identify the environmental type of the current location of the anti-loss device specifically includes: Wake up one or more communication modules in the anti-loss device; Use the communication module to detect the wireless signal strength distribution data at the location where the anti-loss device is located, and the wireless signal strength distribution data includes the data of the signal strength change of the wireless communication signals in each wireless signal frequency band over a period of time; Input the wireless signal strength distribution data into a pre-trained environmental type recognition model to identify the environmental type of the current location of the anti-loss device.

[0031] Wireless communication signals with different communication protocols will vary in terms of frequency band, bandwidth, modulation method, and signal strength. In the step of using the communication module to detect the wireless signal strength distribution data at the location where the anti-loss device is located, each communication module detects the intensity distribution of the wireless signals in its corresponding frequency band over a period of time. The so-called period of time is a specific short time length configured in advance, which represents the time length for each communication module to detect and record the wireless signal strength distribution data in each frequency band.

[0032] The environmental type recognition model is a pre-trained machine learning model, which can be a classification model trained using the wireless signal strength distribution data under various environmental types collected in advance as sample data. Since the wireless signal strength distribution characteristics in different types of environments are very obvious, the classification model trained by the supervised learning method can quickly and effectively identify the environmental type of the location where the anti-loss device is located, and then can select the type of communication protocol for implementing collaborative positioning in a targeted manner.

[0033] Further, before the step of determining the target communication protocol that matches the environmental type of the current location of the anti-loss device, it further includes: One or more communication protocols associated with each environment type and their priorities are preset in the database, and multiple different communication protocols associated with the same environment type have different priorities; The steps of determining the target communication protocol that matches the environment type of the current location of the anti-loss device specifically include: Read a first communication protocol list from the database, where the first communication protocol list contains the communication protocols associated with the environment type of the current location of the anti-loss device and their priorities under the corresponding environment type; Obtain a second communication protocol list supported by the anti-loss device; Match the first communication protocol list with the second communication protocol list to generate a third communication protocol list, where the third communication protocol list consists of the communication protocols that exist in both the first communication protocol list and the second communication protocol list; Configure the priority of each communication protocol in the first communication protocol list as the priority of the corresponding communication protocol in the third communication protocol list; Determine the communication protocol with the highest priority in the third communication protocol list as the target communication protocol.

[0034] It should be noted that the database can be a small database stored in the local storage space of the anti-loss device, or a remote database stored on a smart phone or cloud server that is communicatively connected to the anti-loss device.

[0035] The technical solution of the present invention pre-configures one or more communication protocols associated with each environment type, and the priority of each communication protocol under the corresponding environment type, according to the characteristics of different communication protocols. The same environment type can be associated with multiple communication protocols, and similarly, the same communication protocol can be associated with multiple environment types. When there are more than one type of communication protocol associated with an environment type, each communication protocol has a different priority under that environment type.

[0036] In the technical solution of the above embodiment, the first communication protocol list is composed of the communication protocols stored in the database that are associated with the environment type of the current location of the anti-loss device, and the second communication protocol list is composed of the communication protocols supported by each communication module of the anti-loss device.

[0037] Further, the steps of implementing cooperative positioning by identifying surrounding cooperative positioning nodes through the target communication module specifically include: Scan the cooperative positioning signals around the current location of the anti-loss device, where the cooperative positioning signals are broadcast signals for cooperative positioning periodically broadcast by surrounding anti-loss devices or positioning base stations; Extract the position and positioning credibility information of each co-location node from the co-location signal; Calculate the relative orientation between the current anti-lost device and the co-location node based on the co-location signal, where the relative orientation includes relative distance and relative direction.

[0038] The positioning credibility of the anti-lost device changes dynamically according to its environment. Similarly, when the position of the co-location node changes, the value of its positioning credibility also changes. In the technical solution of the present invention, the positioning credibility can be configured as a value between 0% and 100%. The co-location node with a higher positioning credibility has a higher credibility of the broadcast position data. Conversely, the co-location node with a lower positioning credibility has a lower credibility of the broadcast position data.

[0039] Preferably, the positioning credibility of the positioning base station is configured as 100%. Since the positioning base station is usually a fixed immovable item, or usually an item fixed at a position without the need to move, its position information is often measured in advance and configured in its storage space. Therefore, the credibility of the position data of the positioning base station is very high.

[0040] Further, the co-location node includes a smart phone connected to the anti-lost device. Smart phones usually have positioning functions. Outdoors, it can achieve high-precision positioning through satellite positioning systems such as GPS. At this time, the smart phone has a high positioning credibility. Indoors, it varies according to the indoor environment. Some indoor environments such as shopping malls, office buildings or factories are equipped with positioning base stations for assisting indoor positioning. The smart phone can achieve high-precision positioning through these positioning base stations. At this time, the smart phone can also have a high positioning credibility. In some indoor environments, there are no high-precision positioning base stations, and the smart phone cannot be positioned through the satellite positioning system indoors. It can only achieve low-precision positioning through communication base stations. At this time, the smart phone has a low positioning credibility.

[0041] In the step of calculating the relative orientation between the current anti-loss device and the collaborative positioning node based on the collaborative positioning signal, one or more of the algorithms such as RSSI (Received Signal Strength Indicator), AOA (Angle of Arrival), AOD (Angle of Departure), TOA (Time of Arrival), TDOA (Time Difference of Arrival), and PDOA (Phase Difference of Arrival) can be used to calculate the relative orientation between the anti-loss device and the collaborative positioning node.

[0042] Further, after the step of extracting the position and positioning credibility information of each collaborative positioning node from the collaborative positioning signal, it further includes: Determine the number of collaborative positioning nodes used to position the current anti-loss device ; Judge whether the number of first collaborative positioning nodes with positioning credibility greater than a preset first credibility threshold among the scanned collaborative positioning nodes is greater than or equal to ; When the number of first collaborative positioning nodes with positioning credibility greater than a preset first credibility threshold among the scanned collaborative positioning nodes is greater than or equal to Use the first collaborative positioning nodes to position the current anti-loss device; Configure the maximum positioning credibility among the first collaborative positioning nodes as the positioning credibility of the current anti-loss device.

[0043] Specifically, the first credibility threshold is a relatively large credibility value configured in advance. For example, it can be configured as 80% or a larger value.

[0044] In the technical solution of the above embodiment, the number of collaborative positioning nodes used to position the current anti-loss device is related to the positioning technology adopted by the anti-loss device. When the number of first collaborative positioning nodes with positioning credibility greater than the first credibility threshold among the surrounding collaborative positioning nodes scanned by the anti-loss device is greater than the step of using the first collaborative positioning nodes to position the current anti-loss device is specifically to use the first collaborative positioning nodes with the highest positioning credibility to position the current anti-loss device.

[0045] The maximum positioning credibility in the first collaborative positioning node refers to the positioning credibility of the first collaborative positioning node with the largest positioning credibility value when there are multiple first collaborative positioning nodes with positioning credibility greater than the first credibility threshold among the surrounding collaborative positioning nodes scanned by the anti-loss device.

[0046] Further, after the step of determining whether the number of first collaborative positioning nodes with positioning credibility greater than a preset first credibility threshold among the scanned collaborative positioning nodes is greater than or equal to it further includes: When the number of first collaborative positioning nodes with positioning credibility greater than a preset first credibility threshold among the scanned collaborative positioning nodes is less than determine second collaborative positioning nodes with the highest positioning credibility among the scanned collaborative positioning nodes to position the current anti-loss device; Calculate the positioning credibility of the current anti-loss device according to the positioning credibility of the second collaborative positioning nodes used.

[0047] As mentioned above, due to different positioning technologies and algorithms adopted by the anti-loss device, the number of collaborative positioning nodes required for auxiliary positioning is not exactly the same. Some positioning algorithms can achieve positioning of the current anti-loss device only with the positioning information provided by one collaborative positioning node, while some positioning algorithms require at least two collaborative positioning nodes to accurately position the anti-loss device. In the technical solution of the above embodiment, when all the scanned collaborative positioning nodes of the anti-loss device have relatively low positioning credibility, the position data obtained by using these collaborative positioning nodes for positioning also has relatively low positioning credibility.

[0048] Further, the step of calculating the positioning credibility of the current anti-loss device according to the positioning credibility of the second collaborative positioning nodes used specifically includes: Obtain the positioning credibility of the second collaborative positioning nodes used where is a positive integer between 1 and n, and n is the number of collaborative positioning nodes used for positioning the current anti-loss device; Obtain a pre-configured first attenuation coefficient the first attenuation coefficient satisfies: the first attenuation coefficient is inversely related to the numerical value of the positioning accuracy of the positioning technology used; Calculate the positioning credibility of the current anti-loss device: .

[0049] For any positioning technology, there will be a certain error in its positioning result. Generally, positioning accuracy is used to reflect the error range of different positioning technologies. The unit of the positioning accuracy is a length unit such as meters or centimeters, etc. The worse the positioning accuracy, the larger the value of the positioning accuracy. On the contrary, the better the positioning accuracy, the smaller the value of the positioning accuracy. In the technical solution of the above embodiment, the positioning credibility of the current anti-loss device is determined according to the minimum value of the positioning credibility in the second collaborative positioning nodes used. At the same time, considering the positioning error, a certain attenuation needs to be performed on this value to calculate the positioning credibility of the current anti-loss device, and the attenuation degree is related to the positioning accuracy of the positioning technology adopted.

[0050] Further, the steps of recording and analyzing the motion data of the anti-loss device specifically include: Obtain the previous stationary position of the anti-loss device, where the stationary position is the geographical location where the anti-loss device remains in a stationary state for a duration exceeding a pre-configured stationary duration threshold; Taking the stationary position as the starting point, perform time integration on the motion data of the anti-loss device to obtain and record the displacement of the anti-loss device, where the motion data includes the motion acceleration of the anti-loss device detected by an accelerometer; Real-time calculate the moving distance of the anti-loss device relative to the stationary position , where the moving distance is the straight-line distance of the anti-loss device relative to the stationary position; Judge whether the moving distance is greater than a preset distance threshold, where the distance threshold is pre-configured and is used to judge whether the moving distance of the anti-loss device is large enough to cause an obvious change in the environmental type in its surrounding environment.

[0051] Specifically, the moving distance is the relative distance between the real-time position of the anti-loss device and the stationary position, and is used to represent the magnitude of the position change of the anti-loss device after leaving the previous stationary position.

[0052] Further, the steps of judging whether the conditions for performing environmental perception are met according to the analysis result of the motion data of the anti-loss device specifically include: when the moving distance is greater than the distance threshold, it is determined that the motion data of the anti-loss device meets the conditions for performing environmental perception.

[0053] Further, the steps of recording and analyzing the motion data of the anti-loss device further include: Obtain the first positioning credibility corresponding to the previous stationary position of the anti-loss device ; After the step of performing time integration on the motion data of the anti-loss device to obtain and record the displacement of the anti-loss device, it further includes: Calculate the cumulative displacement of the anti-loss device after it leaves the stationary position in real time ; According to the cumulative displacement Calculate the second positioning credibility of the anti-loss device: , where is a pre-configured second attenuation coefficient, and the second attenuation coefficient satisfies: ; After the step of judging whether the conditions for executing environmental perception are met according to the motion data analysis result of the anti-loss device, it further includes: When the motion data of the anti-loss device does not meet the conditions for executing environmental perception, configure the second positioning credibility as the positioning credibility of the current anti-loss device.

[0054] Specifically, the cumulative displacement is the length of the actual moving path of the anti-loss device after it leaves the previous stationary position. That is, when the anti-loss device leaves the previous stationary position and its moving path is a curve, the cumulative displacement is the length of this curve.

[0055] In the technical solution of the above embodiment, the second attenuation coefficient is the attenuation coefficient corresponding to the inertial navigation positioning technology.

[0056] Further, after the step of extracting the position and positioning credibility information of each cooperative positioning node from the cooperative positioning signal, it further includes: Judge whether the number of scanned cooperative positioning nodes is greater than or equal to ; When the number of scanned cooperative positioning nodes is less than , configure the second positioning credibility as the positioning credibility of the current anti-loss device.

[0057] Such as Figure 2As shown in the figure, the second aspect of the present invention proposes a multi-protocol communication self-adaptive anti-loss device collaborative positioning system, which includes collaborative positioning nodes and a background server. The collaborative positioning nodes include anti-loss devices and positioning base stations with unique identity identifiers uniformly allocated by the background server. The collaborative positioning nodes periodically broadcast collaborative positioning signals containing their positions and positioning credibility information in a stationary state, so that anti-loss devices in a moving state or changing from a moving state to a stationary state can be positioned through the collaborative positioning signals. The anti-loss devices in the collaborative positioning nodes include a processor and a memory, and the processor executes the computer program stored in the memory to implement the multi-protocol communication self-adaptive anti-loss device collaborative positioning method according to any one of the first aspects of the present invention.

[0058] In the technical solutions of some embodiments of the present invention, the background server is a cloud server deployed on the network. The positioning base station can be an online node or an offline node. When the positioning base station is an online node, it accesses the Internet through a cellular wireless communication network or a broadband network to communicate with the background server. When any anti-loss device is positioned through the positioning base station, a communication connection can be established with the background server through the positioning base station to synchronize its historical positioning data to the background server.

[0059] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article or device including the element.

[0060] According to the embodiments of the present invention as described above, these embodiments do not describe all the details in detail, nor limit the invention to the specific embodiments described. Obviously, many modifications and variations can be made according to the above description. The present specification selects and specifically describes these embodiments to better explain the principles and practical applications of the present invention, so that those skilled in the art can make good use of the present invention and its modifications based on the present invention. The present invention is only limited by the claims and their full scope and equivalents.

Claims

1. A multi-protocol communication self-adaptive anti-lost device collaborative positioning method, characterized in that: include: Monitor the motion status of the anti-lost device in real time through the motion sensor; When the anti-lost device is monitored to be in motion, the motion data of the anti-lost device is recorded and analyzed; Determining whether the conditions for executing environmental perception are met according to the motion data analysis result of the anti-lost device; When the motion data of the anti-lost device meets the conditions for performing environmental perception, performing environmental perception on the surrounding environment of the anti-lost device to identify the type of environment where the anti-lost device is currently located; Determine a target communication protocol that matches the type of environment at the current location of the anti-lost device; Waking up a target communication module corresponding to the target communication protocol in the anti-loss device; The target communication module is used to identify surrounding co-location nodes to implement co-location, and the co-location nodes are anti-loss devices or positioning base stations bound to the same anti-loss device co-location system.

2. The multi-protocol communication self-adaptive anti-lost device collaborative positioning method according to claim 1 is characterized in that: The step of performing environmental perception on the surrounding environment of the anti-lost device to identify the type of environment where the anti-lost device is currently located specifically includes: Waking up one or more communication modules in the anti-loss device; Using the communication module to detect the wireless signal strength distribution data at the location of the anti-lost device, the wireless signal strength distribution data includes data on the signal strength change of the wireless communication signal of each wireless signal frequency band within a period of time; The wireless signal strength distribution data is input into a pre-trained environment type recognition model to identify the environment type of the current location of the anti-loss device.

3. The multi-protocol communication self-adaptive anti-lost device collaborative positioning method according to claim 1, characterized in that: Before the step of determining the target communication protocol that matches the environment type of the current location of the anti-lost device, the method further includes: One or more communication protocols and their priorities associated with each environment type are preset in the database, and different communication protocols associated with the same environment type have different priorities; The step of determining a target communication protocol that matches the type of environment at the current location of the anti-lost device specifically includes: Reading a first communication protocol list from a database, wherein the first communication protocol list includes communication protocols associated with an environment type at a current location of the anti-loss device and their priorities under the corresponding environment type; Obtain a second communication protocol list supported by the anti-loss device; Matching the first communication protocol list with the second communication protocol list to generate a third communication protocol list, wherein the third communication protocol list is composed of communication protocols that exist in both the first communication protocol list and the second communication protocol list; Configuring the priority of each communication protocol in the third communication protocol list in the first communication protocol list to be the priority of the corresponding communication protocol in the third communication protocol list; The communication protocol with the highest priority in the third communication protocol list is determined as the target communication protocol.

4. The multi-protocol communication self-adaptive anti-lost device collaborative positioning method according to claim 1, characterized in that: The step of identifying the surrounding co-location nodes through the target communication module to implement co-location specifically includes: Scanning the collaborative positioning signal around the current location of the anti-loss device, where the collaborative positioning signal is a broadcast signal for collaborative positioning periodically broadcast by surrounding anti-loss devices or positioning base stations; Extracting the position and positioning credibility information of each co-location node from the co-location signal; The relative position between the current anti-loss device and the co-location node is calculated based on the co-location signal, and the relative position includes a relative distance and a relative direction.

5. The multi-protocol communication self-adaptive anti-lost device collaborative positioning method according to claim 4 is characterized in that: After the step of extracting the position and positioning credibility information of each co-location node from the co-location signal, the method further includes: Determine the number of co-location nodes used to locate the current anti-loss device ; Determine whether the number of the first co-location nodes whose positioning credibility is greater than a preset first credibility threshold among the scanned co-location nodes is greater than or equal to ; When the number of the scanned co-location nodes whose positioning credibility is greater than a preset first credibility threshold is greater than or equal to When the first collaborative positioning node is used to locate the current anti-loss device; The maximum positioning credibility in the first co-location node is configured as the positioning credibility of the current anti-loss device.

6. The multi-protocol communication self-adaptive anti-lost device collaborative positioning method according to claim 5, characterized in that: In determining whether the number of the first co-location nodes whose positioning credibility is greater than a preset first credibility threshold among the scanned co-location nodes is greater than or equal to After the steps, it also includes: When the number of the first co-location nodes whose positioning credibility is greater than a preset first credibility threshold among the scanned co-location nodes is less than When , determine the co-location node in the scanned a second co-location node with the greatest positioning credibility, so that the second co-location node can locate the current anti-loss device; The positioning credibility of the current anti-loss device is calculated according to the positioning credibility of the second co-location node used.

7. The multi-protocol communication self-adaptive anti-lost device collaborative positioning method according to claim 6 is characterized in that: The step of calculating the positioning credibility of the current anti-loss device according to the positioning credibility of the second cooperative positioning node used specifically includes: Obtain the positioning credibility of the second co-location node used ,in is a positive integer between 1 and n, where n is the number of collaborative positioning nodes used for the current anti-loss device positioning; Get the pre-configured first attenuation coefficient , the first attenuation coefficient satisfy: , the first attenuation coefficient The numerical value of is inversely correlated with the numerical value of the positioning accuracy of the positioning technology used; Calculate the positioning reliability of the current anti-lost device: 。 8. The multi-protocol communication self-adaptive anti-lost device collaborative positioning method according to claim 1, characterized in that: The steps of recording and analyzing the motion data of the anti-lost device specifically include: Acquire the last static position of the anti-lost device, where the static position is a geographical location where the duration of the static state of the anti-lost device exceeds a pre-configured static duration threshold; Taking the static position as the starting point, time-integrating the motion data of the anti-lost device to obtain and record the displacement of the anti-lost device, wherein the motion data includes the motion acceleration of the anti-lost device detected by an accelerometer; Calculate the moving distance of the anti-lost device relative to the static position in real time , the moving distance is the straight-line distance of the anti-lost device relative to the static position; It is determined whether the moving distance is greater than a preset distance threshold. The distance threshold is pre-configured and is used to determine whether the moving distance of the anti-lost device is large enough to cause an obvious change in the environmental type of its surrounding environment.

9. The multi-protocol communication self-adaptive anti-lost device collaborative positioning method according to claim 8, characterized in that: The step of recording and analyzing the motion data of the anti-lost device also includes: Obtain the first positioning credibility corresponding to the last static position of the anti-lost device ; After the step of performing time integration on the motion data of the anti-lost device to obtain and record the displacement of the anti-lost device, the method further includes: Real-time calculation of the cumulative displacement of the anti-lost device after it leaves the static position ; According to the cumulative displacement Calculate the second positioning reliability of the anti-lost device: ； in is a preconfigured second attenuation coefficient, wherein the second attenuation coefficient satisfy: ; After the step of judging whether the conditions for performing environment perception are met according to the motion data analysis result of the anti-lost device, the method further includes: When the motion data of the anti-lost device does not meet the conditions for performing environment perception, the second positioning reliability Configured as the positioning reliability of the current anti-lost device.

10. A multi-protocol communication self-adaptive anti-lost device collaborative positioning system, characterized in that: It includes a collaborative positioning node and a background server, the collaborative positioning node includes an anti-loss device and a positioning base station with a unique identity identifier uniformly allocated by the background server, the collaborative positioning node periodically broadcasts a collaborative positioning signal containing its position and positioning credibility information in a stationary state, so that the anti-loss device in a moving state or changing from a moving state to a stationary state can be located through the collaborative positioning signal, the anti-loss device in the collaborative positioning node includes a processor and a memory, the processor executes a computer program stored in the memory to implement the multi-protocol communication self-adaptive anti-loss device collaborative positioning method as described in any one of claims 1 to 9.

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