Implementation method of traffic tunnel intelligent monitoring system

Abstract

The invention provides an implementation method of a traffic tunnel intelligent monitoring system. The method comprises the following steps: deploying a plurality of robot nodes in a monitoring area; wherein the plurality of robot nodes comprise a forwarding node with a forwarding function and a terminal node without a forwarding function. The system can quickly monitor traffic tunnel data, timely discover potential risks, replace manual inspection, reduce the manual inspection frequency, reduce the labor cost and ensure the travel safety; wide application prospects are realized.

Description

Technical Field

[0001] The present invention relates to the technical field of monitoring, and particularly to a method for implementing an intelligent monitoring system for traffic tunnels. Background Art

[0002] With the acceleration of the urbanization process and the continuous improvement of transportation infrastructure, tunnels, as an important part of highways, railways, and urban rail transit, their safety and reliability are of crucial importance. However, due to the complex structure and enclosed environment of tunnels, the traditional manual inspection and single-sensor monitoring methods have the following problems: (1) The monitoring means are backward. Traditional tunnel monitoring mainly relies on manual inspections, with low data collection efficiency and difficulty in timely detecting potential risks (such as cracks, water seepage, deformation, etc.). (2) Poor real-time performance: The manual inspection cycle is long, making it difficult to provide real-time decision-making support for tunnel operation management. (3) Insufficient environmental adaptability: The internal environment of the tunnel is complex, and manual inspections are easily interfered with, affecting data reliability.

[0003] The "method for implementing an intelligent monitoring system for traffic tunnels" proposed by the present invention aims to achieve real-time collection and monitoring of environmental data, providing reliable technical support for tunnel structural health monitoring and disaster warning. Summary of the Invention

[0004] Object of the Invention: The technical problem to be solved by the present invention is to provide a method for implementing an intelligent monitoring system for traffic tunnels in view of the deficiencies of the prior art.

[0005] Technical Solution: The present invention discloses a method for implementing an intelligent monitoring system for traffic tunnels. The system deploys multiple robot nodes in the monitoring area. Among them, the multiple robot nodes include forwarding nodes with forwarding functions and terminal nodes without forwarding functions. The robot nodes send creation messages to construct a monitoring table. The robot nodes that receive the creation messages send creation response messages and perform the following operations: If it is a forwarding node, and there is no environmental entry matching the coordinates and timestamp of the creation message, and the hop count h2 is less than the forwarding threshold in the creation message, then create an environmental entry and forward the creation message; If it is a terminal node, and the hop count h3 is less than the forwarding threshold in the creation message, and no matching creation message is received within the time t3, then mark it as a forwarding node, create an environmental entry and forward the creation message. If the forwarding node that receives the creation response message has an environmental entry matching the coordinates and timestamp of the creation response message, then forward the creation response message; If the robot node that sends the creation message receives the creation response message, then create a monitoring table entry. The robot node sends an environment message to monitor environmental data; if a robot node that receives the environment message has a monitoring entry that matches the coordinates and timestamp of the environment message, it sends a monitoring message; if a forwarding node that receives the monitoring message has a remote entry that matches the coordinates and timestamp of the monitoring message, it deletes the remote entry and forwards the monitoring message; if the robot node that sends the environment message receives the monitoring message, it saves the monitoring table in the monitoring message.

[0006] In the method, each robot node maintains a remote table, and the remote entries of the remote table include coordinates, timestamp, and lifespan; the environment message includes a message ID, a node ID, coordinates, and a timestamp; where in the environment message sent by the robot node, the message ID is 5, the coordinates are the location coordinates of the monitored environmental data, the timestamp is the generation time of the environmental data, select all robot entries with node type 0, select a robot entry from these robot entries, the coordinates of this robot entry are the closest to the coordinates in the environment message, and set the node ID of the environment message to the node ID of this robot entry; the robot node that receives the environment message selects all monitoring entries that match the coordinates and timestamp of the environment message. In the sent monitoring message, the message ID is 6, the coordinates and timestamp are respectively equal to the coordinates and timestamp in the environment message, and the monitoring table contains all the selected monitoring entries of this monitoring message; if a forwarding node that receives the monitoring message has a remote entry that matches the coordinates and timestamp of the monitoring message, then perform the following operations for each monitoring entry in the monitoring table of the monitoring message: if there is no monitoring entry in its own monitoring table whose coordinates and timestamp are respectively equal to the coordinates and timestamp of the monitoring entry, then add the monitoring entry to its own monitoring table.

[0007] The method further includes: in the case where the robot node sends an environment message and the neighbor forwarding node that receives the environment message has established a remote entry, if the robot node leaves the communication range of the forwarding node before receiving a monitoring message with coordinates and timestamp respectively equal to the coordinates and timestamp in the sent environment message, then select all robot entries with node type 0, select a robot entry from these robot entries, the distance between the coordinates of this robot entry and the coordinates in the sent environment message is the smallest, and then send a movement message; where the message ID of the movement message is 7, the node ID is equal to the node ID of this robot entry, and the coordinates and timestamp are respectively equal to the coordinates and timestamp in the environment message; In the case where the node ID of the robot node that receives a mobile message is equal to the node ID in the mobile message, the mobile message marks itself as a forwarding node. If the robot node does not have a remote entry whose coordinates and timestamp are respectively equal to the coordinates and timestamp in the mobile message, it creates a remote entry and forwards the mobile message; wherein, the coordinates and timestamp of the remote entry are respectively equal to the coordinates and timestamp in the mobile message, and the lifecycle is set to the maximum value.

[0008] The method further includes: In the mobile message forwarded by the robot that receives the mobile message, if the robot has a robot entry whose node type value is 0 and the distance between the coordinates of the robot entry and the coordinates in the mobile message is less than the distance between its own coordinates and the coordinates in the mobile message, it selects all robot entries with node type value 0, selects the robot entry with the minimum distance between its coordinates and the coordinates in the mobile message from these robot entries, and updates the node ID in the mobile message to the node ID in the robot entry. Otherwise, in the mobile message forwarded by the robot node that receives the mobile message, the node ID is set to the node ID in the robot entry, and the distance between the coordinates of the robot entry and the coordinates in the mobile message is the minimum.

[0009] The method further includes: If the robot node that receives the environment message does not have a monitoring entry that matches the coordinates and timestamp of the environment message, and the coordinates of the robot node are not equal to the coordinates in the environment message, and the node ID of the robot node is equal to the node ID in the environment message, and there is no remote entry whose coordinates and timestamp are respectively equal to the coordinates and timestamp in the environment message, the robot node marks itself as a forwarding node, creates a remote entry and forwards the environment message.

[0010] The method further includes: In the remote entry created by the robot node that receives the environment message, the coordinates and timestamp are respectively equal to the coordinates and timestamp in the environment message, and the lifecycle is set to the maximum value; If the robot node that receives the environment message has a robot entry whose node type value is 0 and the distance between the coordinates of the robot entry and the coordinates in the environment message is less than the distance between its own coordinates and the coordinates in the environment message, it selects all robot entries with node type 0, selects a robot entry from these entries, the distance between the coordinates of the robot entry and the coordinates in the environment message is the closest, sets the node ID of the environment message to the node ID of the robot entry, and forwards the environment message; Otherwise, the robot node that receives the environmental message selects a robot entry whose coordinates have the minimum distance from the coordinates in the environmental message, sets the node ID in the environmental message to the node ID in the robot entry, and sends the environmental message.

[0011] The method further includes: If a robot entry with a node ID equal to the node ID in the robot message exists in the robot node that receives the robot message, the coordinates, node type, and connectivity of the robot entry are respectively set to the coordinates, node type, and connectivity of the robot message, and the life cycle is set to the maximum value. Otherwise, a robot entry is created, and the node ID, coordinates, node type, and connectivity of the robot entry are respectively equal to the node ID, coordinates, node type, and connectivity in the robot message, and the life cycle of the robot entry is set to the maximum value.

[0012] The method further includes: The terminal node sends a virtual message including a message ID and a node ID to elect a forwarding node. Specifically, if the node type values of all robot entries of the terminal node are 1 and the number of robot entries is greater than the connectivity value of each robot entry, the terminal node elects itself as the forwarding node; if the node type values of all robot entries of the terminal node are 1, the number of robot entries is not less than the connectivity value of any other robot entry, and for each robot entry with a connectivity value equal to the number of robot entries of the terminal node, the distance between the coordinates of the terminal node and the coordinates of the virtual edge node is not less than the distance between the coordinates of the robot entry and the coordinates of the virtual edge node, the terminal node elects itself as the forwarding node.

[0013] The method further includes: If there is no robot entry in the robot whose node type is 0 and the distance between the coordinates and the coordinates of the virtual edge node is less than the distance between its own coordinates and the coordinates of the virtual edge node, a robot entry is selected whose node type is 1 and the distance between the coordinates and the coordinates of the virtual edge node is not greater than the distance between the coordinates of any other robot entry and the coordinates of the virtual edge node, and a virtual message is sent. The message ID of the virtual message is 2, and the node ID is equal to the node ID of the selected robot entry; If the node ID of the terminal node that receives the virtual message is equal to the node ID in the virtual message, it marks itself as a forwarding node; if the distance between the coordinates of the forwarding node that receives the virtual message and the coordinates of the virtual edge node is greater than the communication radius R, and there is no robot entry with node type 0, and the distance between the coordinates of the robot entry and the coordinates of the virtual edge node is less than the distance between the coordinates of the forwarding node and the coordinates of the virtual edge node, then select a robot entry whose node type is 1 and the distance between its coordinates and the coordinates of the virtual edge node is not greater than the distance between the coordinates of other robot entries and the coordinates of the virtual edge node, set the node ID of the virtual message to the node ID of the robot entry, and forward the virtual message.

[0014] The method further includes: In the creation message sent by the robot node, the message ID is 3, the timestamp is the current time, the coordinates are its own current coordinates, and the forwarding threshold is a preset value; In the creation response message sent by the robot node that receives the creation message, the message ID is 4, the coordinates are the coordinates in the creation message, the data is the data collected by itself, and the timestamp is the timestamp in the creation message; The robot node that receives the creation message calculates the hop count h2 using formula (1), where d2 is the distance between its own coordinates and the coordinates of the creation message, and R is the communication radius of the robot node; (1) In the environment entry created by the forwarding node that receives the creation message, the coordinates and the timestamp are respectively equal to the coordinates and the timestamp of the creation message, and the lifecycle is set to the maximum value; The terminal node that receives the creation message sets a clock whose initial value is a preset time t3, sets a timestamp variable and a coordinate variable whose values are respectively equal to the timestamp and the coordinates in the creation message, and calculates the hop count h3 using formula (2), where d3 is the distance between the coordinates of the terminal node and the coordinates in the creation message; (2) In the monitoring entry created by the robot node that sends the creation message, the coordinates, the timestamp, and the data are respectively equal to the coordinates, the timestamp, and the data in the creation response message.

[0015] Beneficial effects: The present invention provides a method for implementing a traffic tunnel intelligent monitoring system. The system can quickly monitor traffic tunnel data, timely discover potential risks, and at the same time can replace manual inspections, reduce the frequency of manual inspections, reduce labor costs, ensure travel safety, and has a wide range of application prospects. Description of the Drawings

[0016] The following further specifically describes the present invention in conjunction with the accompanying drawings and specific embodiments, and the above and / or other advantages of the present invention will become clearer.

[0017] Figure 1 It is a flowchart of the implementation method of the intelligent monitoring system for traffic tunnels of the present invention; Figure 2 It is a flowchart for establishing a robot table; Figure 3 It is a flowchart for electing a forwarding node; Figure 4 It is a flowchart for constructing environmental data; Figure 5 It is a flowchart for remotely monitoring environmental data; Figure 6 It is a flowchart for robot movement support. Specific Embodiments

[0018] To enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the described embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0019] Figure 1 It is a flowchart of the implementation method of the intelligent monitoring system for traffic tunnels of the present invention; Figure 2 It is a flowchart for establishing a robot table. The system consists of multiple robots evenly distributed in the monitoring area of the traffic tunnel; the robots are divided into forwarding nodes and terminal nodes, the forwarding nodes have the forwarding function, and the terminal nodes do not have the forwarding function; All robots can cover the monitoring area at any time; In the initial state, all robots are terminal nodes; The robots are uniquely identified by node IDs respectively, and the node ID can be the MAC address; The system sets a virtual edge node, and the coordinates of the virtual edge node are equal to the coordinates of the point with the smallest abscissa in the monitoring area; The communication radius of each robot is the same; The robot stores a robot table, and a robot table entry includes node ID, node type, connectivity, coordinates, and life cycle; among them, the node type value of 0 indicates that the robot is a forwarding node, and the node type value of 1 indicates that the robot is a terminal node; the initial state is an empty table; The robot message includes message ID, node type, connectivity, node ID, and coordinates; The robot MN0 regularly performs the following operations: Step 101: Start; Step 102: Robot MN0 sends a robot message. The message ID of this robot message is 1, and the node ID and coordinates are respectively the node ID and coordinates of robot MN0. If robot MN0 is a forwarding node, the node type value is 0; otherwise, the node type value is 1, and the connectivity is equal to the number of robot table entries in the robot table. Step 103: If a robot that receives the robot message has a robot table entry whose node ID is equal to the node ID in the robot message, then set the coordinates, node type, and connectivity of this robot table entry to the coordinates, node type, and connectivity of the robot message respectively, and set the life cycle to the maximum value. Otherwise, create a robot table entry whose node ID, coordinates, node type, and connectivity are respectively equal to the node ID, coordinates, node type, and connectivity in the robot message, and set the life cycle of this robot table entry to the maximum value. Step 104: End.

[0020] Robots establish a robot table through the above process to obtain the real-time coordinates, node types, and connectivity of neighbor robots. Through the real-time coordinates of neighbor robots, the shortest routing path to the destination robot can be established. At the same time, robots can select forwarding nodes based on the connectivity of neighbor robots to reduce the monitoring delay and cost of traffic tunnels.

[0021] Figure 3 It is a flowchart for electing a forwarding node. The virtual message contains a message ID and a node ID; If the node type values of all robot table entries of the terminal node MN0 are all 1, and the number of robot table entries is greater than the connectivity value of each robot table entry, then mark itself as a forwarding node; If the node type values of all robot table entries of the terminal node MN0 are all 1, and the number of robot table entries is not less than the connectivity value of any other robot table entry. At the same time, for each robot table entry whose connectivity value is equal to the number of robot table entries of the terminal node MN0, the distance between the coordinates of the terminal node MN0 and the virtual edge node coordinates is not less than the distance between the coordinates of this robot table entry and the virtual edge node coordinates, then mark itself as a forwarding node; The virtual message contains a message ID and a node ID; If there is no robot table entry in robot MN0 (including the terminal node and the forwarding node) whose node type is 0 and the distance between its coordinates and the virtual edge node coordinates is less than the distance between its own coordinates and the virtual edge node coordinates, then perform the following operations; Step 201: Start; Step 202: The robot MN0 selects a robot entry. The node type of this robot entry is 1, and the distance between its coordinates and the coordinates of the virtual edge node is not greater than the distance between the coordinates of any other robot entry and the coordinates of the virtual edge node. Then it sends a virtual message. The message ID of this virtual message is 2, and the node ID is equal to the node ID of the selected robot entry. Step 203: The terminal node that receives the virtual message determines whether its own node ID is equal to the node ID in the virtual message. If they are equal, it executes Step 204; otherwise, it executes Step 207. Step 204: The terminal node that receives the virtual message marks itself as a forwarding node, and determines whether the distance between its own coordinates and the coordinates of the virtual edge node is less than or equal to the communication radius R. If so, it executes Step 207; otherwise, it executes Step 205. Step 205: The forwarding node that receives the virtual message determines whether there is a robot entry whose node type is 0 and the distance between its coordinates and the coordinates of the virtual edge node is less than the distance between its own coordinates and the coordinates of the virtual edge node. If there is such an entry, it executes Step 207; otherwise, it executes Step 206. Step 206: The forwarding node that receives the virtual message selects a robot entry. The node type of this robot entry is 1, and the distance between its coordinates and the coordinates of the virtual edge node is not greater than the distance between the coordinates of other robot entries and the coordinates of the virtual edge node. It sets the node ID of the virtual message to the node ID of this robot entry, forwards the virtual message, and executes Step 203. Step 207: End.

[0022] The robot selects the forwarding node through the above process. This algorithm has the following innovation points: (1) Using the virtual edge node as a reference coordinate to select the forwarding node, so that the forwarding nodes cover the entire monitoring area; (2) Using the distance parameter to elect the forwarding node, thereby reducing the number of forwarding nodes. Since the number of forwarding nodes is much smaller than the total number of robots, the monitoring delay and cost of the traffic tunnel are greatly reduced. The robot can establish the shortest routing path to the destination robot through the forwarding node, thereby further reducing the monitoring delay and cost of the traffic tunnel.

[0023] Figure 4 To construct the environmental data flow diagram.

[0024] Each robot maintains a monitoring table, and a monitoring entry contains coordinates, data, and timestamp. A create message contains a message ID, coordinates, timestamp, and forwarding threshold. A create response message contains a message ID, data, coordinates, and timestamp. A robot stores an environment table, and an environment table entry contains coordinates, a timestamp, and a lifespan; The coordinates of robot MN0 (which can be a terminal node or a forwarding node) are CO0, and a monitoring table is created through the following process: Step 301: Start; Step 302: Robot MN0 sends a creation message. The message ID of this creation message is 3, the timestamp is the current time T1, the coordinates are its own current coordinates CO0, the forwarding threshold is a preset value H1, and a timer is started with an initial value of the preset value T0; The robot that receives the creation message sends a creation response message. The message ID of this creation response message is 4, the coordinates are the coordinates in the creation message, the data is the data collected by itself, the timestamp is the timestamp in the creation message. If the robot that receives the creation message is a forwarding node, then execute Step 304, otherwise execute Step 307; Step 304: If there is an environment table entry in the forwarding node that receives the creation message, and the coordinates and timestamp of this environment table entry are respectively equal to the coordinates and timestamp of the creation message, then execute Step 309, otherwise execute Step 305; Step 305: The forwarding node that receives the creation message calculates the hop count h2 using formula (1), where d2 is the distance between its own coordinates and the coordinates of the creation message, and R is the communication radius of the robot. If the hop count h2 is less than the forwarding threshold in the creation message, then execute Step 306, otherwise execute Step 313. ⌊⌋ is the floor function, for example, ⌊3.5⌋ = 3; (1) Step 306: The forwarding node that receives the creation message creates an environment table entry, the coordinates and timestamp of this environment table entry are respectively equal to the coordinates and timestamp of the creation message, the lifespan is set to the maximum value, forwards the creation message, and executes Step 303; Step 307: The terminal node that receives the creation message sets the timestamp variable and the coordinate variable, whose values are respectively equal to the timestamp and coordinates in the creation message, calculates the hop count h3 using formula (2), d3 is the distance between the coordinates of the terminal node and the coordinates in the creation message, sets a clock, and the initial value of this clock is the preset time t3. If the hop count h3 is less than the forwarding threshold in the creation message and no creation message whose coordinates and timestamp are respectively equal to the timestamp variable and the coordinate variable is received before the clock expires (i.e., before the clock decays to 0), then execute Step 308, otherwise execute Step 313; (2) Step 308: The terminal node that receives the creation message marks itself as a forwarding node, creates an environment entry. The coordinates and timestamp of this environment entry are respectively equal to the coordinates and timestamp in the creation message, the lifecycle is set to the maximum value, forwards the creation message, and executes Step 303; Step 309: If the robot MN0 receives a creation response message, execute Step 312; otherwise, execute Step 310; Step 310: If there is an environment entry in the forwarding node that receives the creation response message, and the coordinates and timestamp of this environment entry are respectively equal to the coordinates and timestamp of this creation response message, execute Step 311; otherwise, execute Step 313; Step 311: The forwarding node that receives the creation response message forwards this creation response message and executes Step 309; Step 312: The robot MN0 that receives the creation response message creates a monitoring entry. The coordinates, timestamp, and data of this monitoring entry are respectively equal to the coordinates, timestamp, and data in this creation response message. If the timer decays to 0, execute Step 313; otherwise, execute Step 309; Step 313: End.

[0025] The robot creates environmental data through the above process. The innovations of the above process include: (1) Dynamically electing forwarding nodes as shown in Step 308 to ensure the successful creation of data; (2) Through the above process, the robot MN0 can obtain data collected by all robots within the range with the coordinates of the robot MN0 as the center and a radius equal to the forwarding threshold × R, such as data on tunnel cracks and tunnel obstacles; (3) The forwarding node uses the environment entry to return the collected data to the robot MN0 without establishing a route. Only the forwarding node forwards the creation message and the creation response message, which greatly reduces the cost and delay of creating environmental data and also improves the ability of robots to cooperate to generate data.

[0026] Figure 5 It is a flowchart for monitoring environmental data.

[0027] A robot saves a remote table, and a remote entry contains coordinates, timestamp, and lifecycle; The environmental message contains a message ID, node ID, coordinates, and timestamp; The monitoring message contains a message ID, coordinates, timestamp, and monitoring table; Within the monitoring area, each robot has at least one machine entry, and the distance between the coordinates of this entry and the coordinate CO1 is less than the distance between its own coordinates and the coordinate CO1; When there is a robot within the monitoring area and the coordinates of the robot are equal to CO1, the robot MN1 obtains the monitoring data with a timestamp of T1 and coordinates of CO1 through the following process: Step 401: Start; Step 402: The robot MN1 selects all robot entries with a node type of 0, selects one robot entry from these entries whose coordinates are closest to the coordinates CO1, and sends an environment message. The message ID of this environment message is 5, the coordinates are CO1, the timestamp is T1, and the node ID is equal to the node ID in the robot entry; Step 403: If the robot that receives the environment message has a monitoring entry whose coordinates and timestamp are respectively equal to the coordinates and timestamp of this environment message, then execute Step 404, otherwise execute Step 405; Step 404: The robot that receives the environment message selects all monitoring entries whose coordinates and timestamp are respectively equal to the coordinates and timestamp of this environment message, sends a monitoring message. The message ID of this monitoring message is 6, the coordinates and timestamp are respectively equal to the coordinates and timestamp in this environment message, and the monitoring table contains all the selected monitoring entries, and execute Step 411; Step 405: The robot that receives the environment message determines whether its own coordinates are equal to the coordinates in this environment message. If so, then execute Step 416, otherwise execute Step 406; Step 406: Whether the node ID of the robot that receives the environment message is equal to the node ID in the environment message. If so, then execute Step 407, otherwise execute Step 416; Step 407: If the robot that receives the environment message is a forwarding node and there is a remote entry whose coordinates and timestamp are respectively equal to the coordinates and timestamp in this environment message, then execute Step 411, otherwise execute Step 408; Step 408: If the robot that receives the environment message is a terminal node, then mark itself as a forwarding node. The robot that receives the environment message creates a remote entry whose coordinates and timestamp are respectively equal to the coordinates and timestamp in this environment message, and sets the lifecycle to the maximum value. This robot determines whether there is a robot entry whose node type value is 0 and the distance between its coordinates and the coordinates in this environment message is less than the distance between its own coordinates and the coordinates in this environment message. If there is, then execute Step 409, otherwise execute Step 410; Step 409: The forwarding node that receives the environment message selects all the robot entries with node type 0. It selects one robot entry from these entries, where the coordinates of this entry are the closest to the coordinates in the environment message. It sets the node ID of the environment message to the node ID of this robot entry, forwards the environment message, and executes Step 403; Step 410: The forwarding node that receives the environment message selects one robot entry, where the distance between the coordinates of this robot entry and the coordinates in the environment message is the smallest. It sets the node ID in the environment message to the node ID in this robot entry, sends the environment message, and executes Step 403; Step 411: If robot MN1 receives the monitoring message, it executes Step 415; otherwise, it executes Step 412; Step 412: The forwarding node that receives the monitoring message determines whether there is a remote entry whose coordinates and timestamp are respectively equal to the coordinates and timestamp in the monitoring message. If so, it executes Step 413; otherwise, it executes Step 416; Step 413: The forwarding node that receives the monitoring message performs the following operations for each monitoring entry in the monitoring table of the monitoring message: If its own monitoring table does not have a monitoring entry whose coordinates and timestamp are respectively equal to the coordinates and timestamp of the said monitoring entry, it adds the said monitoring entry to its own monitoring table; otherwise, it does not perform any operation; Step 414: The forwarding node that receives the monitoring message selects a remote entry whose coordinates and timestamp are respectively equal to the coordinates and timestamp of the monitoring message, deletes this remote entry, forwards the monitoring message, and executes Step 411; Step 415: The robot MN1 that receives the monitoring message saves the monitoring table in the monitoring message; Step 416: End.

[0028] Robots obtain data through the above process, and the above process has the following innovation points: (1) During the data acquisition process, forwarding nodes are elected simultaneously to ensure that robot MN1 successfully obtains data; (2) The forwarding node returns the data to robot MN1 through the remote table to ensure that robot MN1 successfully obtains data. Since the above process can return traffic tunnel data to the robot without establishing a route, and multiple robots can monitor the traffic tunnel through the remote table, it greatly reduces the monitoring delay and cost of the traffic tunnel; (3) Robot MN1 obtains the required data from the robot with the closest distance, so as to quickly obtain data and ensure real-time performance; (4) The forwarding node can cache the monitoring table and provide the monitoring table at the same time, thereby improving the data monitoring efficiency. Only the forwarding node forwards the environment message and the monitoring message, so it reduces the monitoring delay and cost of the traffic tunnel.

[0029] Figure 6 It is a flowchart for robot movement support.

[0030] The movement message includes a message ID, a node ID, coordinates, and a timestamp; Robot MN2 sends an environment message with coordinates CO1 and timestamp T1 to neighbor forwarding node F2. The forwarding node F2 establishes a remote entry with coordinates and timestamp CO1 and T1 respectively. If robot MN2 leaves the communication range of forwarding node F2 before receiving a monitoring message with coordinates CO1 and timestamp T1, the following operations are performed: Step 501: Start; Step 502: Robot MN2 selects all robot entries with node type 0, selects one robot entry from these robot entries, the distance between the coordinates of this entry and coordinates CO1 is the smallest, and sends a movement message with message ID 7, node ID equal to the node ID of this robot entry, coordinates equal to CO1, and timestamp equal to T1; Step 503: The robot that receives the movement message determines whether its own node ID is equal to the node ID in the movement message. If equal, perform Step 504, otherwise perform Step 508; Step 504: If the robot that receives the movement message is not a forwarding node, mark itself as a forwarding node. The robot determines whether there is a remote entry whose coordinates and timestamp are respectively equal to the coordinates and timestamp in the movement message. If there is, perform Step 508, otherwise perform Step 505; Step 505: The forwarding node that receives the movement message creates a remote entry whose coordinates and timestamp are respectively equal to the coordinates and timestamp in the movement message, and sets the lifecycle to the maximum value. Determine whether there is a robot entry whose node type value is 0 and the distance between its coordinates and the coordinates in the movement message is less than the distance between its own coordinates and the coordinates in the movement message. If there is, perform Step 506, otherwise perform Step 507; Step 506: The robot that receives the movement message selects all robot entries with node type value 0, selects the robot entry with the smallest distance between its coordinates and the coordinates in the movement message from these robot entries, updates the node ID in the movement message to the node ID in this robot entry, sends the movement message, and perform Step 503; Step 507: The robot that receives the movement message selects a robot entry with the smallest distance between its coordinates and the coordinates in the movement message, updates the node ID in the movement message to the node ID in this robot entry, sends the movement message, and perform Step 503; Step 508: End.

[0031] The robot ensures data acquisition through the above process, and the above process has the following innovation points: (1) During the movement and handover process, forward nodes are elected simultaneously; (2) Even if the robot moves, it can still monitor environmental information in a timely manner through the above process. Only the forward nodes forward movement messages in unicast mode, reducing the latency and cost of mobility support and greatly improving the success rate of traffic tunnel monitoring.

[0032] Embodiment 1 Based on the simulation parameters in Table 1, this embodiment simulates an implementation method of an intelligent traffic tunnel monitoring system in the present invention, and the performance analysis is as follows: When the area of the traffic tunnel monitoring area is large, the success rate of obtaining real-time traffic tunnel data decreases. When the area of the traffic tunnel monitoring area is small, the success rate of obtaining real-time traffic tunnel data increases. The average success rate of remotely monitoring environmental data is 98.8%.

[0033] Table 1

[0034] The present invention provides an idea for an implementation method of an intelligent traffic tunnel monitoring system. There are many methods and ways to specifically implement this technical solution. The above description is only the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention. Each component not clearly defined in this embodiment can be implemented using existing technologies.

Claims

1. An implementation method of an intelligent monitoring system for traffic tunnels, characterized in that, The method includes: Deploying multiple robot nodes in a monitoring area; wherein, the multiple robot nodes include forwarding nodes with forwarding functions and terminal nodes without forwarding functions; The robot nodes send creation messages to construct a monitoring table, and the robot nodes that receive the creation messages send creation response messages and perform the following operations: if it is a forwarding node, and there is no environmental entry matching the coordinates and timestamp of the creation message, and the hop count h2 is less than the forwarding threshold in the creation message, then create an environmental entry and forward the creation message; if it is a terminal node, and the hop count h3 is less than the forwarding threshold in the creation message, and no matching creation message is received within time t3, then mark it as a forwarding node, create an environmental entry and forward the creation message; If the forwarding node that receives the creation response message has an environmental entry matching the coordinates and timestamp of the creation response message, then forward the creation response message; if the robot node that sends the creation message receives the creation response message, then create a monitoring entry; The robot nodes send environmental messages to monitor environmental data; if the robot node that receives the environmental message has a monitoring entry matching the coordinates and timestamp of the environmental message, then send a monitoring message; if the forwarding node that receives the monitoring message has a remote entry matching the coordinates and timestamp of the monitoring message, then delete the remote entry and forward the monitoring message; if the robot node that sends the environmental message receives the monitoring message, then save the monitoring table in the monitoring message.

2. The implementation method of an intelligent monitoring system for traffic tunnels according to claim 1, characterized in that, Each of the robot nodes maintains a remote table, and the remote entries of the remote table include coordinates, timestamp, and lifecycle; the environmental message includes message ID, node ID, coordinates, and timestamp; wherein, In the environmental message sent by the robot node, the message ID is 5, the coordinates are the location coordinates of the monitored environmental data, the timestamp is the generation time of the environmental data, select all robot entries with node type 0, select one robot entry from these robot entries, the coordinates of this robot entry are the closest to the coordinates in the environmental message, and set the node ID of the environmental message to the node ID of the robot entry; The robot node that receives the environmental message selects all monitoring entries matching the coordinates and timestamp of the environmental message. In the sent monitoring message, the message ID is 6, the coordinates and timestamp are respectively equal to the coordinates and timestamp in the environmental message, and the monitoring table includes all the selected monitoring entries of this monitoring message; If the forwarding node that receives the monitoring message has a remote entry matching the coordinates and timestamp of the monitoring message, then perform the following operations for each monitoring entry in the monitoring table of the monitoring message: if there is no monitoring entry in its own monitoring table, and the coordinates and timestamp of this monitoring entry are respectively equal to the coordinates and timestamp of the monitoring entry, then add the monitoring entry to its own monitoring table.

3. The implementation method of an intelligent monitoring system for a traffic tunnel according to claim 1, characterized in that, The method further includes: When the robot node sends an environment message and the neighbor forwarding node that receives the environment message has established a remote entry, if the robot node leaves the communication range of the forwarding node before receiving a monitoring message with coordinates and a timestamp equal to those in the sent environment message, then select all robot entries with node type 0, select one robot entry from these robot entries, where the distance between the coordinates of this robot entry and the coordinates in the sent environment message is the smallest, and then send a movement message; where the message ID of the movement message is 7, the node ID is equal to the node ID of this robot entry, and the coordinates and timestamp are respectively equal to the coordinates and timestamp in the environment message. When the node ID of the robot node that receives the movement message is equal to the node ID in the movement message, the movement message marks itself as a forwarding node. If the robot node does not have a remote entry with coordinates and a timestamp equal to those in this movement message, then create a remote entry and forward the movement message; where the coordinates and timestamp of this remote entry are respectively equal to those in the movement message, and the lifecycle is set to the maximum value.

4. A method for implementing an intelligent monitoring system for a traffic tunnel according to any one of claims 1 to 3, characterized in that, The method further includes: In the movement message forwarded by the robot that receives the movement message, if the robot has a robot entry with a node type value of 0 and the distance between the coordinates of this robot entry and the coordinates in the movement message is less than the distance between its own coordinates and the coordinates in the movement message, then select all robot entries with node type value of 0, select the robot entry with the smallest distance between the coordinates and the coordinates in the movement message from these robot entries, and update the node ID in the movement message to the node ID in this robot entry. Otherwise, in the movement message forwarded by the robot node that receives the movement message, the node ID is set to the node ID in the robot entry, and the distance between the coordinates of this robot entry and the coordinates in the movement message is the smallest.

5. A method for implementing an intelligent monitoring system for a traffic tunnel according to any one of claims 1 to 3, characterized in that, The method further includes: If the robot node that receives the environment message does not have a monitoring entry that matches the coordinates and timestamp of this environment message, and the coordinates of the robot node are not equal to the coordinates in this environment message, and the node ID of the robot node is equal to the node ID in the environment message, and there is no remote entry with coordinates and a timestamp respectively equal to those in this environment message, then the robot node marks itself as a forwarding node, creates a remote entry and forwards this environment message.

6. The implementation method of an intelligent monitoring system for a traffic tunnel according to claim 5, characterized in that, The method further includes: In the remote entry created by the robot node that receives the environment message, the coordinates and timestamp are respectively equal to those in this environment message, and the lifecycle is set to the maximum value. If there is a robot entry in the robot node that receives the environmental message, and the node type value of this robot entry is 0 and the distance between its coordinates and the coordinates in this environmental message is less than the distance between its own coordinates and the coordinates in this environmental message, then select all robot entries with node type 0, and select a robot entry from these entries. The distance between the coordinates of this robot entry and the coordinates in the environmental message is the closest. Set the node ID of the environmental message to the node ID of this robot entry, and forward the environmental message; Otherwise, the robot node that receives the environmental message selects a robot entry, and the distance between the coordinates of this robot entry and the coordinates in this environmental message is the smallest. Set the node ID in this environmental message to the node ID in this robot entry, and send this environmental message.

7. A method for implementing an intelligent monitoring system for a traffic tunnel according to any one of claims 1 to 3, characterized in that, The method further includes: If there is a robot entry in the robot node that receives the robot message and its node ID is equal to the node ID in this robot message, then set the coordinates, node type, and connectivity of this robot entry to the coordinates, node type, and connectivity of this robot message respectively, and set the life cycle to the maximum value. Otherwise, create a robot entry, and the node ID, coordinates, node type, and connectivity of this robot entry are equal to the node ID, coordinates, node type, and connectivity in this robot message respectively. Set the life cycle of this robot entry to the maximum value.

8. A method for implementing an intelligent monitoring system for a traffic tunnel according to any one of claims 1 to 3, characterized in that The method further includes: The terminal node sends a virtual message including a message ID and a node ID to elect a forwarding node. Specifically, if the node type values of all robot entries of the terminal node are 1 and the number of robot entries is greater than the connectivity value of each robot entry, then elect itself as the forwarding node; if the node type values of all robot entries of the terminal node are 1 and the number of robot entries is not less than the connectivity value of any other robot entry, and for each robot entry with a connectivity value equal to the number of robot entries of the terminal node, the distance between the coordinates of the terminal node and the coordinates of the virtual edge node is not less than the distance between the coordinates of this robot entry and the coordinates of the virtual edge node, then elect itself as the forwarding node.

9. The implementation method of an intelligent monitoring system for a traffic tunnel according to claim 8, characterized in that, The method further includes: If there is no robot entry in the robot whose node type is 0 and the distance between its coordinates and the coordinates of the virtual edge node is less than the distance between its own coordinates and the coordinates of the virtual edge node, then select a robot entry whose node type is 1 and the distance between its coordinates and the coordinates of the virtual edge node is not greater than the distance between the coordinates of any other robot entry and the coordinates of the virtual edge node, and send a virtual message. The message ID of this virtual message is 2, and the node ID is equal to the node ID of the selected robot entry; If the node ID of the terminal node that receives the virtual message is equal to the node ID in the virtual message, it marks itself as a forwarding node; if the distance between the coordinates of the forwarding node that receives the virtual message and the coordinates of the virtual edge node is greater than the communication radius R, and there is no robot entry with node type 0, and the distance between the coordinates of the robot entry and the coordinates of the virtual edge node is less than the distance between the coordinates of the forwarding node and the coordinates of the virtual edge node, then select a robot entry whose node type is 1 and the distance between its coordinates and the coordinates of the virtual edge node is not greater than the distance between the coordinates of other robot entries and the coordinates of the virtual edge node, set the node ID of the virtual message to the node ID of the robot entry, and forward the virtual message.

10. A method for implementing an intelligent monitoring system for a traffic tunnel according to any one of claims 1 to 3, characterized in that, The method further includes: In the creation message sent by the robot node, the message ID is 3, the timestamp is the current time, the coordinates are its own current coordinates, and the forwarding threshold is a preset value; In the creation response message sent by the robot node that receives the creation message, the message ID is 4, the coordinates are the coordinates in the creation message, the data is the data collected by itself, and the timestamp is the timestamp in the creation message; The robot node that receives the creation message calculates the hop count h2 using formula (1), where d2 is the distance between its own coordinates and the coordinates of the creation message, and R is the communication radius of the robot node; （1） In the environment entry created by the forwarding node that receives the creation message, the coordinates and the timestamp are respectively equal to the coordinates and the timestamp of the creation message, and the lifecycle is set to the maximum value; The terminal node that receives the creation message sets a clock whose initial value is the preset time t3, sets the timestamp variable and the coordinate variable, whose values are respectively equal to the timestamp and the coordinates in the creation message, and calculates the hop count h3 using formula (2), where d3 is the distance between the coordinates of the terminal node and the coordinates in the creation message; （2） In the monitoring entry created by the robot node that sends the creation message, the coordinates, the timestamp, and the data are respectively equal to the coordinates, the timestamp, and the data in the creation response message.

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