A method for implementing an intelligent monitoring system for traffic tunnels

Abstract

The present invention provides a method for implementing an intelligent monitoring system for traffic tunnels. The method deploys multiple robot nodes in a monitoring area. The multiple robot nodes include forwarding nodes with forwarding capabilities and terminal nodes without forwarding capabilities. The system can quickly monitor traffic tunnel data and promptly identify potential risks. It can also replace manual inspections, reduce the frequency of manual inspections, lower labor costs, ensure travel safety, and has broad application prospects.

Description

Technical Field

[0001] The present invention relates to the field of monitoring technology, and in particular to a method for realizing an intelligent monitoring system for a traffic tunnel. Background Art

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of tunnels, traditional manual inspections and single sensor monitoring methods have the following problems: (1) Outdated monitoring methods.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

[0003] The "implementation method of the intelligent monitoring system for traffic tunnels" proposed in this invention aims to realize real-time environmental data collection and monitoring, and provide reliable technical support for tunnel structure health monitoring and disaster warning. Summary of the Invention

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

[0005] Technical Solution: The present invention discloses a method for implementing an intelligent monitoring system for a traffic tunnel. The system deploys multiple robot nodes in a monitoring area. The multiple robot nodes include forwarding nodes with forwarding functions and terminal nodes without forwarding functions.

[0006] The robot node sends a creation message to build a monitoring table. The robot node that receives the creation message sends a creation response message and performs the following operations: if it is a forwarding node and there is no environment table entry that matches 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 environment table 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 it is marked as a forwarding node, creates an environment table entry and forwards the creation message;

[0007] If the forwarding node that receives the creation response message has an environment table entry that matches 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;

[0008] The robot node sends an environmental message to monitor environmental data; if the robot node that receives the environmental message has a monitoring table entry that matches the coordinates and timestamp of the environmental message, it sends a monitoring message; if the forwarding node that receives the monitoring message has a remote table entry that matches the coordinates and timestamp of the monitoring message, it deletes the remote table entry and forwards the monitoring message; if the robot node that sends the environmental message receives the monitoring message, it saves the monitoring table in the monitoring message.

[0009] In the method,

[0010] Each robot node maintains a remote table, wherein the remote table entries include coordinates, timestamps and life cycles; the environment message includes message ID, node ID, coordinates and timestamps; wherein,

[0011] In the environment message sent by the robot node, the message ID is 5, the coordinates are the location coordinates of the monitored environment data, and the timestamp is the generation time of the environment data. Select all robot entries with node type 0, select a robot entry from these robot entries, and set the node ID of the environment message to the node ID of the robot entry;

[0012] The robot node that receives the environment message selects all monitoring table entries that match the coordinates and timestamp of the environment message. In the monitoring message sent, the message ID is 6, the coordinates and timestamp are equal to the coordinates and timestamp in the environment message respectively, and the monitoring table contains all selected monitoring table entries for this monitoring message;

[0013] If the forwarding node that receives the monitoring message has a remote table entry that matches the coordinates and timestamp of the monitoring message, the following operations are performed for each monitoring table entry in the monitoring message: If there is no monitoring table entry in its own monitoring table, and the coordinates and timestamp of the monitoring table entry are equal to the coordinates and timestamp of the monitoring table entry respectively, then the monitoring table entry is added to its own monitoring table.

[0014] The method further comprises:

[0015] In the case where a robot node sends an environment message and a neighbor forwarding node that receives the environment message establishes a remote entry, if the robot node leaves the communication range of the forwarding node before receiving a monitoring message whose coordinates and timestamp are respectively the coordinates and timestamp in the sent environment message, then all robot entries with a node type of 0 are selected, and a robot entry is selected from these robot entries whose coordinates have the smallest distance with the coordinates in the sent environment message, and then a move message is sent; wherein the message ID of the move message is 7, the node ID is equal to the node ID of the robot entry, and the coordinates and timestamp are respectively equal to the coordinates and timestamp in the environment message;

[0016] When the node ID of the robot node that receives the 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 table entry with coordinates and timestamps equal to the coordinates and timestamp in the mobile message, it creates a remote table entry and forwards the mobile message; wherein the coordinates and timestamp of the remote table entry are equal to the coordinates and timestamp in the mobile message, and the life cycle is set to the maximum value.

[0017] The method further comprises:

[0018] In the movement message forwarded by the robot that received the movement message, if the robot has a robot table entry, the node type value of the robot table entry is 0 and the distance between the coordinates and the coordinates in the movement message is less than the distance between the robot's own coordinates and the coordinates in the movement message, then all robot table entries with a node type value of 0 are selected, and the robot table entry with the smallest distance between the coordinates and the coordinates in the movement message is selected from these robot table entries, and the node ID in the movement message is updated to the node ID in the robot table entry;

[0019] 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 table entry whose coordinates have the smallest distance with the coordinates in the movement message.

[0020] The method further comprises:

[0021] If the robot node that receives the environment message does not have a monitoring table 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 table entry whose coordinates and timestamp are respectively equal to the coordinates and timestamp in the environment message, the robot node will mark itself as a forwarding node, create a remote table entry and forward the environment message.

[0022] The method further comprises:

[0023] The robot node that receives the environment message creates a remote table entry with coordinates and timestamps equal to those in the environment message, and the lifecycle is set to the maximum value.

[0024] If a robot node that receives an environment message has a robot table entry whose node type value is 0 and whose coordinates are closer to the coordinates in the environment message than its own coordinates, then all robot table entries with node type 0 are selected, and a robot table entry is selected from these entries. The distance between the coordinates of the robot table entry and the coordinates in the environment message is the closest. The node ID of the environment message is set to the node ID of the robot table entry, and the environment message is forwarded.

[0025] Otherwise, the robot node that receives the environment message selects a robot table entry whose coordinates are the smallest distance from the coordinates in the environment message, sets the node ID in the environment message to the node ID in the robot table entry, and sends the environment message.

[0026] The method further comprises:

[0027] If the robot node that receives the robot message has a robot table entry with a node ID equal to the node ID in the robot message, the coordinates, node type and connectivity of the robot table entry are set to the coordinates, node type and connectivity of the robot message respectively, and the life cycle is set to the maximum value. Otherwise, a robot table entry is created, and the node ID, coordinates, node type and connectivity of the robot table entry are equal to the node ID, coordinates, node type and connectivity in the robot message respectively, and the life cycle of the robot table entry is set to the maximum value.

[0028] The method further comprises:

[0029] The terminal node sends a virtual message containing a message ID and a node ID to elect a forwarding node, specifically: if the node type value of all robot table items of the terminal node is 1, and the number of robot table items is greater than the connectivity value of each robot table item, then the terminal node elects itself as a forwarding node; if the node type value of all robot table items of the terminal node is 1, and the number of robot table items is not less than the connectivity value of any other robot table item, and for each robot table item with a connectivity value equal to the number of robot table items 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 table item and the coordinates of the virtual edge node, then the terminal node elects itself as a forwarding node.

[0030] The method further comprises:

[0031] If there is no robot table entry for the robot, the node type of the robot table entry is 0 and the distance between the coordinates and the virtual edge node coordinates is less than the distance between the robot's own coordinates and the virtual edge node coordinates, then select a robot table entry, the node type of the robot table entry is 1, and the distance between the coordinates and the virtual edge node coordinates is not greater than the distance between the coordinates of any other robot table entry and the virtual edge node coordinates, and send a virtual message, the message ID of the virtual message is 2, and the node ID is equal to the node ID of the selected robot table entry;

[0032] If the node ID of the terminal node receiving 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 forwarding node coordinates of the virtual edge node receiving the virtual message is greater than the communication radius R, and there is no robot table entry with a node type of 0, and the distance between the robot table entry coordinates and the virtual edge node coordinates is less than the distance between the forwarding node coordinates and the virtual edge node coordinates, then select a robot table entry with a node type of 1 and a distance between the coordinates and the virtual edge node coordinates not greater than the distance between the coordinates of other robot table entries and the virtual edge node coordinates, set the node ID of the virtual message to the node ID of the robot table entry, and forward the virtual message.

[0033] The method further comprises:

[0034] 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 the preset value;

[0035] 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;

[0036] The robot node that receives the creation message calculates the hop count h2 using formula (1), where d2 is equal to the distance between its own coordinates and the creation message coordinates, and R is the communication radius of the robot node;

[0037] (1)

[0038] The forwarding node that receives the creation message creates an environment table entry with coordinates and timestamps equal to the coordinates and timestamp of the creation message, respectively, and a lifecycle set to a maximum value;

[0039] The terminal node that receives the creation message sets a clock with an initial value of the pre-set time t3, sets a timestamp variable and a coordinate variable, whose values ​​are respectively equal to the timestamp and coordinates in the creation message, and calculates the hop count h3 using formula (2), where d3 is equal to the distance between the coordinates of the terminal node and the coordinates in the creation message;

[0040] (2)

[0041] In the monitoring table entry created by the robot node that sends the create message, the coordinates, timestamp and data are respectively equal to the coordinates, timestamp and data in the create response message.

[0042] Beneficial effects: The present invention provides a method for implementing an intelligent monitoring system for traffic tunnels. The system can quickly monitor traffic tunnel data and promptly discover potential risks. At the same time, it can replace manual inspections, reduce the frequency of manual inspections, reduce labor costs, ensure travel safety, and has broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, and the above and / or other advantages of the present invention will become more apparent.

[0044] Figure 1 This is a flow chart of a method for implementing the intelligent monitoring system for traffic tunnels of the present invention;

[0045] Figure 2 Create a flow chart for the robot table;

[0046] Figure 3 Flowchart for the election forwarding node;

[0047] Figure 4 To build an environmental data flow diagram;

[0048] Figure 5 This is a flow chart for remote monitoring of environmental data;

[0049] Figure 6 Support flow chart for robot movement. DETAILED DESCRIPTION

[0050] To enable those skilled in the art to better understand the technical solutions of the present invention, the present invention is further described below in conjunction with the accompanying drawings and specific embodiments. It is apparent that the described embodiments are only a portion of the embodiments of the present invention, rather than all of them. Based on the described embodiments of the present invention, all other embodiments obtained by those skilled in the art without requiring creative effort are within the scope of protection of the present invention.

[0051] Figure 1Flowchart of a method for implementing the intelligent monitoring system for traffic tunnels of the present invention; Figure 2 Create a flow chart for the robot table. The system consists of multiple robots evenly distributed in the traffic tunnel monitoring area; the robots are divided into forwarding nodes and terminal nodes, the forwarding nodes have forwarding functions, and the terminal nodes do not have forwarding functions;

[0052] All robots can cover the monitoring area at any time;

[0053] In the initial state, all robots are terminal nodes;

[0054] Each robot is uniquely identified by a node ID, which can be a MAC address;

[0055] The system sets a virtual edge node, the coordinates of which are equal to the coordinates of the point with the smallest horizontal coordinate in the monitoring area;

[0056] Each robot has the same communication radius;

[0057] The robot saves a robot table. A robot table entry contains node ID, node type, connectivity, coordinates, and life cycle. A node type value of 0 indicates that the robot is a forwarding node, and a node type value of 1 indicates that the robot is a terminal node. The initial state is an empty table.

[0058] The robot message contains the message ID, node type, connectivity, node ID and coordinates;

[0059] Robot MN0 regularly performs the following operations:

[0060] Step 101: Start;

[0061] Step 102: Robot MN0 sends a robot message. The message ID of the robot message is 1. The node ID and coordinates are the node ID and coordinates of robot MN0 respectively. If robot MN0 is a forwarding node, the node type value is 0; otherwise, the node type value is 1. The connectivity is equal to the number of robot entries in the robot table.

[0062] Step 103: If the robot receiving the robot message has a robot entry whose node ID is equal to the node ID in the robot message, then the coordinates, node type, and connectivity of the robot entry are set to the coordinates, node type, and connectivity of the robot message, respectively, and the lifecycle is set to the maximum value; otherwise, a robot entry is created, whose node ID, coordinates, node type, and connectivity are equal to the node ID, coordinates, node type, and connectivity in the robot message, respectively, and the lifecycle of the robot entry is set to the maximum value;

[0063] Step 104: End.

[0064] The robot establishes a robot table through the above process to obtain the real-time coordinates, node type and connectivity of neighboring robots. The shortest route to the destination robot can be established through the real-time coordinates of neighboring robots. At the same time, the robot can select forwarding nodes based on the connectivity of neighboring robots to reduce the delay and cost of traffic tunnel monitoring.

[0065] Figure 3 Flowchart for electing forwarding nodes. The virtual message contains message ID and node ID;

[0066] If the node type value of all robot entries of terminal node MN0 is 1, and the number of robot entries is greater than the connectivity value of each robot entry, then it marks itself as a forwarding node;

[0067] If the node type value of all robot entries of terminal node MN0 is 1, and the number of robot entries is not less than the connectivity value of any other robot entry, and at the same time, for each robot entry with a connectivity value equal to the number of robot entries of terminal node MN0, the distance between the coordinates of terminal node MN0 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, then terminal node MN0 marks itself as a forwarding node;

[0068] The virtual message contains a message ID and node ID;

[0069] If there is no robot table entry for robot MN0 (including terminal nodes and forwarding nodes), the node type of the robot table entry 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;

[0070] Step 201: Start;

[0071] Step 202: Robot MN0 selects a robot entry whose node type is 1 and whose coordinates are no farther from the virtual edge node than the coordinates of any other robot entry. It then sends a virtual message with a message ID of 2 and a node ID equal to the node ID of the selected robot entry.

[0072] Step 203: The terminal node that receives the virtual message determines whether its node ID is equal to the node ID in the virtual message. If so, step 204 is executed; otherwise, step 207 is executed.

[0073] 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 virtual edge node coordinates is less than or equal to the communication radius R. If so, execute step 207; otherwise, execute step 205.

[0074] Step 205: The forwarding node that receives the virtual message determines whether there is a robot table entry whose node type is 0 and whose coordinates are less than the distance between its own coordinates and the virtual edge node coordinates. If so, it executes step 207; otherwise, it executes step 206.

[0075] Step 206: The forwarding node that receives the virtual message selects a robot entry whose node type is 1 and whose coordinates are no more distant from the virtual edge node than the coordinates of any other robot entry. The forwarding node sets the node ID of the virtual message to the node ID of the robot entry, forwards the virtual message, and executes step 203.

[0076] Step 207: End.

[0077] The robot selects the forwarding node through the above process. The algorithm has the following innovations: (1) It uses virtual edge nodes as reference coordinates to select forwarding nodes, so that the forwarding nodes cover the entire monitoring area; (2) It uses distance parameters to elect forwarding nodes, thereby reducing the number of forwarding nodes. Since the number of forwarding nodes is much smaller than the total number of robots, the delay and cost of traffic tunnel monitoring are greatly reduced. The robot can establish the shortest routing path to the destination robot through the forwarding node, thereby further reducing the delay and cost of traffic tunnel monitoring.

[0078] Figure 4 To build an environmental data flow diagram.

[0079] Each robot maintains a monitoring table, where a monitoring table entry contains coordinates, data, and timestamp;

[0080] A create message contains message ID, coordinates, timestamp, and forwarding threshold;

[0081] A create response message contains message ID, data, coordinates and timestamp;

[0082] A robot saves an environment table, and an environment table entry contains coordinates, timestamps, and lifecycles;

[0083] The coordinates of robot MN0 (which can be a terminal node or a forwarding node) are CO0. The monitoring table is created through the following process:

[0084] Step 301: Start;

[0085] Step 302: The robot MN0 sends a create message with a message ID of 3, a timestamp of the current time T1, its own coordinates CO0, a forwarding threshold of the preset value H1, and a timer with an initial value of the preset value T0.

[0086] Step 303: The robot that receives the creation message sends a creation response message. The creation response message has a message ID of 4, coordinates as in the creation message, data as collected data, and a timestamp as in the creation message. If the robot that receives the creation message is a forwarding node, then step 304 is executed; otherwise, step 307 is executed.

[0087] Step 304: If the forwarding node that receives the creation message has an environment table entry whose coordinates and timestamp are respectively equal to the coordinates and timestamp of the creation message, then execute step 309; otherwise, execute step 305;

[0088] Step 305: The forwarding node that receives the create message calculates the hop count h2 using formula (1), where d2 is equal to the distance between its own coordinates and the create message coordinates, and R is the communication radius of the robot. If the hop count h2 is less than the forwarding threshold in the create message, then execute step 306; otherwise, execute step 313. ⌊⌋ is a rounding function, for example, ⌊3.5⌋=3.

[0089] (1)

[0090] Step 306: The forwarding node that receives the create message creates an environment table entry with the coordinates and timestamp of the environment table entry being equal to the coordinates and timestamp of the create message, respectively, and the lifecycle being set to the maximum value. The node then forwards the create message and executes step 303.

[0091] Step 307: The terminal node that receives the creation message sets a timestamp variable and a coordinate variable, whose values ​​are equal to the timestamp and coordinates in the creation message, respectively. The hop count h3 is calculated using formula (2), where d3 is equal to the distance between the coordinates of the terminal node and the coordinates in the creation message. A clock is set, and the initial value of the clock is a preset time t3. If the hop count h3 is less than the forwarding threshold in the creation message, and no creation message is received before the clock expires (i.e., before the clock decays to 0), and the coordinates and timestamp of the creation message are equal to the timestamp variable and the coordinate variable, respectively, then step 308 is executed; otherwise, step 313 is executed.

[0092] (2)

[0093] Step 308: The terminal node that receives the create message marks itself as a forwarding node, creates an environment table entry, and sets the coordinates and timestamp of the environment table entry to the same as the coordinates and timestamp in the create message, respectively. The terminal node also sets the lifetime to the maximum value, forwards the create message, and executes step 303.

[0094] Step 309: If the robot MN0 receives the creation response message, execute step 312; otherwise, execute step 310.

[0095] Step 310: If the forwarding node that receives the creation response message has an environment table entry whose coordinates and timestamp are respectively equal to the coordinates and timestamp of the creation response message, then the forwarding node executes step 311; otherwise, the forwarding node executes step 313.

[0096] Step 311: The forwarding node that receives the creation response message forwards the creation response message and executes step 309;

[0097] Step 312: The robot MN0 that receives the creation response message creates a monitoring entry whose coordinates, timestamp, and data are respectively equal to the coordinates, timestamp, and data in the creation response message. If the timer decays to 0, step 313 is executed; otherwise, step 309 is executed.

[0098] Step 313: End.

[0099] The robot creates environmental data through the above process. The innovations of the above process include: (1) dynamic selection of forwarding nodes, as shown in step 308, to ensure successful data creation; (2) robot MN0 can obtain data collected by all robots within a circle with a radius equal to the forwarding threshold × R, centered on the coordinates of robot MN0, such as data on tunnel cracks, tunnel obstacles, etc. through the above process; (3) the forwarding node uses the environmental table entry to return the collected data to 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 in generating data.

[0100] Figure 5 This is a flow chart for monitoring environmental data.

[0101] A robot saves a remote table, and a remote table entry contains coordinates, timestamp, and life cycle;

[0102] The environment message contains the message ID, node ID, coordinates and timestamp;

[0103] The monitoring message contains the message ID, coordinates, timestamp and monitoring table;

[0104] In the monitoring area, each robot has at least one machine table entry, the distance between the coordinates of the table entry and the coordinate CO1 is smaller than the distance between the robot's own coordinates and the coordinate CO1;

[0105] If there is a robot in the monitoring area with coordinates equal to CO1, robot MN1 obtains monitoring data with timestamp T1 and coordinates CO1 through the following process:

[0106] Step 401: Start;

[0107] Step 402: Robot MN1 selects all robot entries with node type 0, selects a robot entry from these entries whose coordinates are closest to coordinate CO1, and sends an environment message with message ID 5, coordinates CO1, timestamp T1, and node ID equal to the node ID in the robot entry.

[0108] Step 403: If the robot receiving the environmental message has a monitoring entry, and the coordinates and timestamp of the monitoring entry are respectively equal to the coordinates and timestamp of the environmental message, then execute step 404; otherwise, execute step 405;

[0109] Step 404: The robot that receives the environmental message selects all monitoring table entries whose coordinates and timestamps are respectively equal to the coordinates and timestamps of the environmental message, and sends a monitoring message with a message ID of 6. The coordinates and timestamps of the monitoring message are respectively equal to the coordinates and timestamps in the environmental message. The monitoring table contains all selected monitoring table entries, and the process proceeds to step 411.

[0110] Step 405: The robot that receives the environment message determines whether its own coordinates are equal to the coordinates in the environment message. If yes, execute step 416; otherwise, execute step 406.

[0111] Step 406: Is the node ID of the robot receiving the environment message equal to the node ID in the environment message? If yes, execute step 407; otherwise, execute step 416.

[0112] Step 407: If the robot receiving 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 the environment message, then execute step 411; otherwise, execute step 408;

[0113] Step 408: If the robot receiving the environment message is a terminal node, it marks itself as a forwarding node. The robot that receives the environment message creates a remote entry. The coordinates and timestamp of the remote entry are respectively equal to the coordinates and timestamp in the environment message, and the lifecycle is set to the maximum value. The robot determines whether there is a robot entry whose node type value is 0 and the distance between its coordinates and the coordinates in the environment message is less than the distance between its own coordinates and the coordinates in the environment message. If so, execute step 409; otherwise, execute step 410.

[0114] Step 409: The forwarding node that receives the environment message selects all robot entries with a node type of 0, selects a robot entry from these entries whose coordinates are closest to the coordinates in the environment message, sets the node ID of the environment message to the node ID of the robot entry, forwards the environment message, and executes step 403;

[0115] Step 410: The forwarding node that receives the environment message selects a robot entry whose coordinates are the smallest distance from the coordinates in the environment message, sets the node ID in the environment message to the node ID in the robot entry, sends the environment message, and executes step 403;

[0116] Step 411: If the robot MN1 receives the monitoring message, execute step 415, otherwise execute step 412;

[0117] 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, step 413 is executed; otherwise, step 416 is executed.

[0118] Step 413: The forwarding node that receives the monitoring message performs the following operations on each monitoring entry in the monitoring table in the monitoring message: if a monitoring entry does not exist in its own monitoring table and the coordinates and timestamp of the monitoring entry are respectively equal to the coordinates and timestamp of the monitoring entry, then the monitoring entry is added to its own monitoring table; otherwise, no operation is performed;

[0119] 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 the remote entry, forwards the monitoring message, and executes step 411;

[0120] Step 415: The robot MN1 that receives the monitoring message saves the monitoring table in the monitoring message;

[0121] Step 416: End.

[0122] The robot obtains data through the above process, which has the following innovations: (1) During the data acquisition process, a forwarding node is simultaneously elected 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 does not require the establishment of a route to return traffic tunnel data to the robot, multiple robots can realize traffic tunnel monitoring through the remote table, which greatly reduces the delay and cost of traffic tunnel monitoring; (3) Robot MN1 obtains the required data from the nearest robot, and can then quickly obtain data to ensure real-time performance; (4) The forwarding node can cache the monitoring table and provide the monitoring table at the same time, thereby improving data monitoring efficiency. Only the forwarding node forwards environmental messages and monitoring messages, thereby reducing the delay and cost of traffic tunnel monitoring.

[0123] Figure 6 Support flow chart for robot movement.

[0124] The mobile message contains the message ID, node ID, coordinates and timestamp;

[0125] Robot MN2 sends an environmental message with coordinates CO1 and timestamp T1 to neighboring forwarding node F2. Forwarding node F2 creates a remote entry with coordinates CO1 and timestamp T1. If robot MN2 leaves the communication range of forwarding node F2 before receiving the monitoring message with coordinates CO1 and timestamp T1, it performs the following operations:

[0126] Step 501: Start;

[0127] Step 502: Robot MN2 selects all robot entries with node type 0, selects a robot entry from these robot entries whose coordinates are the smallest distance from coordinate CO1, and sends a move message with message ID 7, node ID equal to the node ID of the robot entry, coordinates equal to CO1, and timestamp equal to T1.

[0128] Step 503: The robot that receives the mobile message determines whether its node ID is equal to the node ID in the mobile message. If yes, it executes step 504; otherwise, it executes step 508.

[0129] Step 504: If the robot receiving the mobile message is not a forwarding node, it marks itself as a forwarding node and determines whether there is a remote entry whose coordinates and timestamp are respectively equal to the coordinates and timestamp in the mobile message. If so, it executes step 508; otherwise, it executes step 505.

[0130] Step 505: The forwarding node that receives the move message creates a remote entry with the coordinates and timestamp of the remote entry being equal to the coordinates and timestamp in the move message, respectively. The lifetime is set to the maximum value. The node then determines whether there is a robot entry whose node type value is 0 and whose coordinates are less than the distance between the node and the coordinates in the move message. If so, the node executes step 506; otherwise, the node executes step 507.

[0131] Step 506: The robot that receives the move message selects all robot entries with a node type value of 0, selects the robot entry whose coordinates are the smallest distance from the coordinates in the move message, updates the node ID in the move message to the node ID in the robot entry, sends the move message, and executes step 503.

[0132] Step 507: The robot that receives the move message selects a robot entry whose coordinates are the smallest distance from the coordinates in the move message, updates the node ID in the move message to the node ID in the robot entry, sends the move message, and executes step 503;

[0133] Step 508: End.

[0134] The robot ensures data acquisition through the above process, which has the following innovations: (1) During the mobile switching process, the forwarding node is elected at the same time; (2) Through the above process, the robot can still monitor environmental information in a timely manner even if it moves. Only the forwarding node forwards the mobile message in unicast mode, which reduces the delay and cost of mobile support and greatly improves the success rate of traffic tunnel monitoring.

[0135] Example 1

[0136] Based on the simulation parameters in Table 1, this embodiment simulates an implementation method of an intelligent traffic tunnel monitoring system according to the present invention. Performance analysis is as follows: When the traffic tunnel monitoring area is large, the success rate of acquiring real-time traffic tunnel data decreases. When the traffic tunnel monitoring area is small, the success rate of acquiring real-time traffic tunnel data increases. The average success rate for remote monitoring of environmental data is 98.8%.

[0137] Table 1

[0138]

[0139] The present invention provides a method for implementing an intelligent monitoring system for traffic tunnels. Numerous methods and approaches exist for implementing this technical solution. The foregoing merely represents a preferred embodiment of the present invention. It should be noted that those skilled in the art may make improvements and modifications without departing from the principles of the present invention, and such improvements and modifications are also within the scope of protection of the present invention. Components not specified in this embodiment may be implemented using existing technologies.

Claims

1. A method for implementing an intelligent monitoring system for a traffic tunnel, characterized in that: The method comprises: Deploy multiple robot nodes in the monitoring area; wherein the multiple robot nodes include forwarding nodes with forwarding function and terminal nodes without forwarding function; The robot node sends a creation message to build a monitoring table. The robot node that receives the creation message sends a creation response message and performs the following operations: if it is a forwarding node and there is no environment table entry that matches 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 environment table 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 it is marked as a forwarding node, creates an environment table entry and forwards the creation message; If the forwarding node that receives the creation response message has an environment table entry that matches 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 environmental message to monitor environmental data; if the robot node that receives the environmental message has a monitoring table entry that matches the coordinates and timestamp of the environmental message, it sends a monitoring message; if the forwarding node that receives the monitoring message has a remote table entry that matches the coordinates and timestamp of the monitoring message, it deletes the remote table entry and forwards the monitoring message; if the robot node that sends the environmental message receives the monitoring message, it saves the monitoring table in the monitoring message.

2. The method for implementing a traffic tunnel intelligent monitoring system according to claim 1, characterized in that: Each robot node maintains a remote table, wherein the remote table entries include coordinates, timestamps and life cycles; the environment message includes message ID, node ID, coordinates and timestamps; wherein, In the environment message sent by the robot node, the message ID is 5, the coordinates are the location coordinates of the monitored environment data, and the timestamp is the generation time of the environment data. Select all robot entries with node type 0, select a robot entry from these robot entries, and set the node ID of the environment message to the node ID of the robot entry; The robot node that receives the environment message selects all monitoring table entries that match the coordinates and timestamp of the environment message. In the monitoring message sent, the message ID is 6, the coordinates and timestamp are equal to the coordinates and timestamp in the environment message respectively, and the monitoring table contains all selected monitoring table entries; If the forwarding node that receives the monitoring message has a remote table entry that matches the coordinates and timestamp of the monitoring message, the following operations are performed for each monitoring table entry in the monitoring message: if its own monitoring table does not have a monitoring table entry with coordinates and timestamps equal to the coordinates and timestamp of the monitoring table entry, the monitoring table entry is added to its own monitoring table.

3. The method for implementing a traffic tunnel intelligent monitoring system according to claim 1, characterized in that: The method further comprises: In the case where a robot node sends an environment message and a neighbor forwarding node that receives the environment message establishes a remote entry, if the robot node leaves the communication range of the forwarding node before receiving a monitoring message whose coordinates and timestamp are respectively the coordinates and timestamp in the sent environment message, then all robot entries with a node type of 0 are selected, and a robot entry is selected from these robot entries whose coordinates have the smallest distance with the coordinates in the sent environment message, and then a move message is sent; wherein the message ID of the move message is 7, the node ID is equal to the node ID of the 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 mobile message is equal to the node ID in the mobile message, the robot node marks itself as a forwarding node. If the robot node does not have a remote table entry with coordinates and timestamps equal to the coordinates and timestamp in the mobile message, it creates a remote table entry and forwards the mobile message; wherein the coordinates and timestamp of the remote table entry are equal to the coordinates and timestamp in the mobile message, and the life cycle is set to the maximum value.

4. The method for implementing a traffic tunnel intelligent monitoring system according to any one of claims 1 to 3, characterized in that: The method further comprises: In the movement message forwarded by the robot that received the movement message, if there is a robot table entry for the robot, and the node type value of the robot table entry is 0 and the distance between the coordinates and the coordinates in the movement message is less than the distance between the robot coordinates and the coordinates in the movement message, then all robot table entries with a node type value of 0 are selected, and the robot table entry with the smallest distance between the coordinates and the coordinates in the movement message is selected from these robot table entries, and the node ID in the movement message is updated to the node ID in the robot table 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 table entry whose coordinates have the smallest distance with the coordinates in the movement message.

5. The method for implementing a traffic tunnel intelligent monitoring system according to any one of claims 1 to 3, characterized in that: The method further comprises: If the robot node that receives the environment message does not have a monitoring table 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 table entry whose coordinates and timestamp are respectively equal to the coordinates and timestamp in the environment message, the robot node will mark itself as a forwarding node, create a remote table entry and forward the environment message.

6. The method for implementing a traffic tunnel intelligent monitoring system according to claim 5, characterized in that: The method further comprises: The robot node that receives the environment message creates a remote table entry with coordinates and timestamps equal to those in the environment message, and the lifecycle is set to the maximum value. If a robot node that receives an environment message has a robot table entry whose node type value is 0 and whose coordinates are less than the distance between the coordinates of the robot node and the coordinates in the environment message, then all robot table entries with a node type of 0 are selected, and a robot table entry is selected from these table entries. The distance between the coordinates of the robot table entry and the coordinates in the environment message is the shortest. The node ID of the environment message is set to the node ID of the robot table entry, and the environment message is forwarded. Otherwise, the robot node that receives the environment message selects a robot table entry whose coordinates are the smallest distance from the coordinates in the environment message, sets the node ID in the environment message to the node ID in the robot table entry, and sends the environment message.

7. The method for implementing a traffic tunnel intelligent monitoring system according to any one of claims 1 to 3, characterized in that: The method further comprises: If the robot node that receives the robot message has a robot table entry with a node ID equal to the node ID in the robot message, the coordinates, node type and connectivity of the robot table entry are set to the coordinates, node type and connectivity of the robot message respectively, and the life cycle is set to the maximum value. Otherwise, a robot table entry is created, and the node ID, coordinates, node type and connectivity of the robot table entry are equal to the node ID, coordinates, node type and connectivity in the robot message respectively, and the life cycle of the robot table entry is set to the maximum value.

8. The method for implementing a traffic tunnel intelligent monitoring system according to any one of claims 1 to 3, characterized in that: The method further comprises: The terminal node sends a virtual message containing a message ID and a node ID to elect a forwarding node, specifically: if the node type value of all robot table items of the terminal node is 1, and the number of robot table items is greater than the connectivity value of each robot table item, then the terminal node elects itself as a forwarding node; if the node type value of all robot table items of the terminal node is 1, and the number of robot table items is not less than the connectivity value of any other robot table item, and for each robot table item with a connectivity value equal to the number of robot table items 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 table item and the coordinates of the virtual edge node, then the terminal node elects itself as a forwarding node.

9. The method for implementing a traffic tunnel intelligent monitoring system according to claim 8, characterized in that: The method further comprises: If there is no robot table entry for the robot, the node type of the robot table entry is 0 and the distance between the coordinates and the virtual edge node coordinates is less than the distance between the robot coordinates and the virtual edge node coordinates, then select a robot table entry, the node type of the robot table entry is 1, and the distance between the coordinates and the virtual edge node coordinates is not greater than the distance between the coordinates of any other robot table entry and the virtual edge node coordinates, and send a virtual message, the message ID of the virtual message is 2, and the node ID is equal to the node ID of the selected robot table entry; If the node ID of the terminal node receiving 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 forwarding node coordinates of the virtual edge node receiving the virtual message is greater than the communication radius R, and there is no robot table entry with a node type of 0, and the distance between the robot table entry coordinates and the virtual edge node coordinates is less than the distance between the forwarding node coordinates and the virtual edge node coordinates, then select a robot table entry with a node type of 1 and a distance between the coordinates and the virtual edge node coordinates not greater than the distance between the coordinates of other robot table entries and the virtual edge node coordinates, set the node ID of the virtual message to the node ID of the robot table entry, and forward the virtual message.

10. The method for implementing a traffic tunnel intelligent monitoring system according to any one of claims 1 to 3, characterized in that: The method further comprises: 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 the 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 equal to the distance between its own coordinates and the creation message coordinates, and R is the communication radius of the robot node; h2=⌊d2 / R⌋(1) The forwarding node that receives the creation message creates an environment table entry with coordinates and timestamps equal to the coordinates and timestamp of the creation message, respectively, and a lifecycle set to a maximum value; The terminal node that receives the creation message sets a clock with an initial value of the pre-set time t3, sets a timestamp variable and a coordinate variable, whose values ​​are respectively equal to the timestamp and coordinates in the creation message, and calculates the hop count h3 using formula (2), where d3 is equal to the distance between the coordinates of the terminal node and the coordinates in the creation message; h3 = ⌊d3 / R⌋ (2) In the monitoring table entry created by the robot node that sends the create message, the coordinates, timestamp and data are respectively equal to the coordinates, timestamp and data in the create response message.

Images