Ad hoc network positioning communication method and system for traffic cone bucket

Abstract

The embodiment of the invention discloses an ad hoc network positioning communication method and system for a traffic cone bucket. According to the embodiment of the invention, when any traffic cone bucket is in a working state, broadcast data packets sent by other traffic cone buckets are received, and corresponding receiving timestamps and signal strength measured during receiving are recorded; if the signal intensity is greater than or equal to a preset signal intensity threshold value and a difference value between the receiving timestamp and the current time is in a preset time window, networking with other corresponding traffic cone buckets to form a traffic cone bucket cluster; selecting a main traffic cone bucket from the traffic cone bucket cluster based on a preset main cone bucket selection strategy; when any traffic cone bucket is the main traffic cone bucket, a cone bucket surrounding area is generated based on the real-time positioning coordinates of the traffic cone bucket and the sub traffic cone buckets; and sending the cone barrel surrounding area to a cone barrel management server so as to synchronize the cone barrel surrounding area to a navigation server associated with the cone barrel surrounding area. Therefore, the road traffic efficiency can be improved, and the secondary accident risk can be reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent transportation, in particular to a self-organizing network positioning communication method and system for traffic cone barrels. BACKGROUND

[0002] Traffic cone barrels (also known as cone road markers or ice cream barrels) are a kind of portable traffic safety facilities widely used in road construction, accident handling and temporary traffic control scenes. They are usually made of high-visibility red and white or orange and white plastic, and form a physical barrier area by manual placement, which is used to prompt the driver that there is an obstacle or closed road section ahead, so as to guide the vehicle to detour and ensure the safety of on-site workers and driving.

[0003] In actual use, the information of such temporary closed areas completely depends on the on-site physical layout and is not included in the existing traffic information collection and release system. Due to the lack of automatic sensing and reporting mechanism, the traffic state of the relevant road section cannot be recorded and distributed to the navigation service system in the early stage of the event. Therefore, when the user uses the navigation application to plan the path, the system cannot identify such temporary closed areas, which often leads to the vehicle discovering the obstacle through vision after approaching or even entering the construction area, thereby causing dangerous operations such as emergency braking and frequent lane changing, which not only reduces the road traffic efficiency, but also significantly increases the risk of secondary accidents. SUMMARY

[0004] The embodiments of the present application provide a self-organizing network positioning communication method and system for traffic cone barrels, which can automatically synchronize the temporary closed area surrounded by the traffic cone barrels to the navigation application, so as to prompt the user to detour in advance in the path planning stage, which helps to improve the road traffic efficiency and reduce the risk of secondary accidents.

[0005] The embodiments of the present application provide a self-organizing network positioning communication method for traffic cone barrels, which comprises:

[0006] When any traffic cone barrel is in a working state, the broadcast data packet sent by other traffic cone barrels is received, and the corresponding reception timestamp and the signal strength measured at the time of reception are recorded;

[0007] If the signal strength is greater than or equal to the preset signal strength threshold, and the difference between the reception timestamp and the current time is within the preset time window, then the traffic cone barrels are networked according to the broadcast data packet and the corresponding other traffic cone barrels to obtain a traffic cone barrel cluster;

[0008] Based on a preset master cone barrel selection strategy, a master traffic cone barrel is elected from the traffic cone barrel cluster, and the remaining traffic cone barrels in the traffic cone barrel cluster are determined as sub traffic cone barrels;

[0009] When any traffic cone is the main traffic cone, obtain its own and each of its sub-traffic cones' real-time positioning coordinates, and generate the cone's surrounding area based on the real-time positioning coordinates.

[0010] The cone-surrounded area is sent to the cone management server, which then synchronizes the cone-surrounded area to its associated navigation server, allowing the navigation application to issue a temporary closure warning for the cone-surrounded area.

[0011] This application also provides a self-organizing network positioning and communication system for traffic cones, the system comprising:

[0012] The data receiving unit is used to receive broadcast data packets sent by other traffic cones when any traffic cone is in working condition, and to record the corresponding reception timestamp and the signal strength measured at the time of reception.

[0013] The traffic cone networking unit is used to network with other traffic cones corresponding to it based on the broadcast data packet if the signal strength is greater than or equal to a preset signal strength threshold and the difference between the received timestamp and the current time is within a preset time window, thus obtaining a traffic cone cluster.

[0014] The cone election unit is used to elect a main traffic cone from the traffic cone cluster based on a preset main cone selection strategy, and to determine the remaining traffic cones in the traffic cone cluster as child traffic cones.

[0015] The area generation unit is used to obtain the real-time positioning coordinates of any traffic cone and its sub-traffic cones when any traffic cone is the main traffic cone, and to generate the area around the cone based on the real-time positioning coordinates.

[0016] The area sending unit is used to send the cone-surrounded area to the cone management server, so that the cone management server can synchronize the cone-surrounded area to its associated navigation server, so that the navigation application can issue a temporary closure warning for the cone-surrounded area.

[0017] This application also provides an electronic device, including a processor and a memory, the memory storing multiple instructions; the processor loads instructions from the memory to execute the steps in any of the self-organizing network positioning communication methods for traffic cones provided in this application.

[0018] This application also provides a computer-readable storage medium storing multiple instructions adapted for loading by a processor to execute steps in any of the self-organizing network positioning communication methods for traffic cones provided in this application.

[0019] The embodiment of the present application further provides a computer program product comprising computer programs / instructions, which, when executed by a processor, implement the steps of any of the self-organizing network positioning communication methods for traffic cone barrels provided by the embodiment of the present application.

[0020] In the present application, when any traffic cone barrel is in a working state, it can receive a broadcast data packet sent by another traffic cone barrel, record a receiving time stamp corresponding to the broadcast data packet, and measure a signal strength when the broadcast data packet is received, the signal strength attenuates with the increase of the distance between any traffic cone barrel and another traffic cone barrel sending the broadcast data packet, and the receiving time stamp is used to represent the freshness of the broadcast data packet and indirectly reflect the current active state of the corresponding another traffic cone barrel.

[0021] If the signal strength is greater than or equal to a preset signal strength threshold, and the difference between the receiving time stamp and the current time is within a preset time window, the corresponding another traffic cone barrel can be networked with the broadcast data packet to form a traffic cone barrel cluster, the networking mechanism cooperatively selects traffic cone barrels that are spatially adjacent, have reliable communication links, and are in an active state in a recent period through dual criteria of signal strength and timeliness, and the formed cluster can truly and dynamically reflect the current actual layout range, effectively avoiding networking errors caused by long-distance weak signal interference or residual expired data of removed cone barrels.

[0022] Then, any traffic cone barrel in the traffic cone barrel cluster can elect a master traffic cone barrel from the traffic cone barrel cluster based on a preset master cone barrel selection strategy, and determine the remaining traffic cone barrels in the traffic cone barrel cluster as sub traffic cone barrels, the master and sub traffic cone barrels generate a cone barrel surrounding area based on their own real-time positioning coordinates and the real-time positioning coordinates of the sub traffic cone barrels, and then send the cone barrel surrounding area to a cone barrel management server, so that the cone barrel management server synchronizes the cone barrel surrounding area to a navigation server associated therewith, and the navigation application temporarily closes the cone barrel surrounding area for warning, thereby accurately restoring the actual layout form on site, significantly improving the spatial consistency and reliability of the temporarily closed area, effectively avoiding the perception distortion and area misjudgment caused by independent reporting of each traffic cone barrel, and ensuring that the closed warning information provided by the navigation server to the navigation application accurately corresponds to the real cone barrel surrounding area.

[0023] Therefore, the temporarily closed area surrounded by the traffic cone barrels can be automatically synchronized to the navigation application, so as to prompt the user to detour in advance in the path planning stage, thereby improving the road traffic efficiency and reducing the risk of secondary accidents. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments description. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0025] Figure 1a is a flow diagram of a self-organizing network positioning communication method for traffic cone barrels provided by the embodiments of the present application;

[0026] Figure 1b is a scene diagram between the traffic cone barrels and the cone barrel management server provided by the embodiments of the present application;

[0027] Figure 1c is a module diagram between the traffic cone barrels and the cone barrel management server provided by the embodiments of the present application;

[0028] Figure 1d is an interface diagram of the cone barrel management server provided by the embodiments of the present application;

[0029] Figure 2 is a structural diagram of a self-organizing network positioning communication system for traffic cone barrels provided by the embodiments of the present application. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments only constitute some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0031] The embodiments of the present application provide a self-organizing network positioning communication method and system for traffic cone barrels.

[0032] The self-organizing network positioning communication system for traffic cone barrels can be integrated in an electronic device, which can be a terminal, a server, etc. The terminal can be a mobile phone, a tablet computer, a smart Bluetooth device, a notebook computer, or a personal computer (PC), etc. The server can be a single server or a server cluster composed of multiple servers.

[0033] In some embodiments, the self-organizing network positioning communication system for traffic cone barrels can also be integrated in multiple electronic devices. For example, the self-organizing network positioning communication system for traffic cone barrels can be integrated in multiple servers, and the multiple servers can be used to implement the self-organizing network positioning communication method for traffic cone barrels.

[0034] In some embodiments, the server can also be implemented in the form of a terminal.

[0035] The following are described in detail respectively. It should be noted that the serial numbers of the following embodiments are not intended to limit the preferred order of the embodiments.

[0036] In this embodiment, a self-organizing network positioning communication method for traffic cone barrels is provided, which is applied to any traffic cone barrel, such as Figure 1a As shown, the specific process of the self-organizing network positioning communication method for traffic cone barrels can be as follows:

[0037] 101. When any traffic cone barrel is in a working state, a broadcast data packet sent by another traffic cone barrel is received, and a corresponding reception timestamp and a signal strength measured at the time of reception are recorded.

[0038] Among them, any traffic cone barrel refers to any intelligent traffic cone barrel with communication and positioning functions. In the process of distributed networking, each traffic cone barrel has the same functional structure and can independently participate in operations such as broadcasting, receiving, networking, and role election without central control. “Any” emphasizes that the method is applicable to any traffic cone barrel in the cluster and does not depend on the identity of a specific traffic cone barrel.

[0039] The working state refers to the state in which any traffic cone barrel has been powered on and started, can actively send broadcast data packets, receive broadcast data packets from other traffic cone barrels, execute networking logic, and respond to management instructions. The working state can be triggered by manually turning on the power switch, automatically waking up when deploying (such as detecting a vertical posture through an inclination sensor), or receiving a remote activation instruction.

[0040] Other traffic cone barrels refer to intelligent traffic cone barrels other than any traffic cone barrel.

[0041] The reception timestamp refers to a local time mark generated by the internal real-time clock (RTC) or system clock of any traffic cone barrel when it successfully receives a broadcast data packet, which is used to record the time of receiving the broadcast data packet. The timestamp is stored in a standard time format, usually with a precision of milliseconds, and is used to judge the freshness of the data subsequently.

[0042] The signal strength refers to the received signal strength indication (RSSI, Received Signal Strength Indicator) measured by the wireless communication module (such as BLE, LoRa, Zigbee, or NB-IoT module) of any traffic cone barrel when receiving a broadcast data packet, with a unit of dBm. The RSSI value reflects the degree of wireless channel attenuation between other traffic cone barrels and any traffic cone barrel, which usually monotonically decreases with the increase of the physical distance between them.

[0043] 102、If the signal strength is greater than or equal to the preset signal strength threshold value, and the difference between the receiving timestamp and the current time is within the preset time window, the corresponding other traffic cone barrels are networked according to the broadcast data packet to obtain a traffic cone barrel cluster.

[0044] The preset signal strength threshold value is a signal strength reference value pre-configured in the local storage unit of the traffic cone barrel, which is used to determine whether the received broadcast data packet is from other traffic cone barrels that are spatially close enough and have reliable communication links. The threshold value is usually in units of dBm, and the typical value range is -90 dBm to -70 dBm (for example, -85 dBm). The specific value can be set according to the wireless communication technology (such as BLE, LoRa, etc.), deployment environment (urban road, highway), and expected networking distance (such as 10-30 meters). When the received signal strength (RSSI) is greater than or equal to the threshold value, it is considered that the two traffic cone barrels are within the effective communication range.

[0045] The current time refers to the local current time provided by the internal real-time clock (RTC) or system clock of any traffic cone barrel when executing the networking judgment logic. The time is consistent with the clock source used to record the "receiving timestamp", ensuring the accuracy of the time difference calculation. The current time is dynamically obtained by any traffic cone barrel each time the networking condition judgment is executed.

[0046] The difference between the receiving timestamp and the current time refers to the time interval between the time when the broadcast data packet is received (i.e., the receiving timestamp) and the time when the networking judgment is executed (i.e., the current time), denoted as Δt = current time - receiving timestamp. The difference is used to measure the freshness of the broadcast data: the smaller Δt is, the more likely it is that the corresponding other cone barrel is still in the current deployment state; Δt is too large, which may indicate that the other cone barrel has been removed or failed.

[0047] The preset time window is a pre-configured time tolerance value (e.g., 10 seconds, 30 seconds, or 1 minute), which is used to limit the valid range of the receiving timestamp of the broadcast data packet. If the difference Δt between the receiving timestamp and the current time does not exceed the preset time window, the corresponding broadcast data packet is considered valid; otherwise, it is considered as expired data and discarded. The length of the preset time window can be configured or remotely adjusted according to the dynamic characteristics of the actual construction scene (such as fast-moving operation area or fixed construction area), to balance the system response speed and anti-interference ability.

[0048] The traffic cone barrel cluster refers to a logical set formed by several spatially adjacent, communication-reliable, and recently active traffic cone barrels in a self-organizing manner. A cluster contains at least two traffic cone barrels, and the membership is dynamically maintained. New traffic cone barrels that meet the conditions can join, and traffic cone barrels that do not meet the conditions will be automatically removed.

[0049] 103. electing the master traffic cone from the traffic cone cluster based on a preset master cone selection strategy, and determining the rest of the traffic cones in the traffic cone cluster as sub traffic cones.

[0050] The preset master cone selection strategy refers to a strategy pre-configured in each traffic cone for consistently electing a master node in the traffic cone cluster. Based on quantifiable parameters (such as positioning drift, signal strength stability, power state, and running time, etc.) that can be obtained by each traffic cone in the traffic cone cluster, the strategy makes all traffic cones independently calculate and reach a consistent election result through sorting comparison or comprehensive scoring mechanism.

[0051] The master traffic cone refers to a core node that is elected in the traffic cone cluster and undertakes the responsibilities of coordination and reporting.

[0052] The sub traffic cone refers to all traffic cones in the traffic cone cluster except the master traffic cone. The sub traffic cone continuously sends its own state and positioning information to the master traffic cone, but does not perform fence generation or external reporting operation, and only participates in cluster collaboration as a perception unit.

[0053] It can be understood that each member in the traffic cone cluster is built-in with the same preset master cone selection strategy. When any traffic cone joins the cluster, it will obtain the relevant state information of all members in the cluster (such as positioning stability index and signal quality exchanged through broadcast), and independently calculate the master cone candidate result based on the strategy. Since all nodes use the same input data and decision logic, the same master traffic cone will be consistently identified by each node, thereby realizing a distributed election without center and self-consistency, without the need for additional communication negotiation.

[0054] In some embodiments, the cone that is effectively identified as having a stable physical location and good communication quality serves as the master node, avoiding the misselection of a traffic cone that is tilted or blocked as the master traffic cone, which leads to fence generation errors or reporting interruptions; at the same time, the distributed consensus is realized based on broadcast scoring exchange, which significantly improves the robustness, fairness, and self-adaptive ability of the cluster role election, and lays a reliable foundation for subsequent high-precision temporary closed area construction.

[0055] Electing the master traffic cone from the traffic cone cluster based on a preset master cone selection strategy, comprising:

[0056] Obtaining a plurality of positioning coordinates of any traffic cone within a preset historical time period, calculating the standard deviation of the plurality of positioning coordinates relative to the mean value of the coordinates as the positioning drift of any traffic cone;

[0057] Based on the positioning drift and the signal strength, determining the reliability score of any traffic cone, and receiving the reliability score broadcast by other traffic cones in the traffic cone cluster;

[0058] According to the reliability scores of each traffic cone barrel in the traffic cone barrel cluster, a master traffic cone barrel is elected from the traffic cone barrel cluster.

[0059] The preset historical time period refers to a pre-set time window (e.g., the last 30 seconds or 1 minute) for backtracking analysis of the positioning stability of the traffic cone barrel.

[0060] The positioning coordinates are geographic coordinates (e.g., latitude and longitude) periodically obtained by a positioning module (such as a GNSS, Beidou, or fusion positioning unit) built in the traffic cone barrel.

[0061] The coordinate mean value is the arithmetic mean of all positioning coordinates within the preset historical time period, which is used to represent the center position of the traffic cone barrel.

[0062] The standard deviation reflects the dispersion of each positioning coordinate around the coordinate mean value, and the smaller the value, the more stable the positioning.

[0063] The positioning drift degree is a position fluctuation index quantified by the standard deviation, which is used as a key basis for determining whether the traffic cone barrel has been knocked down or moved.

[0064] The reliability score of any traffic cone barrel is a value calculated based on the positioning drift degree and the received signal strength of the traffic cone barrel, which is used to represent the credibility of the traffic cone barrel as a master traffic cone barrel.

[0065] The reliability scores broadcast by other traffic cone barrels are the reliability scores actively sent by other traffic cone barrels in the traffic cone barrel cluster after being calculated locally by the other traffic cone barrels; any traffic cone barrel can learn the credibility of other traffic cone barrels in the traffic cone barrel cluster as master traffic cone barrels by receiving these reliability scores, thereby participating in the global master cone barrel election.

[0066] It can be understood that, since all traffic cone barrels in the traffic cone barrel cluster adopt the same preset master cone barrel selection strategy, each traffic cone barrel can independently calculate and consistently elect the traffic cone barrel with the highest reliability as the master traffic cone barrel without relying on the coordination of the center node.

[0067] In some embodiments, by introducing a multi-level threshold mapping and joint scoring mechanism, the complex positioning and communication state is converted into a structured and comparable reliability score, significantly improving the objectivity, robustness, and anti-interference ability of the master cone barrel election; especially in dynamic construction scenarios, the misselection caused by individual cone barrels being blocked, slightly moving, or signal fluctuation can be effectively avoided, ensuring that the master node is always assumed by the cone barrel with the most stable position and the most reliable communication, thereby ensuring the accuracy and timeliness of subsequent fence generation and reporting.

[0068] determine a reliability score of any traffic cone bucket based on the positioning drift degree and the signal strength, and receive the reliability scores broadcast by other traffic cone buckets in the traffic cone bucket cluster, including:

[0069] obtain a mapping relationship between preset drift levels and preset drift threshold intervals, a mapping relationship between preset signal levels and preset signal threshold intervals, and a mapping relationship between the preset drift levels, the preset signal levels, and preset reliability scores;

[0070] determine a target drift level from the mapping relationship between the preset drift levels and the preset drift threshold intervals according to a preset drift threshold interval to which the positioning drift degree belongs;

[0071] determine a target signal level from the mapping relationship between the preset signal levels and the preset signal threshold intervals according to a preset signal threshold interval to which the signal strength belongs;

[0072] determine a reliability score of any traffic cone bucket from the mapping relationship between the preset drift levels, the preset signal levels, and the preset reliability scores according to the target drift level and the target signal level;

[0073] broadcast the reliability score of any traffic cone bucket to the traffic cone bucket cluster and receive the reliability scores broadcast by other traffic cone buckets in the traffic cone bucket cluster.

[0074] The mapping relationship between the preset drift levels and the preset drift threshold intervals refers to a preconfigured discretization grading rule that divides continuous positioning drift degrees (such as standard deviation values) into several non-overlapping threshold intervals and assigns a drift level (such as “high stability”, “moderate”, “low stability”, or “numerical level 1 / 2 / 3”, etc.) to each interval for quantifying position stability.

[0075] The mapping relationship between the preset signal levels and the preset signal threshold intervals refers to dividing received signal strengths into multiple threshold intervals according to intensity and correspondingly assigning signal reception levels (such as “strong”, “moderate”, “weak”, or levels 1 / 2 / 3) to reflect communication link quality.

[0076] The mapping relationship between the preset drift levels, the preset signal levels, and the preset reliability scores refers to a preset joint scoring table or function (which can be a two-dimensional lookup table or a weighted formula) that outputs a corresponding reliability score (such as an integer score or a normalized weight) according to the combination of drift levels and signal reception levels, for example: drift level 1 + signal level 1 → score 95; drift level 3 + signal level 2 → score 40.

[0077] The target drift level refers to the specific drift level matched after the positioning drift degree of the traffic cone bucket itself falls into a certain preset drift threshold interval.

[0078] The target signal level refers to the specific signal receiving level matched after the signal strength of the traffic cone barrel falls into a certain preset signal threshold interval.

[0079] It can be understood that the above hierarchical mapping mechanism converts continuous physical quantities (positioning drift degree, signal strength) into discrete and comparable level indicators, and generates a unified scale reliability score through a preset joint mapping relationship. Since all traffic cone barrels use the same mapping rule, the reliability scores calculated by each traffic cone barrel are globally consistent, so that any traffic cone barrel can independently and consistently elect the traffic cone barrel with the highest reliability as the master traffic cone barrel after receiving the reliability scores broadcast by other traffic cone barrels in the traffic cone barrel cluster, without the need for central coordination.

[0080] In some embodiments, under the premise of ensuring that the master cone barrel preferentially selects a high-reliability device, a deterministic arbitration mechanism is implemented through a unique cone barrel number to ensure that the cluster can quickly and stably elect a unique master traffic cone barrel in any scenario, significantly improving system robustness and operational continuity, and is particularly suitable for high-dynamic, multi-cone barrel dense deployment temporary traffic control scenarios.

[0081] According to the reliability scores of the traffic cone barrels in the traffic cone barrel cluster, a master traffic cone barrel is elected from the traffic cone barrel cluster, comprising:

[0082] determining the highest reliability score from the reliability scores of the traffic cone barrels in the traffic cone barrel cluster;

[0083] When the highest reliability score corresponds to multiple traffic cone barrels, obtaining the cone barrel numbers of the multiple traffic cone barrels respectively;

[0084] According to the cone barrel numbers, determining the master traffic cone barrel from the multiple traffic cone barrels.

[0085] The highest reliability score refers to the maximum value among the reliability scores corresponding to all traffic cone barrels in the traffic cone barrel cluster, representing the reliability score most suitable for being a master traffic cone barrel.

[0086] The cone barrel number is a unique device identifier (such as a 16-bit hexadecimal ID or serial number) pre-burned or configured in each traffic cone barrel, which is fixed at the manufacturing or deployment stage to ensure uniqueness across the network.

[0087] It can be understood that in the case where the highest reliability score corresponds to multiple traffic cone barrels, these traffic cone barrels compare their own cone barrel numbers and uniquely determine the master traffic cone barrel according to a preset numbering sorting rule (e.g., the one with the smallest number is preferred, or the one with the largest number is preferred). Typically, the traffic cone barrel with the smallest cone barrel number can be designated as the master traffic cone barrel to ensure the determinacy and global consistency of the election result.

[0088] In some embodiments, by introducing active failure notification and dynamic updating of reliability score based on the tipping state trigger, the system can start a seamless reselection process at the moment of the main cone barrel physical failure (such as being knocked down), avoiding the interruption of fence reporting or cluster paralysis caused by the disconnection of the main node; at the same time, using the "latest" score to ensure that the new main cone barrel is the most stable and reliable member, significantly improving the fault tolerance, continuity and security of the temporary traffic closure system.

[0089] After the main traffic cone barrel is elected from the traffic cone barrel cluster according to the reliability score of each traffic cone barrel in the traffic cone barrel cluster, the method further comprises:

[0090] When any traffic cone barrel is a child traffic cone barrel and receives the main cone barrel failure information sent by the main traffic cone barrel, the latest reliability score of each child traffic cone barrel in the traffic cone barrel cluster is obtained, and the main cone barrel failure information is the information generated by the main traffic cone barrel according to its tipping state;

[0091] According to the latest reliability score of each child traffic cone barrel, a new main traffic cone barrel is elected from the traffic cone barrel cluster.

[0092] The main cone barrel failure information refers to the failure notification message actively broadcasted by the current main traffic cone barrel when it detects that it has a tipping state, which is used to trigger the main node reselection process of the cluster.

[0093] The latest reliability score refers to the reliability score recalculated by each child traffic cone barrel based on the current real-time state (including the latest positioning drift degree, signal strength, etc.) after receiving the main cone barrel failure information, which is used to reflect its adaptability to serve as the main traffic cone barrel at the current time.

[0094] The tipping state refers to the non-vertical posture detected by the traffic cone barrel through the built-in tilt sensor, accelerometer or positioning drift mutation, indicating that it has deviated from the normal working position and cannot continue to reliably perform the main node duty.

[0095] The new main traffic cone barrel refers to the traffic cone barrel that takes over the duties of the main traffic cone barrel after the original main cone barrel fails, which is elected by the remaining child traffic cone barrels through a pre-set main cone barrel selection strategy.

[0096] 104、When any traffic cone barrel is a main traffic cone barrel, the real-time positioning coordinates of itself and each child traffic cone barrel are obtained, and a cone barrel surrounding area is generated based on the real-time positioning coordinates.

[0097] The real-time positioning coordinates refer to the current effective geographic coordinates obtained by the main traffic cone barrel and each sub-traffic cone barrel during the execution of the fence generation operation. These coordinates are measured by the positioning module (such as GNSS, Beidou, RTK, or integrated positioning unit) built-in each traffic cone barrel within the last positioning period, usually represented by latitude and longitude (for example, WGS-84 coordinate system), with a time delay of no more than a preset threshold (such as 1 second), to ensure the timeliness and accuracy of the spatial state.

[0098] The cone barrel surrounding area refers to the closed two-dimensional area boundary generated by a geometric algorithm (such as minimum convex hull, alpha-shape, or polygon fitting) based on the real-time positioning coordinates of all members (including the main traffic cone barrel and the sub-traffic cone barrel) in the traffic cone barrel cluster, used to represent the actual physical range of the current temporary construction or accident closure. This area can be encoded as a Geo-fence data format (such as GeoJSON polygon) and used to provide accurate temporary closure warning basis to the navigation server.

[0099] In some embodiments, through the processing flow of "latitude and longitude → local plane → convex hull calculation → latitude and longitude restoration", both calculation efficiency and geographical compatibility are considered, avoiding errors and overheads of complex geometric operations directly in spherical coordinates; the generated cone barrel surrounding area boundary is smooth, non-intersecting, and completely surrounds all effective cone barrels, which can accurately reflect the actual layout form on site and provide accurate and reliable temporary closure fence data for navigation applications.

[0100] Generating a cone barrel surrounding area based on real-time positioning coordinates includes:

[0101] Projecting the real-time positioning coordinates of each traffic cone barrel in the traffic cone barrel cluster from the latitude and longitude coordinate system to the local plane rectangular coordinate system to obtain the corresponding plane coordinates;

[0102] Determining the plane vertex coordinates constituting the minimum convex polygon from the multiple plane coordinates;

[0103] Re-projecting the plane vertex coordinates back to the latitude and longitude coordinate system to obtain the corresponding latitude and longitude vertex coordinates;

[0104] Arranging the latitude and longitude vertex coordinates in order and closing the beginning and end to form a closed polygon as the cone barrel surrounding area.

[0105] The latitude and longitude coordinate system refers to the geographic coordinate system (such as WGS-84) based on the Earth ellipsoid, used to represent the absolute position of the traffic cone barrel in the global range, with units of longitude (°) and latitude (°).

[0106] A local plane rectangular coordinate system refers to an approximate Euclidean plane coordinate system (such as UTM local projection, ENU East-North-Sky coordinate system) established within a small area with the center of a traffic cone cluster or the location of a specific traffic cone as the origin. It is used to convert spherical geographic coordinates into two-dimensional rectangular coordinates (usually in meters) that are convenient for geometric calculations.

[0107] Planar coordinates refer to the (x,y) coordinates of the latitude and longitude coordinates of each traffic cone in a local Cartesian coordinate system after projection transformation. They preserve the relative spatial relationship and are applicable to planar geometric algorithms such as convex hull.

[0108] Planar vertex coordinates refer to the set of key points that constitute the boundary of the minimum convex polygon, selected from all planar coordinates by a minimum convex hull algorithm (such as Graham's scan or Andrew's algorithm). These points are located on the periphery of the cluster and determine the outer contour of the fence.

[0109] Understandably, since the curvature of the Earth is negligible in a small area (such as a 100m x 100m construction area), using local planar projection can significantly simplify polygon construction calculations while ensuring geometric accuracy; and finally, projecting the results back to the latitude and longitude coordinate system ensures that the generated cone-shaped area can be directly parsed and used by navigation servers or map platforms.

[0110] 105. Send the cone-surrounded area to the cone management server so that the cone management server can synchronize the cone-surrounded area to its associated navigation server, so that the navigation application can issue a temporary closure warning for the cone-surrounded area.

[0111] Among them, the cone management server refers to the centralized management platform deployed in the cloud or edge computing nodes, which is used to receive the cone surrounding area data reported by the main traffic cone, and to monitor, store and forward the cluster status.

[0112] A navigation server refers to a backend system that provides route planning and real-time traffic information services for navigation applications (such as in-vehicle navigation and mobile map apps). (For example, traffic incident handling platforms from service providers like Gaode and Baidu). This server receives data on the area surrounded by traffic cones from the cone management server, parses it into geofences, and, combined with the current road network topology, generates corresponding temporary traffic control policies.

[0113] The temporary road closure warning navigation server, based on the area surrounded by traffic cones, provides dynamic and time-sensitive closure prompts or detour guidance for relevant road sections in navigation applications. Specific manifestations include, but are not limited to, highlighting the closed area in red / orange on the map interface, automatically avoiding the area during route planning and displaying a "Construction Ahead, Please Detour" message, and sending voice or pop-up warnings to users approaching the area.

[0114] It can be understood that, by taking the cone management server as an intermediate bridge, seamless docking of the intelligent traffic cone and the mainstream navigation ecology is realized. The architecture decouples the direct dependence of the terminal device and the navigation platform, guarantees data format compatibility, supports unified access and distribution of multi-source cone clusters, and significantly improves the reach efficiency and user coverage of the temporary traffic event information.

[0115] In some embodiments, the low-cost inertial measurement unit is used to realize high-reliability physical state self-sensing capability, so that the main traffic cone has a "self-health diagnosis" function; when an abnormality such as dumping occurs, the cluster self-recovery process can be actively and timely triggered, effectively preventing fence drift, boundary distortion or navigation missealing caused by instability of the main node, and significantly improving the robustness and credibility of the entire temporary traffic control system. Any traffic cone is built-in with an inertial measurement unit;

[0116] When any traffic cone is a main traffic cone, the real-time positioning coordinates of the main traffic cone and each sub-traffic cone are obtained, a cone surrounding area is generated based on the real-time positioning coordinates, and the cone surrounding area is sent to the cone management server. After that, it further includes:

[0117] The current roll angle of any traffic cone is obtained by using the inertial measurement unit;

[0118] The historical roll angle of any traffic cone is obtained;

[0119] According to the comparison result of the current roll angle and the historical roll angle, it is judged whether any traffic cone is in a dumping state;

[0120] If any traffic cone is in a dumping state, the main cone failure information is broadcasted to the traffic cone cluster, and the main traffic cone role is exited.

[0121] Among them, the inertial measurement unit (Inertial Measurement Unit, IMU) refers to a micro sensor module integrated in the traffic cone, which usually includes a three-axis accelerometer and a three-axis gyroscope, and is used to realize real-time sensing of the attitude, angular velocity and linear acceleration of the device; in this application, it is mainly used to calculate the roll angle (Roll Angle) of the cone rotating around its longitudinal axis (vertical direction).

[0122] The current roll angle refers to the output of the inertial measurement unit at the current sampling time, which represents the lateral inclination angle of the traffic cone relative to the vertical reference direction, and the unit is degree (°). A positive value indicates tilting to one side, and a negative value indicates tilting to the other side.

[0123] The historical roll angle refers to the roll angle reference value or the roll angle average value recorded by the traffic cone in the normal working state (such as the stable period after deployment) within a period of time, which is used as a reference basis for judging the attitude abnormality.

[0124] It can be understood that by continuously comparing the current roll angle with the historical roll angle, the system can sensitively identify whether the main traffic cone barrel has occurred due to external force collision, wind or human movement. Once a significant deviation is detected (for example, the absolute value of the current roll angle exceeds the preset threshold, or the change rate suddenly increases), it is considered to be invalid, actively broadcasts the invalid information and gives up the main node responsibility, thereby avoiding the continued reporting of false fence data by the invalid device, and ensuring the authenticity, continuity and safety of the temporary closed area information.

[0125] In some embodiments, a multi-color programmable warning light and a remote control mechanism are used to upgrade the traffic cone barrel from a "static identifier" to a "dynamic information terminal", significantly improving the on-site perception intensity and user response efficiency of temporary traffic events. Any traffic cone barrel includes multiple warning lights of different colors.

[0126] Also includes:

[0127] Receiving the light control instruction sent by the cone barrel management server, the light control instruction including target color information and flashing mode information;

[0128] According to the target color information, the corresponding target warning light is determined from the multiple warning lights of different colors;

[0129] Control the target warning light to flash according to the flashing mode information.

[0130] Wherein, the warning light refers to the high-brightness light-emitting unit (such as LED array) integrated on the traffic cone barrel shell, which has a specific color attribute and is used to provide visual warning in daytime or nighttime, and improve the recognizability of the cone barrel in complex environment.

[0131] The light control instruction refers to the control message issued by the cone barrel management server, which contains parameters for indicating how the cone barrel lights up its warning light, typically transmitted through a wireless communication link (such as NB-IoT, LoRa or 4G).

[0132] The target color information refers to the color identifier (such as "red", "yellow" or RGB value) specified in the light control instruction, which is used to uniquely match the warning light of a certain color on the traffic cone barrel.

[0133] The flashing mode information refers to the flashing behavior parameters defined in the light control instruction, including but not limited to flashing frequency (such as 1Hz, 2Hz), duty cycle (on / off time ratio), flashing sequence (such as constant light, slow flash, fast flash, burst flash), etc.

[0134] The target warning light refers to the specific light-emitting unit selected from the multiple warning lights according to the target color information, which will be subjected to flashing control.

[0135] It can be understood that by remotely issuing light control instructions, the cone barrel management server can dynamically adjust the visual warning style of the cone barrel according to different traffic scenes (such as construction type, danger level, day and night period), realizing differentiated and intelligent on-site guidance.

[0136] In some embodiments, the communication interruption, positioning failure or fence loss caused by the depletion of the cone barrel power is avoided, thereby ensuring the continuous effectiveness of the temporary closure area information; at the same time, by accurately pushing the replacement reminder containing the position and identity, the operation and maintenance efficiency is significantly improved, the manual inspection cost is reduced, and the long-term stable operation of the intelligent traffic cone barrel cluster is ensured, which also includes:

[0137] When the battery power of any traffic cone barrel is lower than the preset low power threshold, power shortage information for any traffic cone barrel is generated;

[0138] The power shortage information is sent to the cone barrel management server, so that the cone barrel management server sends a replacement reminder message containing the identification and position of any traffic cone barrel to the associated operation and maintenance terminal according to the power shortage information.

[0139] The power shortage information refers to the alarm data packet generated by the traffic cone barrel when the battery power is lower than the preset low power threshold (for example, the remaining power is ≤10% or the voltage is ≤3.2V), which at least contains the unique identification (such as device ID) of the traffic cone barrel, the current power value, the time stamp and the optional position information, and is used to represent that the cone barrel will be disabled due to power depletion.

[0140] The replacement reminder message refers to the notification message generated and pushed to the operation and maintenance terminal by the cone barrel management server based on the received power shortage information, which includes but is not limited to: the identification of the traffic cone barrel whose battery needs to be replaced, the latest positioning coordinates, the layout position description, the low power occurrence time and the suggested processing priority, which is used to guide the operation and maintenance personnel to carry out on-site maintenance in time.

[0141] For example, a municipal engineering team is conducting pipeline repair at night on a section of the First Ring Road, and has set up six intelligent traffic cones (C01-C06) at 22:00. Each traffic cone is equipped with a GNSS positioning module, a BLE communication unit, an IMU inertial measurement unit, a multi-color LED warning light (red / yellow / blue), a rechargeable lithium battery, and a main control chip. After each traffic cone is powered on, it enters a working state and begins to periodically broadcast a broadcast data packet containing its ID, positioning coordinates, and signal strength. Each traffic cone receives broadcast data packets from other traffic cones, records the time stamp and RSSI value of each packet (e.g., C01: -75 dBm, time difference 2 seconds). Each traffic cone calculates and broadcasts its own reliability score, and each traffic cone elects a master traffic cone based on its own and the reliability scores it receives. For example, C02 has the lowest positioning drift (standard deviation of only 0.2 meters) and stable RSSI (average of -72 dBm) → drift level 1 + signal level 1 → reliability score 95. The reliability scores of other traffic cones are ≤90. Based on these reliability scores, each traffic cone elects C02 as the master traffic cone. C02 obtains the real-time positioning coordinates (latitude and longitude) of itself and other sub-traffic cones, projects them onto a local Cartesian coordinate system centered on C02, calculates the minimum convex polygon, obtains four peripheral vertices (C01, C03, C05, C06), back-projects the vertices to latitude and longitude, generates a closed polygon fence, and sends the cone around the area to the cone management server. The cone management server synchronizes it to the navigation server (such as the Gaode Map server) associated with it, and the navigation application displays a "road construction ahead, please detour" prompt on the map interface of the user's terminal, automatically avoids the area in path planning, and achieves precise temporary closure warning. A electric vehicle bumps into C02, causing it to tilt to the right. C02's IMU detects that the current roll angle is 35°, far exceeding the historical roll angle (stable period average of 2°), and determines that it is in a tilted state. C02 immediately broadcasts master cone failure information and exits the master traffic cone role. Sub-traffic cones C01, C03, etc. receive the failure information and recalculate the latest reliability scores. C03, with a new reliability score of 92, is elected as the new master traffic cone, and the fence is rebuilt and reported. The navigation fence is seamlessly updated.

[0142] It can be understood that the traffic cone of the present application can collect and publish traffic event information based on high-precision Beidou / GPS positioning technology and 4G / Bluetooth wireless communication technology, improving travel safety. The product uses a handle structure, which is inserted from the top of the ordinary cone and fixed at the top of the cone. Placing the cone in the construction / no-entry section can upload real-time road closure information.

[0143] The traffic cone barrel integrates various intelligent functions, including dumping state detection, real-time positioning, Bluetooth communication, and battery power management; at the same time, it is equipped with warning lights and a buzzer for on-site sound and light warning. As shown in Figure 1b The traffic cone barrel can communicate with the cone barrel management server through a 4G / 5G communication base station to realize fence reporting, state monitoring, and remote control. In addition, it can also establish a local connection with the Bluetooth management application of the mobile terminal through Bluetooth, supporting on-site configuration, state query, and debugging operations.

[0144] As shown in Figure 1c The traffic cone barrel of the present application has intelligent sensing and interaction capabilities. It can be understood that when the dumping state is detected, alarm information can be sent to the gateway and the cone barrel management server, and a sound and light alarm is triggered simultaneously, including starting the buzzer to emit a warning sound. The physical button can be used to set the construction road direction (such as uplink / downlink) and specific lane number according to project requirements, facilitating on-site quick identification. It is equipped with multi-color warning lights, supporting red and blue alternating flashing, red flashing, yellow flashing, and other modes for reminding drivers to avoid, and the related flashing modes, colors, periods, and brightness can be remotely configured by the cone barrel management server. It integrates voice prompt function, which can play preset safety voice (such as "construction ahead, please slow down"). The local management application is provided to realize device parameter configuration, state query, and on-site operation through Bluetooth connection. The cone barrel management server supports real-time query of battery power and has remote operation capability, which can configure remote restart, positioning data reporting interval, warning light flashing parameters (including color, period), and environmental light brightness determination threshold. The navigation application is based on an electronic map, which can display the deployment position and working state of the traffic cone barrel in real time. The cone barrel management server has a construction information management module built-in, which supports viewing of key information such as construction start and end position, lane, construction person in charge, and planned construction time, realizing digital management of construction tasks.

[0145] As shown in Figure 1d The cone barrel management server can synchronize the cone barrel surrounding area to the navigation server associated with it to display the position information of the traffic cone barrel deployment in the electronic map of the navigation application, and also supports device state query and usage parameter configuration. The current deployed cone barrel state, position, and whether there is dumping are displayed. Statistical information such as security logs, etc. is provided. Historical data is summarized, and construction statistical information based on cone barrels and roads is provided. It contains alarm information such as traffic cone barrel dumping, road maintenance timeout, and maintenance road segment error. It contains functions such as permission management and account allocation. Data interfaces can be developed for third-party systems. Real-time maintenance road condition information is provided for traffic systems, commercial navigation map software systems, etc.

[0146] In summary, this application can automatically synchronize the temporary closed area enclosed by traffic cones to the navigation application, thereby prompting users to detour in advance during the route planning stage, which helps to improve road traffic efficiency and reduce the risk of secondary accidents.

[0147] To better implement the above methods, this application also provides a self-organizing network positioning and communication device for traffic cones. This device can be integrated into an electronic device, such as a terminal or server. The terminal can be a mobile phone, tablet computer, smart Bluetooth device, laptop computer, or personal computer; the server can be a single server or a server cluster consisting of multiple servers.

[0148] For example, in this embodiment, the method of this application embodiment will be described in detail by taking a self-organizing network positioning and communication device for traffic cones specifically integrated into an electronic device.

[0149] For example, such as Figure 2 As shown, the self-organizing network positioning and communication device for traffic cones may include a data receiving unit 201, a cone networking unit 202, a cone election unit 203, an area generation unit 204, and an area sending unit 205, as follows:

[0150] (a) Data receiving unit 201.

[0151] The data receiving unit 201 is used to receive broadcast data packets sent by other traffic cones when any traffic cone is in working condition, and to record the corresponding reception timestamp and the signal strength measured at the time of reception.

[0152] (ii) Cone-shaped network unit 202.

[0153] Traffic cone networking unit 202 is used to form a traffic cone cluster by networking with other traffic cones corresponding to it according to the broadcast data packet if the signal strength is greater than or equal to a preset signal strength threshold and the difference between the received timestamp and the current time is within a preset time window.

[0154] (III) Cone Election Unit 203.

[0155] The cone election unit 203 is used to elect a main traffic cone from the traffic cone cluster based on a preset main cone selection strategy, and to determine the remaining traffic cones in the traffic cone cluster as child traffic cones.

[0156] In some embodiments, a primary traffic cone is elected from the traffic cone cluster based on a preset primary cone selection strategy, including:

[0157] Obtaining a plurality of positioning coordinates of any traffic cone barrel in a preset historical time period, calculating the standard deviation of the plurality of positioning coordinates relative to the mean of the coordinates as the positioning drift degree of any traffic cone barrel;

[0158] Based on the positioning drift degree and the signal strength, determining the reliability score of any traffic cone barrel, and receiving the reliability score broadcast by other traffic cone barrels in the traffic cone barrel cluster;

[0159] According to the reliability scores of each traffic cone barrel in the traffic cone barrel cluster, a master traffic cone barrel is elected from the traffic cone barrel cluster.

[0160] In some embodiments, based on the positioning drift degree and the signal strength, the reliability score of any traffic cone barrel is determined, and the reliability score broadcast by other traffic cone barrels in the traffic cone barrel cluster is received, including:

[0161] Obtaining a mapping relationship between a preset drift level and a preset drift threshold interval, a mapping relationship between a preset signal level and a preset signal threshold interval, and a mapping relationship between a preset drift level, a preset signal level and a preset reliability score;

[0162] According to the preset drift threshold interval to which the positioning drift degree belongs, a target drift level is determined from the mapping relationship between the preset drift level and the preset drift threshold interval;

[0163] According to the preset signal threshold interval to which the signal strength belongs, a target signal level is determined from the mapping relationship between the preset signal level and the preset signal threshold interval;

[0164] According to the target drift level and the target signal level, the reliability score of any traffic cone barrel is determined from the mapping relationship between the preset drift level, the preset signal level and the preset reliability score;

[0165] The reliability score of any traffic cone barrel is broadcast to the traffic cone barrel cluster, and the reliability score broadcast by other traffic cone barrels in the traffic cone barrel cluster is received.

[0166] In some embodiments, according to the reliability scores of each traffic cone barrel in the traffic cone barrel cluster, a master traffic cone barrel is elected from the traffic cone barrel cluster, including:

[0167] The highest reliability score is determined from the reliability scores of each traffic cone barrel in the traffic cone barrel cluster;

[0168] When the highest reliability score corresponds to a plurality of traffic cone barrels, the cone barrel numbers of the plurality of traffic cone barrels are obtained;

[0169] According to the cone barrel number, a master traffic cone barrel is determined from the plurality of traffic cone barrels.

[0170] In some embodiments, after electing the master traffic cone barrel from the traffic cone barrel cluster according to the reliability scores of the traffic cone barrels in the traffic cone barrel cluster, the method further comprises:

[0171] When any traffic cone barrel is a child traffic cone barrel and receives the master cone barrel failure information sent by the master traffic cone barrel, obtaining the latest reliability scores of each child traffic cone barrel in the traffic cone barrel cluster, the master cone barrel failure information is information generated by the master traffic cone barrel according to its dumping state;

[0172] According to the latest reliability scores of each child traffic cone barrel, a new master traffic cone barrel is elected from the traffic cone barrel cluster.

[0173] (Four), the region generation unit 204.

[0174] The region generation unit 204 is configured to, when any traffic cone barrel is a master traffic cone barrel, obtain real-time positioning coordinates of itself and each child traffic cone barrel, and generate a cone barrel surrounding area based on the real-time positioning coordinates.

[0175] In some embodiments, generating the cone barrel surrounding area based on the real-time positioning coordinates comprises:

[0176] Projecting the real-time positioning coordinates of each traffic cone barrel in the traffic cone barrel cluster from the latitude-longitude coordinate system to the local plane rectangular coordinate system to obtain corresponding plane coordinates;

[0177] Determining plane vertex coordinates constituting a minimum convex polygon from the plurality of plane coordinates;

[0178] Re-projecting the plane vertex coordinates back to the latitude-longitude coordinate system to obtain corresponding latitude-longitude vertex coordinates;

[0179] Arranging the latitude-longitude vertex coordinates in order and closing the beginning and end to form a closed polygon as the cone barrel surrounding area.

[0180] (Five), the region sending unit 205.

[0181] The region sending unit 205 is configured to send the cone barrel surrounding area to the cone barrel management server, so that the cone barrel management server synchronizes the cone barrel surrounding area to the navigation server associated therewith, for the navigation application to temporarily close the cone barrel surrounding area for warning.

[0182] In some embodiments, any traffic cone barrel is built-in with an inertial measurement unit;

[0183] After, when any traffic cone barrel is a master traffic cone barrel, obtaining real-time positioning coordinates of itself and each child traffic cone barrel, generating a cone barrel surrounding area based on the real-time positioning coordinates, and sending the cone barrel surrounding area to the cone barrel management server, the method further comprises:

[0184] acquire a current roll angle of any traffic cone barrel by using an inertial measurement unit;

[0185] acquire a historical roll angle of any traffic cone barrel;

[0186] determine whether any traffic cone barrel is in a toppling state according to a comparison result of the current roll angle and the historical roll angle;

[0187] if any traffic cone barrel is in a toppling state, broadcast a master cone barrel failure information to a traffic cone barrel cluster, and quit a master traffic cone barrel role.

[0188] In some embodiments, any traffic cone barrel comprises a plurality of warning lights of different colors;

[0189] Further comprising:

[0190] receive a light control instruction sent by the cone barrel management server, the light control instruction comprising target color information and flashing mode information;

[0191] determine a corresponding target warning light from the plurality of warning lights of different colors according to the target color information;

[0192] control the target warning light to flash according to the flashing mode information.

[0193] In some embodiments, further comprising:

[0194] when the battery level of any traffic cone barrel is lower than a preset low battery level threshold, generate battery shortage information for any traffic cone barrel;

[0195] send the battery shortage information to the cone barrel management server, so that the cone barrel management server sends a replacement reminder message comprising an identification and a location of any traffic cone barrel to an associated operation and maintenance terminal according to the battery shortage information.

[0196] In specific implementation, each unit above can be implemented as an independent entity, or can be combined as the same or several entities, and the specific implementation of each unit can be referred to the method embodiments above, which will not be described here.

[0197] Therefore, the temporary closed area surrounded by the traffic cone barrels can be automatically synchronized to the navigation application, so as to prompt the user to detour in the path planning stage, which helps to improve the road traffic efficiency and reduce the risk of secondary accidents.

[0198] Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructions, or by controlling related hardware by instructions, which can be stored in a computer readable storage medium and loaded and executed by a processor.

[0199] To this end, the embodiment of the present application provides a computer readable storage medium, wherein a plurality of instructions are stored, the instructions can be loaded by a processor to execute steps of any one of the positioning communication methods for the traffic cone barrel provided by the embodiment of the present application.

[0200] The storage medium can include a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0201] Since the instructions stored in the storage medium can execute steps of any one of the trash rack cleaning path planning methods provided by the embodiment of the present application, the beneficial effects of any one of the positioning communication methods for the traffic cone barrel provided by the embodiment of the present application can be achieved, which will be described in detail in the foregoing embodiments and will not be described here.

[0202] According to an aspect of the present application, a computer program product or computer program is provided, which includes computer programs / instructions stored in a computer readable storage medium. A processor of an electronic device reads the computer programs / instructions from the computer readable storage medium, and the processor executes the computer programs / instructions, so that the electronic device executes the method provided in any one of the positioning communication methods for the traffic cone barrel provided in the foregoing embodiments.

[0203] The above describes in detail the positioning communication method and system for the traffic cone barrel provided by the embodiment of the present application, and the principle and implementation mode of the present application are described by applying specific examples. The above embodiment is only used to help understand the method of the present application and its core idea; at the same time, for those skilled in the art, according to the idea of the present application, the specific implementation mode and application range will be changed, and the above description should not be understood as limiting the present application.

Claims

1. A self-organizing network positioning and communication method for traffic cones, characterized in that, The method includes: When any traffic cone is in operation, it receives broadcast data packets sent by other traffic cones and records the corresponding reception timestamp and the signal strength measured at the time of reception. If the signal strength is greater than or equal to a preset signal strength threshold, and the difference between the received timestamp and the current time is within a preset time window, then according to the broadcast data packet, it is networked with other traffic cones corresponding to it to obtain a traffic cone cluster. Based on a preset main traffic cone selection strategy, a main traffic cone is selected from the traffic cone cluster, and the remaining traffic cones in the traffic cone cluster are determined as sub-traffic cones. When any of the traffic cones is the main traffic cone, the real-time positioning coordinates of itself and each of the sub-traffic cones are obtained, and the cone surrounding area is generated based on the real-time positioning coordinates. The cone-encircled area is sent to the cone management server, so that the cone management server synchronizes the cone-encircled area to its associated navigation server, allowing the navigation application to issue a temporary closure warning for the cone-encircled area.

2. The method as described in claim 1, characterized in that, The process of electing a primary traffic cone from the traffic cone cluster based on a preset primary cone selection strategy includes: Obtain multiple positioning coordinates of any traffic cone within a preset historical time period, and calculate the standard deviation of the multiple positioning coordinates relative to their coordinate mean, as the positioning drift degree of any traffic cone. Based on the location drift and the signal strength, determine the reliability score of any traffic cone and receive the reliability scores broadcast by other traffic cones in the traffic cone cluster. Based on the reliability scores of each traffic cone in the traffic cone cluster, a master traffic cone is elected from the traffic cone cluster.

3. The method as described in claim 2, characterized in that, The process of determining the reliability score of any traffic cone based on the positioning drift and the signal strength, and receiving reliability scores broadcast by other traffic cones in the traffic cone cluster, includes: Obtain the mapping relationship between preset drift level and preset drift threshold range, the mapping relationship between preset signal level and preset signal threshold range, and the mapping relationship between preset drift level, preset signal level and preset reliability score; Based on the preset drift threshold range to which the positioning drift degree belongs, the target drift level is determined from the mapping relationship between the preset drift level and the preset drift threshold range; The target signal level is determined from the mapping relationship between the preset signal level and the preset signal threshold range, based on the preset signal strength to which the preset signal strength belongs; Based on the target drift level and the target signal level, determine the reliability score of any traffic cone from the mapping relationship between the preset drift level, preset signal level and preset reliability score; Broadcast the reliability score of any traffic cone to the traffic cone cluster, and receive the reliability scores broadcast by other traffic cones in the traffic cone cluster.

4. The method as described in claim 2, characterized in that, The step of electing a master traffic cone from the traffic cone cluster based on the reliability scores of each traffic cone in the cluster includes: The highest reliability score is determined from the reliability scores of each traffic cone in the traffic cone cluster; When the highest reliability score corresponds to multiple traffic cones, obtain the cone number of each of the multiple traffic cones; The main traffic cone is determined from the plurality of traffic cones based on the cone number.

5. The method as described in claim 2, characterized in that, Each of the traffic cones is equipped with an inertial measurement unit. After obtaining the real-time positioning coordinates of itself and each of its sub-traffic cones when any of the traffic cones is the main traffic cone, generating a cone-surrounding area based on the real-time positioning coordinates, and sending the cone-surrounding area to the traffic cone management server, the method further includes: The current roll angle of any traffic cone is obtained using the inertial measurement unit. Obtain the historical roll angle of any of the traffic cones; Based on the comparison between the current roll angle and the historical roll angle, determine whether any traffic cone is in a tilted state; If any of the traffic cones is tilted, the system broadcasts a main traffic cone failure message to the traffic cone cluster and exits the main traffic cone role.

6. The method as described in claim 5, characterized in that, After selecting a master traffic cone from the traffic cone cluster based on the reliability scores of each traffic cone in the cluster, the process further includes: When any of the traffic cones is a sub-traffic cone and receives the main traffic cone failure information sent by the main traffic cone, the latest reliability score of each sub-traffic cone in the traffic cone cluster is obtained. The main traffic cone failure information is information generated by the main traffic cone based on its tilting state. A new master traffic cone is elected from the traffic cone cluster based on the latest reliability scores of each sub-traffic cone.

7. The method as described in claim 1, characterized in that, The generation of the cone-shaped area based on the real-time positioning coordinates includes: The real-time positioning coordinates of each traffic cone in the traffic cone cluster are projected from the latitude and longitude coordinate system to the local plane rectangular coordinate system to obtain the corresponding plane coordinates; Determine the coordinates of the plane vertices that constitute the smallest convex polygon from multiple planar coordinates; The coordinates of the plane vertex are projected back into the latitude and longitude coordinate system to obtain the corresponding latitude and longitude vertex coordinates; The latitude and longitude vertex coordinates are arranged in sequence and closed at both ends to form a closed polygon, which serves as the area surrounded by the cone.

8. The method as described in claim 1, characterized in that, Each of the traffic cones includes multiple warning lights of different colors; Also includes: Receives a lighting control command sent by the cone management server, the lighting control command including target color information and flashing mode information; Based on the target color information, determine the corresponding target warning light from the plurality of warning lights of different colors; The target warning light is controlled to flash according to the flashing mode information.

9. The method as described in claim 1, characterized in that, Also includes: When the battery level of any traffic cone is lower than a preset low battery threshold, a low battery information message is generated for any traffic cone. The low power information is sent to the traffic cone management server, so that the traffic cone management server sends a replacement reminder message containing the identifier and location of any traffic cone to the associated maintenance terminal based on the low power information.

10. A self-organizing network positioning and communication system for traffic cones, characterized in that, The system includes: The data receiving unit is used to receive broadcast data packets sent by other traffic cones when any traffic cone is in working condition, and to record the corresponding reception timestamp and the signal strength measured at the time of reception. The traffic cone networking unit is used to network with other traffic cones corresponding to the broadcast data packet to obtain a traffic cone cluster if the signal strength is greater than or equal to a preset signal strength threshold and the difference between the received timestamp and the current time is within a preset time window. The traffic cone election unit is used to elect a main traffic cone from the traffic cone cluster based on a preset main traffic cone selection strategy, and to determine the remaining traffic cones in the traffic cone cluster as sub-traffic cones. The area generation unit is used to obtain the real-time positioning coordinates of itself and each of the sub-traffic cones when any of the traffic cones is the main traffic cone, and to generate the area around the cone based on the real-time positioning coordinates. The area sending unit is used to send the cone-surrounded area to the cone management server, so that the cone management server can synchronize the cone-surrounded area to its associated navigation server, so that the navigation application can temporarily close the cone-surrounded area as a warning.

Images