A method and system for positioning communication of a self-organizing network for traffic cone barrels

Abstract

The embodiment of the application discloses a self-organizing network positioning communication method and system for traffic cone barrels; when any traffic cone barrel is in a working state, the embodiment of the application can receive broadcast data packets sent by other traffic cone barrels, and record the corresponding receiving time stamp and the signal strength measured at the receiving time; 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, then the corresponding other traffic cone barrels form a traffic cone barrel cluster; based on a preset main cone barrel selection strategy, a main traffic cone barrel is elected from the traffic cone barrel cluster; when any traffic cone barrel is the main traffic cone barrel, a cone barrel surrounding area is generated based on the real-time positioning coordinates of the traffic cone barrel itself and each sub-traffic cone barrel; the cone barrel surrounding area is sent to a cone barrel management server to synchronize the cone barrel surrounding area to a navigation server associated with the cone barrel. Thus, the embodiment of the application can improve road traffic efficiency and reduce the risk of secondary accidents.

Description

Technical Field

[0001] This application relates to the field of intelligent transportation technology, specifically to a self-organizing network positioning and communication method and system for traffic cones. Background Technology

[0002] Traffic cones (also known as cone-shaped road signs or traffic cones) are portable traffic safety facilities widely used in road construction, accident handling, and temporary traffic control. They are typically made of highly visible red and white or orange and white striped plastic and are manually placed to form physical barriers to indicate to drivers that there are obstacles or closed sections of road ahead, thereby guiding vehicles to detour and ensuring the safety of on-site workers and drivers.

[0003] In practice, information about such temporary closures relies entirely on physical deployments on-site and is not integrated into the existing traffic information collection and dissemination system. Due to the lack of automated sensing and reporting mechanisms, the traffic status of relevant road sections cannot be recorded and distributed to navigation service systems in a timely manner at the initial stage of an incident. Therefore, when users plan routes using navigation applications, the system cannot identify these temporary closures, often leading to vehicles only visually discovering obstacles when approaching or even entering the construction zone. This can result in dangerous maneuvers such as emergency braking and frequent lane changes, not only reducing road traffic efficiency but also significantly increasing the risk of secondary accidents. Summary of the Invention

[0004] This application provides a self-organizing network positioning and communication method and system for traffic cones, which can automatically synchronize the temporary closed area enclosed by traffic cones to navigation applications, 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.

[0005] This application provides a self-organizing network positioning and communication method for traffic cones, the method including:

[0006] 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.

[0007] If the signal strength is greater than or equal to the preset signal strength threshold, and the difference between the received timestamp and the current time is within the preset time window, then according to the broadcast data packet, it will form a network with other traffic cones corresponding to it to obtain a traffic cone cluster.

[0008] Based on the preset main traffic cone selection strategy, the main traffic cone is elected from the traffic cone cluster, and the remaining traffic cones in the traffic cone cluster are determined as child traffic cones.

[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] This application also provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the steps in any of the self-organizing network positioning and communication methods for traffic cones provided in this application.

[0020] In this application, when any traffic cone is in working condition, it can receive broadcast data packets sent by other traffic cones and record the receiving timestamp of the broadcast data packet and the signal strength measured when receiving the broadcast data packet. The signal strength decreases as the distance between any traffic cone and the other traffic cone that sent the broadcast data packet increases. The receiving timestamp is used to characterize the freshness of the broadcast data packet and indirectly reflects the current active state of the corresponding other traffic cones.

[0021] If the signal strength is greater than or equal to the preset signal strength threshold, and the difference between the received timestamp and the current time is within the preset time window, then the traffic cones can be networked with other traffic cones corresponding to them based on the broadcast data packets to form a traffic cone cluster. This networking mechanism uses both signal strength and timeliness as criteria to collaboratively select traffic cones that are spatially close, have reliable communication links, and are currently active. The resulting cluster can realistically and dynamically reflect the current actual deployment range, effectively avoiding networking errors caused by long-distance weak signal interference or expired data left by removed cones.

[0022] Then, any traffic cone in the traffic cone cluster can elect a master traffic cone based on a preset master cone selection strategy, and designate the remaining traffic cones in the cluster as child traffic cones. The master and child traffic cones will generate a cone-surrounding area based on their own and the real-time positioning coordinates of each of their child traffic cones, and then send the cone-surrounding area to the cone management server. This allows the cone management server to synchronize the cone-surrounding area to its associated navigation server, so that the navigation application can issue a temporary closure warning for the cone-surrounding area. In this way, the actual layout of the cones can be accurately restored, significantly improving the spatial consistency and reliability of the temporary closure area. This effectively avoids the perception distortion and area misjudgment problems caused by independent reporting by each traffic cone, thereby ensuring that the closure warning information provided by the navigation server to the navigation application accurately corresponds to the actual cone-surrounding area.

[0023] This allows the temporary closed areas enclosed by traffic cones to be automatically synchronized to navigation applications, thus prompting users to detour in advance during the route planning stage, improving road traffic efficiency and reducing the risk of secondary accidents. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1a This is a flowchart illustrating a self-organizing network positioning and communication method for traffic cones provided in an embodiment of this application;

[0026] Figure 1b This is a schematic diagram of the scenario between traffic cones and a traffic cone management server provided in an embodiment of this application;

[0027] Figure 1c This is a schematic diagram of the modules between the traffic cones and the traffic cone management server provided in an embodiment of this application;

[0028] Figure 1d This is a schematic diagram of the interface of the cone management server provided in an embodiment of this application;

[0029] Figure 2 This is a schematic diagram of the structure of a self-organizing network positioning and communication system for traffic cones provided in an embodiment of this application. Detailed Implementation

[0030] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0031] This application provides a self-organizing network positioning and communication method and system for traffic cones.

[0032] One type of self-organizing network positioning and communication system for traffic cones can be integrated into an electronic device, such as a terminal or server. The terminal can be a mobile phone, tablet, smart Bluetooth device, laptop, or personal computer (PC); the server can be a single server or a server cluster consisting of multiple servers.

[0033] In some embodiments, the self-organizing network positioning and communication system for traffic cones can also be integrated into multiple electronic devices. For example, the self-organizing network positioning and communication system for traffic cones can be integrated into multiple servers, and the self-organizing network positioning and communication method for traffic cones of this application can be implemented by multiple servers.

[0034] In some embodiments, the server may also be implemented as a terminal.

[0035] The following sections provide detailed descriptions of each example. It should be noted that the sequence 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 and communication method for traffic cones is provided, applicable to any traffic cone, such as... Figure 1a As shown, the specific process of this self-organizing network positioning and communication method for traffic cones can be as follows:

[0037] 101. When any traffic cone is in working condition, receive broadcast data packets sent by other traffic cones, and record the corresponding reception timestamp and the signal strength measured at the time of reception.

[0038] In this context, "any traffic cone" refers to any intelligent traffic cone equipped with communication and positioning capabilities. During distributed networking, each traffic cone possesses the same functional structure and can autonomously participate in broadcasting, receiving, networking, and role election operations without central control. The term "any" emphasizes that this method applies to any traffic cone within the cluster and does not depend on a specific traffic cone identity.

[0039] The operational status refers to any traffic cone being powered on and activated, capable of actively sending broadcast data packets, receiving broadcast data packets from other traffic cones, executing network logic, and responding to management commands. The operational status can be activated by manually turning on the power switch, automatically waking up during deployment (e.g., by detecting the upright posture through a tilt sensor), or being triggered by receiving a remote activation command.

[0040] Other traffic cones refer to intelligent traffic cones that are not any other type of traffic cone.

[0041] A receive timestamp is a local time stamp generated by the internal real-time clock (RTC) or system clock of any traffic cone when it successfully receives a broadcast data packet. It records the moment the broadcast data packet was received. This timestamp is stored in a standard time format with millisecond precision and is used to subsequently determine data freshness.

[0042] Signal strength refers to the Received Signal Strength Indicator (RSSI) measured by the wireless communication module (such as BLE, LoRa, Zigbee, or NB-IoT module) of any traffic cone when it receives broadcast data packets. The unit is dBm. The RSSI value reflects the degree of wireless channel attenuation between other traffic cones and any given traffic cone, and it usually decreases monotonically as the physical distance between them increases.

[0043] 102. If the signal strength is greater than or equal to the preset signal strength threshold, and the difference between the received timestamp and the current time is within the preset time window, then according to the broadcast data packet, it will form a network with other traffic cones corresponding to it to obtain a traffic cone cluster.

[0044] The preset signal strength threshold refers to a signal strength reference value pre-configured in the local storage unit of the traffic cone. This value is used to determine whether the received broadcast data packet originates from another traffic cone that is spatially close and has a reliable communication link. This threshold is typically measured in dBm, with a typical range of −90dBm to −70dBm (e.g., −85dBm). The specific value can be set based on the wireless communication technology used (e.g., BLE, LoRa), the deployment environment (urban roads, highways), and the expected networking distance (e.g., 10–30 meters). When the received signal strength (RSSI) is ≥ this threshold, the two traffic cones are considered to be within 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 when it executes the network formation judgment logic. This time is consistent with the clock source used to record the "receive timestamp" to ensure the accuracy of the time difference calculation. The current time is dynamically obtained by any traffic cone each time it executes the network formation condition judgment.

[0046] The difference between the received timestamp and the current time refers to the time interval between the moment the broadcast data packet is received (i.e., the received timestamp) and the moment the network configuration decision is made (i.e., the current time), denoted as Δt = current time − received timestamp. This difference is used to measure the freshness of the broadcast data: the smaller Δt is, the more likely the corresponding other cones are still in the current deployment state; if Δt is too large, it may indicate that the other cones have been removed or are invalid.

[0047] A preset time window, with a pre-configured time tolerance value (e.g., 10 seconds, 30 seconds, or 1 minute), limits the valid range of the timestamp received by broadcast data packets. If the difference Δt between the received timestamp and the current time does not exceed the preset time window, the corresponding broadcast data packet is considered valid; otherwise, it is considered expired data and discarded. The length of this preset time window can be configured or remotely adjusted according to the dynamic characteristics of the actual construction scenario (e.g., rapidly moving work areas or fixed construction areas) to achieve a balance between system response speed and anti-interference capability.

[0048] A traffic cone cluster refers to a logical set of several spatially adjacent, reliably communicated, and recently active traffic cones that are self-organized. A cluster contains at least two traffic cones, and its membership is dynamically maintained. New traffic cones that meet the conditions can be added, while traffic cones that do not meet the conditions will be automatically removed.

[0049] 103. Based on the preset main traffic cone selection strategy, the main traffic cone is elected from the traffic cone cluster, and the remaining traffic cones in the traffic cone cluster are determined as child traffic cones.

[0050] The preset master cone selection strategy refers to the strategy pre-configured in each traffic cone for the consistent election of a master node within the traffic cone cluster. This strategy is based on quantifiable parameters (such as location drift, signal strength stability, battery status, and runtime) available to each traffic cone in the cluster. Through ranking comparison or comprehensive scoring mechanisms, it enables all traffic cones to independently calculate and reach a consistent election result.

[0051] The main traffic cone refers to the core node in the traffic cone cluster that is elected and is responsible for coordination and reporting.

[0052] Sub-traffic cones refer to all traffic cones in a traffic cone cluster except for the main traffic cone. Sub-traffic cones continuously send their status and location information to the main traffic cone, but do not perform fence generation or external reporting operations; they only participate in cluster collaboration as sensing units.

[0053] It is understandable that each member in a traffic cone cluster has the same pre-defined primary cone selection strategy. When any traffic cone joins the cluster, it acquires relevant status information from all members within the cluster (such as location stability indicators and signal quality exchanged via broadcast), and independently calculates the primary cone candidate based on the strategy. Since all nodes use the same input data and decision logic, each node will ultimately identify the same primary traffic cone, thus achieving a decentralized, self-consistent distributed election without the need for additional communication negotiation.

[0054] In some embodiments, traffic cones with stable physical locations and good communication quality are effectively identified as master nodes, avoiding errors in fence generation or reporting interruptions caused by traffic cones that are tilted or obstructed being mistakenly selected as master traffic cones. At the same time, distributed consensus is achieved based on broadcast-style score exchange, which significantly improves the robustness, fairness, and adaptability of cluster role election, laying a reliable foundation for the subsequent construction of high-precision temporary closed areas.

[0055] Based on a preset master traffic cone selection strategy, a master traffic cone is elected from the traffic cone cluster, including:

[0056] Obtain multiple location coordinates of any traffic cone within a preset historical time period, calculate the standard deviation of the multiple location coordinates relative to their mean, and use it as the location drift of any traffic cone.

[0057] Based on location drift and 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.

[0058] The master traffic cone is elected from the traffic cone cluster based on the reliability scores of each traffic cone in the cluster.

[0059] Among them, the preset historical time period refers to a pre-set time window (such as the most recent 30 seconds or 1 minute) used to retrospectively analyze the positioning stability of traffic cones.

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

[0061] The coordinate mean refers to the arithmetic mean of all positioning coordinates within a preset historical time period, and is used to characterize the center position of the traffic cone.

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

[0063] Position drift is a position fluctuation index quantified by standard deviation, and is used as a key basis for judging whether traffic cones have tipped over or moved.

[0064] The reliability score of any traffic cone is a value calculated based on its positioning drift and received signal strength, used to characterize its reliability as a main traffic cone.

[0065] The reliability score broadcast by other traffic cones refers to the reliability score that each traffic cone in the traffic cone cluster, excluding the current traffic cone, actively sends through broadcast data packets after calculating it locally. By receiving these reliability scores, any traffic cone can know the credibility of other cones in the traffic cone cluster as the master traffic cone, and thus participate in the global master cone election.

[0066] Understandably, since all traffic cones in the traffic cone cluster adopt the same preset master cone selection strategy, each traffic cone can independently calculate and consistently elect the traffic cone with the highest reliability as the master traffic cone, without relying on the coordination of the central node.

[0067] In some embodiments, by introducing a multi-level threshold mapping and joint scoring mechanism, the complex positioning and communication status is transformed into a structured and comparable reliability score, which significantly improves the objectivity, robustness and anti-interference ability of the main cone election. Especially in dynamic construction scenarios, it can effectively avoid misselection caused by individual cones being blocked, slightly moved or signal fluctuations, and ensure that the main node is always the cone with the most stable position and the most reliable communication, thereby ensuring the accuracy and timeliness of subsequent fence generation and reporting.

[0068] Based on location drift and signal strength, determine the reliability score of any traffic cone and receive reliability scores broadcast by other traffic cones in the traffic cone cluster, including:

[0069] 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;

[0070] Based on the preset drift threshold range to which the positioning drift belongs, the target drift level is determined from the mapping relationship between the preset drift level and the preset drift threshold range;

[0071] The target signal level is determined based on the preset signal threshold range to which the signal strength belongs, from the mapping relationship between the preset signal level and the preset signal threshold range;

[0072] Based on the target drift level and target signal level, determine the reliability score of any traffic cone from the mapping relationship between preset drift level, preset signal level and preset reliability score;

[0073] 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.

[0074] The mapping relationship between the preset drift level and the preset drift threshold interval refers to the pre-configured discretization grading rule, which divides the continuous positioning drift degree (such as standard deviation) into several non-overlapping threshold intervals and assigns a drift level (such as "high stability", "medium" or "low stability" or "numerical level 1 / 2 / 3") to each interval to quantify position stability.

[0075] The mapping relationship between preset signal level and preset signal threshold range refers to dividing the received signal strength into multiple threshold ranges according to the strength, and assigning corresponding signal reception levels (such as "strong", "medium", "weak" or level 1 / 2 / 3) to reflect the quality of the communication link.

[0076] The mapping relationship between preset drift level, preset signal level and preset reliability score refers to a preset joint scoring table or function (which can be a two-dimensional lookup table or a weighted formula). Based on the combination of drift level and signal reception level, the corresponding reliability score (such as an integer score or normalized weight) is output. 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 when the positioning drift of the traffic cone falls into a certain preset drift threshold range.

[0078] The target signal level refers to the specific signal reception level matched when the signal strength of the traffic cone falls within a certain preset signal threshold range.

[0079] Understandably, the aforementioned hierarchical mapping mechanism transforms continuous physical quantities (positioning drift, signal strength) into discrete, comparable hierarchical indicators, and generates a unified-scale reliability score through a pre-defined joint mapping relationship. Since all traffic cones use the same mapping rules, the reliability scores calculated by each traffic cone are globally consistent. This allows any traffic cone, upon receiving reliability scores broadcast by other traffic cones within the traffic cone cluster, to independently and consistently elect the traffic cone with the highest reliability as the master traffic cone, without requiring central coordination.

[0080] In some embodiments, while ensuring that the main traffic cone is selected with priority for highly reliable equipment, a deterministic arbitration mechanism is implemented through a unique cone number to ensure that the cluster can quickly and stably select a unique main traffic cone in any scenario, which significantly improves the robustness and operational continuity of the system, and is especially suitable for temporary traffic control scenarios with high dynamics and dense deployment of multiple cones.

[0081] 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, including:

[0082] The highest reliability score is determined from the reliability scores of each traffic cone in the traffic cone cluster;

[0083] When the highest reliability score corresponds to multiple traffic cones, obtain the cone number of each of the multiple traffic cones;

[0084] The main traffic cone is determined from multiple traffic cones based on the cone number.

[0085] The highest reliability score refers to the maximum value among all the reliability scores of traffic cones in the traffic cone cluster, representing the most suitable reliability score to serve as the main traffic cone.

[0086] The cone number is a unique device identifier (such as a 16-digit hexadecimal ID or serial number) pre-programmed or configured in each traffic cone. It is solidified during the manufacturing or deployment phase to ensure uniqueness across the entire network.

[0087] Understandably, when the highest reliability score corresponds to multiple traffic cones, these traffic cones compare their own cone numbers and uniquely determine the main traffic cone according to a preset numbering rule (e.g., the smallest number takes precedence, or the largest number takes precedence). Typically, it can be agreed that the traffic cone with the smallest cone number is selected as the main traffic cone to ensure the certainty and global consistency of the election results.

[0088] In some embodiments, by introducing proactive failure notifications triggered by the tipping state and dynamically updated reliability scores, the system can initiate a seamless reselection process the instant the main cone fails physically (such as being knocked down), avoiding fence reporting interruptions or cluster paralysis caused by the loss of connection of the main node; at the same time, the "latest" score is used to ensure that the new main cone is the most stable and reliable member at present, significantly improving the fault tolerance, continuity and security of the temporary traffic closure system.

[0089] After electing a master traffic cone from the traffic cone cluster based on the reliability scores of each traffic cone in the cluster, the process also includes:

[0090] When any traffic cone is a child traffic cone and receives the main traffic cone failure information sent by the main traffic cone, the latest reliability score of each child traffic cone in the traffic cone cluster is obtained. The main traffic cone failure information is the information generated by the main traffic cone based on its tilting state.

[0091] A new master traffic cone is elected from the traffic cone cluster based on the latest reliability scores of each sub-traffic cone.

[0092] Among them, the main traffic cone failure information refers to the failure notification message actively broadcast by the current main traffic cone when it detects that it has tipped over, which is used to trigger the cluster's master node re-election process.

[0093] The latest reliability score refers to the reliability score recalculated by each sub-traffic cone based on its current real-time status (including the latest positioning drift, signal strength, etc.) after receiving the failure information of the main cone. It is used to reflect its adaptability to act as the main traffic cone at the current moment.

[0094] The tipping state refers to the non-vertical posture detected by the traffic cone through its built-in tilt sensor, accelerometer, or position drift change, indicating that it has moved out of its normal working position and can no longer reliably perform the duties of the master node.

[0095] A new main traffic cone refers to a traffic cone that takes over the responsibilities of the main traffic cone after the original main traffic cone fails, and is re-elected by the remaining sub-traffic cones through a preset main traffic cone selection strategy.

[0096] 104. 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.

[0097] Real-time positioning coordinates refer to the current valid geographic coordinates obtained by the main traffic cone from itself and each of its sub-traffic cones when performing the fence generation operation. These coordinates are measured by the positioning modules (such as GNSS, BeiDou, RTK, or fusion positioning units) built into each traffic cone within the most recent positioning cycle, and are usually expressed in latitude and longitude (e.g., WGS-84 coordinate system). The time delay does not exceed a preset threshold (e.g., 1 second) to ensure the timeliness and accuracy of the spatial status.

[0098] The cone enclosure area refers to the closed two-dimensional region boundary generated using geometric algorithms (such as minimum convex hull, α-shape, or polygon fitting) based on the real-time location coordinates of all members in the traffic cone cluster (including main and sub-cones). This area characterizes the actual physical extent of current temporary construction or accident closures. It can be encoded as a geofence data format (such as GeoJSON polygons) and used to provide precise temporary closure warnings to navigation servers.

[0099] In some embodiments, the processing flow of "latitude and longitude → local plane → convex hull calculation → latitude and longitude restoration" takes into account both computational efficiency and geographical compatibility, avoiding the errors and overhead of performing complex geometric calculations directly in spherical coordinates; the generated cones are smooth around the area boundary, have no self-intersections, and completely surround all effective cones, which can reflect the actual layout on site with high fidelity, providing accurate and reliable temporary enclosure fence data for navigation applications.

[0100] The cone-shaped area is generated based on real-time positioning coordinates, including:

[0101] 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;

[0102] Determine the coordinates of the plane vertices that constitute the smallest convex polygon from multiple planar coordinates;

[0103] Projecting the coordinates of the plane vertex back into the latitude and longitude coordinate system yields the corresponding latitude and longitude vertex coordinates.

[0104] Arrange the latitude and longitude vertex coordinates in sequence and close them end to end to form a closed polygon, which serves as the area surrounded by the cone.

[0105] Among them, the latitude and longitude coordinate system refers to the geographic coordinate system (such as WGS-84) based on the Earth ellipsoid, which is used to represent the absolute position of traffic cones on a global scale, and the units are 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] Understandably, by using the cone management server as an intermediary bridge, seamless integration between intelligent traffic cones and the mainstream navigation ecosystem is achieved. This architecture decouples the direct dependence between terminal devices and navigation platforms, ensuring data format compatibility while supporting unified access and distribution of multi-source cone clusters, significantly improving the efficiency of reaching temporary traffic incident information and broadening user coverage.

[0115] In some embodiments, a low-cost inertial measurement unit (IMU) is used to achieve highly reliable physical state self-sensing capability, enabling the main traffic cone to have a "self-health diagnosis" function. In the event of anomalies such as tipping over, the cluster self-healing process can be proactively and promptly triggered, effectively preventing fence drift, boundary distortion, or navigation errors caused by the instability of the main node, significantly improving the robustness and reliability of the entire temporary traffic control system. Each traffic cone has a built-in IMU.

[0116] When any traffic cone is the master traffic cone, the system obtains its own and all its child traffic cones' real-time location coordinates, generates the cone's surrounding area based on these coordinates, and sends this area to the traffic cone management server. The system also includes:

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

[0118] Obtain the historical roll angle of any traffic cone;

[0119] Based on the comparison between the current roll angle and the historical roll angle, determine whether any traffic cone is tilted.

[0120] If any traffic cone is tilted, it broadcasts a message that the main traffic cone has failed to the traffic cone cluster and then exits the role of the main traffic cone.

[0121] The Inertial Measurement Unit (IMU) refers to a miniature sensor module integrated inside a traffic cone, typically containing a three-axis accelerometer and a three-axis gyroscope, used to sense the device's attitude, angular velocity, and linear acceleration in real time; in this application, it is mainly used to calculate the roll angle of the cone's rotation about its longitudinal axis (vertical direction).

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

[0123] Historical roll angle refers to the baseline value of the roll angle recorded when traffic cones are in normal working condition (such as the stabilization period after deployment) or the average roll angle over a period of time, which is used as a reference for judging abnormal posture.

[0124] Understandably, by continuously comparing the current roll angle with historical roll angles, the system can sensitively identify whether the main traffic cones have tipped over due to external collisions, wind, or human movement. Once a significant deviation is detected (e.g., the absolute value of the current roll angle exceeds a preset threshold, or the rate of change suddenly increases), it is considered a failure. The system proactively broadcasts the failure information and relinquishes the main node's responsibilities, thereby preventing the failed device from continuing to report erroneous fence data and ensuring the authenticity, continuity, and security of information regarding temporarily closed areas.

[0125] In some embodiments, multi-color programmable warning lights and remote control mechanisms are used to upgrade traffic cones from "static markers" to "dynamic information terminals," significantly improving the on-site perception of temporary traffic incidents and user response efficiency. Each traffic cone includes multiple warning lights of different colors.

[0126] Also includes:

[0127] Receive lighting control commands sent by the cone management server. The lighting control commands include target color information and flashing mode information.

[0128] Based on the target color information, determine the corresponding target warning light from multiple warning lights of different colors;

[0129] The target warning light flashes according to the flashing pattern information.

[0130] Warning lights refer to high-brightness light-emitting units (such as LED arrays) integrated into the outer shell of traffic cones. They have specific color attributes and are used to provide visual warnings during the day or night, improving the visibility of traffic cones in complex environments.

[0131] Light control commands refer to control messages issued by the cone management server, which contain parameters instructing the cones how to illuminate their warning lights, typically transmitted via wireless communication links such as NB-IoT, LoRa, or 4G.

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

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

[0134] A target warning light refers to the specific light-emitting unit selected from multiple warning lights based on the target color information, which will be subject to flashing control.

[0135] Understandably, by remotely issuing light control commands, the traffic cone management server can dynamically adjust the visual warning style of the traffic cones according to different traffic scenarios (such as construction type, hazard level, day and night time), thereby achieving differentiated and intelligent on-site guidance.

[0136] In some embodiments, to prevent communication interruptions, location failures, or fence loss due to cone battery depletion, thereby ensuring the continued effectiveness of information on temporarily closed areas; simultaneously, by accurately pushing notifications that include changes in location and identity, operational efficiency is significantly improved, manual inspection costs are reduced, and the long-term stable operation of the intelligent traffic cone cluster is ensured, further including:

[0137] When the battery level of any traffic cone falls below a preset low battery threshold, a low battery information message is generated for that traffic cone.

[0138] Send a low battery information message to the traffic cone management server, so that the traffic cone management server can send a replacement reminder message containing the identifier and location of any traffic cone to the associated maintenance terminal based on the low battery information.

[0139] The low battery information refers to the alarm data packet actively generated by the traffic cone when the battery level is lower than the preset low battery threshold (e.g., remaining battery level ≤ 10% or voltage ≤ 3.2V). It includes at least the traffic cone's unique identifier (such as device ID), the current battery level, a timestamp, and optional location information, indicating that the cone is about to fail due to power depletion.

[0140] The replacement reminder message refers to the notification message generated by the traffic cone management server based on the received low battery information and pushed to the operation and maintenance terminal. The content includes, but is not limited to: the traffic cone logo that needs battery replacement, its latest location coordinates, deployment location description, low battery occurrence time and suggested handling priority, in order to guide operation and maintenance personnel to carry out on-site maintenance in a timely manner.

[0141] For example, a municipal engineering team was conducting emergency pipeline repairs on a section of the First Ring Road at night. At 10:00 PM, they deployed six intelligent traffic cones (numbered C01–C06). Each traffic cone is equipped with a built-in GNSS positioning module, BLE communication unit, IMU inertial measurement unit, multi-color LED warning lights (red / yellow / blue), rechargeable lithium battery, and main control chip. After powering on, each traffic cone enters working mode and begins periodically broadcasting a data packet containing its own ID, location coordinates, and signal strength. Each traffic cone receives broadcast data packets from other traffic cones, recording the timestamp and RSSI value of each packet (e.g., C01: −75dBm, time difference 2 seconds). Each traffic cone calculates and broadcasts its own reliability score, and based on its own reliability score and the reliability score it receives, each traffic cone elects a master traffic cone. For example, C02 has the lowest positioning drift (standard deviation of only 0.2 meters) and stable RSSI (mean -72dBm) → 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 will elect C02 as the main traffic cone. C02 obtains its own and other child traffic cones' real-time positioning coordinates (latitude and longitude), projects them onto a local Cartesian coordinate system centered on C02, calculates the minimum convex polygon, and obtains four outer vertices (C01, C03, C05, C06). The vertices are then back-projected back to latitude and longitude to generate a closed polygon fence. C02 sends the area surrounding the cone to the cone management server, which synchronizes it to its associated navigation server (such as the Gaode Map server). The navigation application then displays a "Construction ahead, please detour" prompt on the user's terminal map interface and automatically avoids the area in route planning, achieving accurate temporary closure warnings. An electric vehicle grazed C02, causing it to tilt to the right. C02's IMU detected a current roll angle of 35°, far exceeding the historical roll angle (average of 2° during the stable period), and determined it to be in a tipping state. C02 immediately broadcast the main traffic cone failure information and resigned from its role as the main traffic cone. After receiving the failure information, sub-traffic cones C01, C03, etc. recalculated the latest reliability score. C03 was selected as the new main traffic cone with the latest reliability score of 92, rebuilt the fence and reported it, and the navigation fence was seamlessly updated.

[0142] Understandably, the traffic cones in this application can leverage high-precision BeiDou / Global Positioning System and other positioning technologies, as well as 4G / Bluetooth wireless communication technologies, to collect and disseminate traffic incident information, thereby improving travel safety. The product uses a handle-type structure, inserted from the top of a standard cone and fixed to the top. Placing the cone in a construction / restricted area allows for the uploading of real-time road closure information.

[0143] Traffic cones integrate multiple intelligent functions, including tipping detection, real-time positioning, Bluetooth communication, and battery power management; they are also equipped with warning lights and buzzers for on-site audio-visual alerts. Figure 1b As shown, the traffic cone can communicate remotely with the cone management server via 4G / 5G and other communication base stations to achieve fence reporting, status monitoring and remote control; in addition, it can also establish a local connection with the Bluetooth management application on the mobile terminal via Bluetooth to support on-site configuration, status query and debugging operations.

[0144] like Figure 1c As shown, the traffic cones in this application possess intelligent sensing and interaction capabilities. It is understood that upon detecting a fallen state, an alarm message can be sent to the gateway and the cone management server, simultaneously triggering an audible and visual alarm—including activating a buzzer to emit a warning sound. It supports setting the construction road direction (e.g., uphill / downhill) and specific lane number via physical buttons according to project needs, facilitating rapid on-site identification. Equipped with multi-color warning lights, supporting various modes such as alternating red and blue flashing, red flashing, and yellow flashing, it is used to remind drivers to avoid the cones. The relevant flashing modes, colors, cycles, and brightness can all be remotely configured by the cone management server. It integrates a voice prompt function, capable of playing preset safety voice messages (e.g., "Construction ahead, please slow down"). A local management application is provided, enabling device parameter configuration, status query, and on-site operation and maintenance via Bluetooth connection. The cone management server supports real-time battery level query and has remote operation and maintenance capabilities, allowing configuration of remote restart, location data reporting intervals, warning light flashing parameters (including color and cycle), and ambient light brightness thresholds. The navigation application, based on an electronic map, can display the real-time placement location and working status of the traffic cones. The cone management server has a built-in construction information management module, which supports viewing key information such as the start and end locations of construction, the lane in question, the person in charge of construction, and the planned construction time, enabling digital management of construction tasks.

[0145] like Figure 1d As shown, the traffic cone management server can synchronize the area around the traffic cones to its associated navigation server, displaying the location information of the deployed traffic cones on the electronic map of the navigation application. It also supports querying device status and configuring usage parameters. It displays the current status, location, and statistical information such as whether any cones have fallen over. It provides platform login, operation, and other security logs. It summarizes historical data and provides construction statistics based on cones and roads. It includes alarm information such as traffic cone falls, road maintenance timeouts, and incorrect maintenance sections. It includes functions such as access control and account allocation. It can develop data interfaces for third-party systems, such as traffic systems and commercial navigation map software systems, providing real-time maintenance road condition information.

[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] Obtain multiple location coordinates of any traffic cone within a preset historical time period, calculate the standard deviation of the multiple location coordinates relative to their mean, and use it as the location drift of any traffic cone.

[0158] Based on location drift and 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.

[0159] The master traffic cone is elected from the traffic cone cluster based on the reliability scores of each traffic cone in the cluster.

[0160] In some embodiments, a reliability score for any traffic cone is determined based on location drift and signal strength, and reliability scores broadcast by other traffic cones in the traffic cone cluster are received, including:

[0161] 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;

[0162] Based on the preset drift threshold range to which the positioning drift belongs, the target drift level is determined from the mapping relationship between the preset drift level and the preset drift threshold range;

[0163] The target signal level is determined based on the preset signal threshold range to which the signal strength belongs, from the mapping relationship between the preset signal level and the preset signal threshold range;

[0164] Based on the target drift level and target signal level, determine the reliability score of any traffic cone from the mapping relationship between preset drift level, preset signal level and preset reliability score;

[0165] 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.

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

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

[0168] When the highest reliability score corresponds to multiple traffic cones, obtain the cone number of each of the multiple traffic cones;

[0169] The main traffic cone is determined from multiple traffic cones based on the cone number.

[0170] In some embodiments, after electing a master traffic cone from the traffic cone cluster based on the reliability scores of each traffic cone in the cluster, the method further includes:

[0171] When any traffic cone is a child traffic cone and receives the main traffic cone failure information sent by the main traffic cone, the latest reliability score of each child traffic cone in the traffic cone cluster is obtained. The main traffic cone failure information is the information generated by the main traffic cone based on its tilting state.

[0172] A new master traffic cone is elected from the traffic cone cluster based on the latest reliability scores of each sub-traffic cone.

[0173] (iv) Region generation unit 204.

[0174] The area generation unit 204 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.

[0175] In some embodiments, generating the cone-shaped area based on real-time positioning coordinates includes:

[0176] 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;

[0177] Determine the coordinates of the plane vertices that constitute the smallest convex polygon from multiple planar coordinates;

[0178] Projecting the coordinates of the plane vertex back into the latitude and longitude coordinate system yields the corresponding latitude and longitude vertex coordinates.

[0179] Arrange the latitude and longitude vertex coordinates in sequence and close them end to end to form a closed polygon, which serves as the area surrounded by the cone.

[0180] (v) Regional transmission unit 205.

[0181] The area sending unit 205 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.

[0182] In some embodiments, any traffic cone has a built-in inertial measurement unit;

[0183] When any traffic cone is the master traffic cone, the system obtains its own and all its child traffic cones' real-time location coordinates, generates the cone's surrounding area based on these coordinates, and sends this area to the traffic cone management server. The system also includes:

[0184] The current roll angle of any traffic cone is obtained using an inertial measurement unit;

[0185] Obtain the historical roll angle of any traffic cone;

[0186] Based on the comparison between the current roll angle and the historical roll angle, determine whether any traffic cone is tilted.

[0187] If any traffic cone is tilted, it broadcasts a message that the main traffic cone has failed to the traffic cone cluster and then exits the role of the main traffic cone.

[0188] In some embodiments, any traffic cone includes multiple warning lights of different colors;

[0189] Also includes:

[0190] Receive lighting control commands sent by the cone management server. The lighting control commands include target color information and flashing mode information.

[0191] Based on the target color information, determine the corresponding target warning light from multiple warning lights of different colors;

[0192] The target warning light flashes according to the flashing pattern information.

[0193] In some embodiments, it also includes:

[0194] When the battery level of any traffic cone falls below a preset low battery threshold, a low battery information message is generated for that traffic cone.

[0195] Send a low battery information message to the traffic cone management server, so that the traffic cone management server can send a replacement reminder message containing the identifier and location of any traffic cone to the associated maintenance terminal based on the low battery information.

[0196] In practice, each of the above units can be implemented as an independent entity or can be arbitrarily combined to be implemented as the same or several entities. For the specific implementation of each of the above units, please refer to the previous method embodiments, which will not be repeated here.

[0197] Therefore, the embodiments of 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.

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

[0199] Therefore, embodiments of this application provide a computer-readable storage medium storing a plurality of instructions that can be loaded by a processor to execute steps in any of the self-organizing network positioning communication methods for traffic cones provided in embodiments of this application.

[0200] The storage medium may include: read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0201] Since the instructions stored in the storage medium can execute the steps in any of the trash rack cleaning path planning methods provided in the embodiments of this application, the beneficial effects that any of the self-organizing network positioning and communication methods for traffic cones provided in the embodiments of this application can achieve can be realized. For details, please refer to the previous embodiments, which will not be repeated here.

[0202] According to one aspect of this application, a computer program product or computer program is provided, comprising a computer program / instructions stored in a computer-readable storage medium. A processor of an electronic device reads the computer program / instructions from the computer-readable storage medium and executes the computer program / instructions, causing the electronic device to perform the method provided in the above embodiments for ad hoc network positioning communication of traffic cones.

[0203] The above provides a detailed description of a self-organizing network positioning and communication method and system for traffic cones provided in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this 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. 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. 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; 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. 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; Based on the cone number, determine the main traffic cone from the plurality of 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, 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.

3. The method as described in claim 2, 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.

4. 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.

5. 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.

6. 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.

7. 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 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. 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; 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. 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; Based on the cone number, determine the main traffic cone from the plurality of 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.

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