CN-122002240-A - Track tracking method and device for unpowered trailer, computer equipment and storage medium

CN122002240ACN 122002240 ACN122002240 ACN 122002240ACN-122002240-A

Abstract

The application provides a track tracking method, a track tracking device, computer equipment and a storage medium, which belong to the field of unpowered trailer resource management, and specifically comprise the steps of acquiring gateway data acquired by a mobile gateway on a tractor in real time, drawing a discrete point diagram formed by beacon marks according to a time stamp and a signal strength value in the gateway data, determining the real-time relative position of the unpowered trailer and the tractor based on the discrete point diagram, grouping the tractor and the unpowered trailer according to the real-time relative position, generating the real-time running track of the unpowered trailer according to grouping information and the running track of the tractor, and canceling the grouping and repositioning the unpowered trailer according to the gateway data acquired by the mobile gateway on the tractor in real time when the received signal strength value is obviously changed by acquiring a data packet sent by the same Bluetooth beacon in real time. By the processing scheme, the identification autonomy and the accuracy of the track of the unpowered trailer are realized.

Inventors

WANG XIAOTAO
ZHOU HUIPING
SUN NAN

Assignees

东航资产投资管理有限公司

Dates

Publication Date: 20260508
Application Date: 20260212

Claims (10)

1. A method of tracking a trajectory of an unpowered trailer, comprising: acquiring gateway data acquired by a mobile gateway on a tractor in real time, wherein the gateway data at least comprises a plurality of received beacon identifications, corresponding time stamps and signal strength values of Bluetooth beacon broadcasts from an unpowered trailer; Drawing a discrete point diagram formed by each beacon mark according to the time stamp and the signal strength value in the gateway data; Determining a real-time relative position of the unpowered trailer and the tractor based on the discrete point map, and grouping the tractor and the unpowered trailer according to the real-time relative position; And generating a real-time running track of the unpowered trailer according to the grouping information and the running track of the tractor, and canceling grouping and repositioning the unpowered trailer according to the gateway data acquired by the mobile gateway on the tractor in real time when the data packet transmitted by the same Bluetooth beacon is acquired in real time and the received signal strength value is judged to obviously change.
2. The trajectory tracking method of claim 1, wherein the determining a real-time relative position of an unpowered trailer and the tractor based on the discrete point map comprises: smoothly taking the scattered points of the same beacon mark in the scattered point diagram through a sliding window, and obtaining a signal intensity average value corresponding to the beacon mark; Drawing a real-time mapping curve corresponding to the beacon identification of each Bluetooth beacon; a real-time relative position of the unpowered trailer and the tractor is determined based on the real-time map.
3. The trajectory tracking method of claim 1, wherein said grouping said tractor and said unpowered trailer according to the real-time relative position comprises: Determining a vehicle ordering of the unpowered trailer behind the tractor according to the real-time relative positions; And when the vehicle sequence of the unpowered trailer behind the tractor is maintained unchanged for a preset time, grouping the tractor and the unpowered trailer according to the vehicle sequence.
4. The track following method according to claim 1, wherein when the data packet transmitted by the same bluetooth beacon is collected in real time and it is determined that the received signal strength value significantly varies, the method for canceling the grouping and repositioning the unpowered trailer according to the gateway data collected by the mobile gateway on the tractor in real time comprises: drawing a discrete point diagram corresponding to the time stamp according to the time stamp and the signal strength value in different gateway data acquired by the same Bluetooth beacon; when the change rate of the signal strength values of the adjacent time stamps exceeds a preset threshold value and the number of data packets received in the fixed time of the mobile gateway on the tractor is lower than the preset threshold value, judging that the tractor and the unpowered trailer where the Bluetooth beacon is positioned are separated; According to the judgment result of the separation, the grouping of the unpowered trailer and the tractor is canceled; And repositioning the unpowered trailer according to the data packet acquired by the mobile gateway on the tractor in real time.
5. The trajectory tracking method of claim 4, wherein repositioning the unpowered trailer based on gateway data collected in real time by a mobile gateway on a tractor comprises: when a mobile gateway of a tractor acquires a data packet of the same Bluetooth beacon again in real time within a preset time range, acquiring a signal intensity value when the mobile gateway acquires the data packet and judging a signal intensity average value before the tractor and an unpowered trailer where the Bluetooth beacon is positioned are separated; and when the change rate between the signal intensity value and the signal intensity average value does not exceed the preset threshold value, judging that the vehicle sequence of the unpowered trailer behind the tractor is kept unchanged, and grouping the tractor and the unpowered trailer again according to the vehicle sequence.
6. The trajectory tracking method of claim 1, wherein the generating the real-time trajectory of the unpowered trailer from the consist information and the trajectory of the tractor comprises: determining binding time and unbinding time of the unpowered trailer and the tractor according to the grouping information; And generating a real-time running track of the unpowered trailer according to the binding time, the unbinding time and the running track of the tractor.
7. A method of tracking a trajectory of an unpowered trailer, comprising: The Bluetooth beacon is arranged on the unpowered trailer and broadcasts a data packet in real time, and the data packet at least comprises a beacon identifier of the Bluetooth beacon; the mobile gateway on the tractor collects at least one data packet of the Bluetooth beacon broadcast from the unpowered trailer in real time and generates gateway data, wherein the gateway data at least comprises a plurality of received beacon identifications, corresponding time stamps and signal strength values of the Bluetooth beacon broadcast from the unpowered trailer; The server receives gateway data fed back by at least one mobile gateway, wherein the gateway data carries a gateway identifier and all received data packets; The server draws a discrete point diagram corresponding to the gateway identifications and formed by the beacon identifications according to the time stamp and the signal strength value in the gateway data; A server determines the real-time relative position of the unpowered trailer and the tractor based on the discrete point diagram, and groups the tractor and the unpowered trailer according to the real-time relative position; And the server generates a real-time running track of the unpowered trailer according to the grouping information and the running track of the tractor, and when the real-time relative position of the unpowered trailer and the tractor changes obviously, the server cancels the grouping and relocates the unpowered trailer according to the gateway data acquired in real time.
8. A track following apparatus for an unpowered trailer, the apparatus comprising: The system comprises a data acquisition module, a data processing module and a data processing module, wherein the data acquisition module is used for acquiring gateway data acquired by a mobile gateway on a tractor in real time, and the gateway data at least comprises a plurality of received beacon identifications, corresponding time stamps and signal strength values of Bluetooth beacon broadcasts from an unpowered trailer; The dot diagram drawing module is used for drawing a discrete dot diagram formed by each beacon mark according to the time stamp and the signal strength value in the gateway data; the position grouping module is used for determining the real-time relative position of the unpowered trailer and the tractor based on the discrete point diagram and grouping the tractor and the unpowered trailer according to the real-time relative position; The track generation module is used for generating a real-time running track of the unpowered trailer according to the grouping information and the running track of the tractor, and canceling grouping and repositioning the unpowered trailer according to the gateway data acquired in real time when the data packet transmitted by the same Bluetooth beacon is acquired in real time and the received signal strength value is judged to obviously change.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 6 when the computer program is executed.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.

Description

Track tracking method and device for unpowered trailer, computer equipment and storage medium Technical Field The application relates to the field of unpowered trailer resource management, in particular to a track tracking method, a track tracking device, computer equipment and a storage medium of an unpowered trailer. Background In the civil aviation airport ground guarantee operation, the multiple parties such as aviation department, ground service company, airport share the unpowered trailer, the unpowered trailer flows in the multi-area high frequency such as the terminal building, the parking apron, the freight area, etc., so the unpowered trailer needs to be positioned and managed. The system can be used for the ground operation of civil aviation airports, the unpowered trailers are shared by multiple units, the dispersion mobility is high, the maintenance responsibility is unknown, and once the unpowered trailers are damaged, the responsibility disputes are easy to cause. If manual management is adopted, the defects of high labor cost, untimely counting, easy error and the like exist, and in addition, the service condition of the unpowered trailer cannot be tracked rapidly in the management process. Even if the unpowered trailer is managed by means of radio frequency RFID, GNSS satellite positioning, ultra-high frequency UWB/RTLS and the like, on one hand, the positioning scheme of active navigation of GNSS is high in power consumption and high in cost and is easy to be blocked under a hangar and a terminal building, and on the other hand, real-time tracking of the unpowered trailer cannot be realized, so that the use of the unpowered trailer cannot be monitored in real time. Disclosure of Invention Therefore, in order to overcome the defects in the prior art, the invention provides a track tracking method, a device, computer equipment and a storage medium for realizing the autonomous and accurate identification of the track of the unpowered trailer through the signal intensity data fusion of the tractor and the trailer. The invention provides a track tracking method of an unpowered trailer, which comprises the steps of obtaining gateway data acquired by a mobile gateway on a tractor in real time, wherein the gateway data at least comprises a plurality of received beacon identifications broadcasted by Bluetooth beacons from the unpowered trailer, corresponding time stamps and signal intensity values, drawing a discrete point diagram formed by the beacon identifications according to the time stamps and the signal intensity values in the gateway data, determining real-time relative positions of the unpowered trailer and the tractor based on the discrete point diagram, and grouping the tractor and the unpowered trailer according to the real-time relative positions, generating the real-time running track of the unpowered trailer according to grouping information and the running track of the tractor, and canceling grouping and repositioning the unpowered trailer according to the gateway data acquired by the mobile gateway on the tractor in real time when the received signal intensity values are obviously changed when the data packets transmitted by the same Bluetooth beacons are acquired in real time. In one embodiment, the determining the real-time relative position of the unpowered trailer and the tractor based on the discrete point diagram comprises the steps of smoothly taking a value of scattered points of the same beacon mark in the discrete point diagram through a sliding window, obtaining a signal intensity average value corresponding to the beacon mark, drawing a real-time mapping curve corresponding to the beacon mark of each Bluetooth beacon, and determining the real-time relative position of the unpowered trailer and the tractor based on the real-time mapping curve. In one embodiment, the grouping of the tractor and the unpowered trailer according to the real-time relative position includes determining a vehicle ordering of the unpowered trailer behind the tractor according to the real-time relative position, and grouping the tractor and the unpowered trailer in the vehicle ordering when the vehicle ordering of the unpowered trailer behind the tractor remains unchanged for a predetermined time. In one embodiment, when the received signal strength value is obviously changed when the data packets sent by the same Bluetooth beacon are collected in real time, the grouping is canceled, the unpowered trailer is repositioned according to gateway data collected by a mobile gateway on the tractor in real time, the method comprises the steps of drawing a discrete point diagram corresponding to the time stamp according to the time stamp and the signal strength value in different gateway data collected by the same Bluetooth beacon, judging that the unpowered trailer where the tractor and the Bluetooth beacon are located is separated when the change rate of the signal strength value of the adjacent time st