CN111585636A - Vehicle management system based on big dipper and Lora data transfer radio station - Google Patents
Vehicle management system based on big dipper and Lora data transfer radio station Download PDFInfo
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- H—ELECTRICITY
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- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
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- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
- H04B7/18513—Transmission in a satellite or space-based system
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- H04W—WIRELESS COMMUNICATION NETWORKS
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- H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
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- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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- H—ELECTRICITY
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- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/48—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for in-vehicle communication
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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Abstract
The invention provides a vehicle management system based on Beidou and Lora data transmission radio stations, which comprises a plurality of vehicles, a plurality of vehicle subnets and a vehicle management platform in an enterprise, wherein all the vehicles are provided with intelligent vehicle-mounted modules. The intelligent vehicle-mounted module is communicated with the vehicle management platform through the Beidou link, and meanwhile, the intelligent vehicle-mounted module can form a vehicle subnet with other vehicles close to each other through a Lora data transmission radio station. When the Beidou communication of the intelligent vehicle-mounted module breaks down, the connection can be established through the Lora data transmission radio station and the relay vehicle in the vehicle subnet, and the relay vehicle indirectly communicates with the vehicle management platform. According to the vehicle management system, the connection between all vehicles and the vehicle management platform is established through the Beidou communication link, the communication distance is long, and when the Beidou communication of the vehicles fails, other vehicles can perform relay auxiliary communication, so that the reliability of the vehicle management system is improved.
Description
Technical Field
The invention relates to the technical field of vehicle communication management, in particular to a vehicle management system based on Beidou and Lora data transmission radio stations.
Background
In recent years, the investment of the world on infrastructure construction is gradually increased, the industries such as buildings, roads and bridges, water conservancy, energy and the like are rapidly developed, meanwhile, the scale of engineering enterprises related to China is enlarged, the business is expanded overseas, and vehicles of the engineering enterprises in China can be seen frequently in China and some surrounding countries. At present, Laos, Vietnam, Cambodia, Nipol and other peripheral countries are main assistance objects in China, and in order to meet the requirements of transregional dispatching of personnel and materials, engineering vehicles, public service vehicles and the like of enterprises in China often arrive at construction sites of roads, railways, power stations and the like of the countries, so that higher requirements are provided for vehicle management. The vehicles of engineering enterprises are often in large quantity, large in mobility and scattered in position, and the management of the vehicles is a difficult problem troubling the enterprises all the time. The traditional vehicle management causes low transparency and untimely information feedback in the vehicle transportation process due to lack of real-time and accurate monitoring of the vehicle; and secondly, due to the lack of a uniform vehicle management platform, enterprise managers are difficult to communicate with vehicle drivers, and real-time scheduling of the drivers and the vehicles is difficult to meet, especially when the vehicles are abroad. These problems make it difficult for enterprises to fully master the actual conditions of all vehicles, increasing vehicle management risks and costs.
With the rapid development of information technology, four types of vehicle management systems mainly appear at the present stage: the first mode adopts the mode of 'GPS/Beidou positioning + GPRS communication', the second mode adopts the mode of 'GPS/Beidou positioning + NB-IoT communication', the third mode adopts the mode of 'GPS/Beidou positioning + cloud platform', and the fourth mode adopts the mode of 'Beidou positioning + Beidou communication'. In the four vehicle management systems, the positioning of the vehicle is carried out through a GPS or a Beidou, and the higher positioning precision can be achieved. In the communication mode of the vehicle, the communication mode with the vehicle management platform inside the enterprise through the GPRS or the NB-IoT has high speed and wide coverage range, but the vehicle is required to be in the coverage range of the base station for communication, and the payment to the operator is needed according to the month or year. If the vehicle arrives abroad, on one hand, the construction site is not necessarily covered by the base station, which causes communication difficulty, and on the other hand, international roaming also causes high cost. The vehicle management system adopting the cloud platform needs to provide cloud technical support by means of a third-party enterprise, vehicles and management platforms in the enterprise need to be connected into the cloud platform through the Internet, information interaction and data management are carried out through the cloud platform, and the vehicle management platform can flexibly customize vehicle monitoring data. However, this vehicle management method still requires the vehicle to be located within the coverage of the base station and needs to pay for the third-party enterprise, and the operation condition of the third-party enterprise also indirectly affects the use of the vehicle management system. For the fourth vehicle management system, the Beidou communication mode is wide in coverage range, reliable communication is achieved in the Asia-Pacific region, and no base station is needed, and no cost needs to be paid after the Beidou SIM card is purchased. However, the communication frequency of the Beidou communication is low, the civil Beidou card can only send data once per minute, the instantaneous power when the data are sent is large, and when the Beidou communication unit works continuously, the risk of failure exists. Once the Beidou communication unit of the vehicle breaks down, the internal connection with the enterprise is interrupted.
Therefore, how to develop a vehicle management system with high reliability, low cost and easy use becomes an important problem.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a vehicle management system based on Beidou and Lora data transmission radio stations. Under the management system, enterprise managers can communicate with all vehicles in real time, grasp the dynamic state of the vehicles, ensure the transparence of vehicle information and ensure the safety of the vehicles to a certain extent.
A vehicle management system based on Beidou and Lora data transmission radio stations comprises a plurality of vehicles, a plurality of vehicle subnets formed by the vehicles through the Lora data transmission radio stations, and a vehicle management platform in an enterprise; each vehicle subnet is internally provided with a relay vehicle;
each vehicle is equipped with an intelligent vehicle-mounted module; the intelligent vehicle-mounted module is provided with a Beidou communication link and a Lora data transmission radio station communication link;
each vehicle is communicated with the vehicle management platform through the Beidou communication link, and simultaneously, each vehicle is communicated with other vehicles in the vehicle subnet through the Lora radio communication link;
when the Beidou communication link of the intelligent vehicle-mounted module breaks down, the Beidou communication link of the intelligent vehicle-mounted module can be connected with the relay vehicle through the Lora data transmission radio station communication link, the relay vehicle is communicated with other vehicles in the vehicle subnet, and meanwhile the relay vehicle is indirectly communicated with the vehicle management platform.
Further, as above vehicle management system based on big dipper and Lora number pass radio station, the on-vehicle module of intelligence includes: the system comprises an STM32 main control unit, a Beidou communication positioning unit, a Lora data transmission radio station unit, a three-axis acceleration sensor, a buzzer alarm, a fingerprint identification unit and an emergency switch, wherein the Beidou communication positioning unit, the Lora data transmission radio station unit, the three-axis acceleration sensor, the buzzer alarm, the fingerprint identification unit and the emergency switch are connected with the STM32 main control unit;
the Beidou communication positioning unit integrates two functions of communication and positioning, the Beidou communication function is used for communication between the vehicle and the vehicle management platform, and the positioning function is used for acquiring longitude and latitude, speed and altitude information of the vehicle;
the Lora data transmission radio station unit is used for communicating with other vehicles in the vehicle subnet;
the three-axis acceleration sensor is used for acquiring acceleration information of the vehicle in three directions, namely a forward direction, a lateral direction and a vertical direction, so as to judge the real-time motion state of the vehicle;
the buzzer alarm is used for reminding a driver of the vehicle in a sound alarm mode when the vehicle monitored by the vehicle management platform is abnormal;
the fingerprint identification unit is used for acquiring identity information of a vehicle driver so as to log in a vehicle management system through fingerprint information;
the emergency switch is used for when vehicle driver emergence emergency, takes place the information to STM32 main control unit, and STM32 main control unit makes contact through big dipper communication positioning unit and Lora number pass radio station unit and external world.
Further, as described above, in the vehicle management system based on the beidou and Lora digital radio, the data frame types transmitted in the beidou communication link include: the system comprises a registration command frame, a registration reply frame, a vehicle basic information frame, a vehicle state information frame, a query command frame, an emergency communication frame and an alarm information frame;
the registration command frame is sent to the vehicle management platform by the intelligent vehicle-mounted module through the Beidou, and after the vehicle management platform receives the registration command frame, the information of the vehicle and the driver is written into a database of the vehicle management platform;
the registration reply frame is sent to the corresponding intelligent vehicle-mounted module by the vehicle management platform through the Beidou so as to inform whether the vehicle registration is successful or not;
the vehicle basic information frame is sent to the intelligent vehicle-mounted modules of all vehicles by the vehicle management platform through the Beidou communication link according to a certain period, the intelligent vehicle-mounted modules store the corresponding basic information of the vehicles in the memories of the intelligent vehicle-mounted modules after receiving the basic information, and the basic information of the vehicles comprises vehicle numbers and vehicle longitude and latitude;
the vehicle state information frame is sent to a vehicle management platform by an intelligent vehicle-mounted module of a vehicle according to a certain period, the vehicle management platform receives the vehicle state information frame and then stores the vehicle state information frame, and the vehicle state information frame comprises a license plate number, a vehicle type, a Beidou SIM card number of the intelligent vehicle-mounted module, speed, acceleration, altitude and vehicle fault state information besides basic information of the vehicle;
the inquiry command frame is sent to the inquired vehicle by the vehicle management platform, and the inquired vehicle sends a vehicle state information frame to the vehicle management platform in the next Beidou sending period after receiving the inquiry command frame;
the emergency communication frame is simultaneously sent to a vehicle and a vehicle management platform in a vehicle subnet by the intelligent vehicle-mounted module; after receiving the emergency communication frame, other vehicles in the vehicle subnet can forward the emergency communication frame to the vehicle management platform through respective Beidou communication positioning units again;
and the alarm information frame is sent to a vehicle possibly in a dangerous case by the vehicle management platform, so that the intelligent vehicle-mounted module is driven to sound and alarm.
Further, as above, in the vehicle management system based on the beidou and the Lora radio, the data frame type transmitted in the communication link of the Lora radio includes: networking request frame and networking state frame;
the networking request frame is sent to other vehicles in the vehicle subnet by a certain vehicle needing networking;
the networking state frame is sent to a vehicle of a sender by a target vehicle receiving the networking request frame so as to inform whether networking is successful or not.
Further, as mentioned above, in the vehicle management system based on the beidou and the Lora data transmission radio station, two tables are stored in the memory of each intelligent vehicle-mounted module for maintenance, and the two tables are: a vehicle basic information table and a vehicle subnet information table;
the vehicle basic information table is constructed and updated according to vehicle basic information frames sent by a vehicle management platform, and the content in the vehicle basic information table comprises a vehicle number and vehicle longitude and latitude;
the vehicle subnet information table is constructed and updated according to the distance between the vehicle and other vehicles, and the content in the vehicle subnet information table comprises vehicle numbers, vehicle longitude and latitude and Beidou signal intensity.
Further, according to the vehicle management system based on the Beidou and the Lora data transmission radio stations, the relay vehicle can change in the vehicle subnet according to different time;
the intelligent vehicle-mounted module sorts and selects the Beidou signal strength from big to small in the vehicle subnet information table in real time, and the vehicle with the largest Beidou signal strength is the relay vehicle in the vehicle subnet.
Further, according to the vehicle management system based on the Beidou and Lora data radio, the vehicle management platform is arranged in an enterprise, and the functional modules of the vehicle management platform comprise a computer, a vehicle management module running on the computer, a database and a Beidou commander;
the Beidou commander is connected with a computer through an RS232 interface, and the computer is simultaneously communicated with a plurality of vehicles through the Beidou commander;
the vehicle management module comprises a user management unit, a communication management unit, an electronic map unit, a vehicle state monitoring unit and an information inquiry unit;
the user management unit is used for managing an account number, a password and vehicle driver identity information of a vehicle management system user;
the communication management unit is used for controlling data receiving and transmitting between the computer and the Beidou commander;
the electronic map unit is used for displaying the positions of all vehicles in a map and marking dangerous areas;
the vehicle state monitoring unit is used for analyzing the received vehicle state information frame and monitoring the dynamic state of all vehicles in real time;
the information inquiry unit is used for inquiring the real-time information of the specified vehicle;
the database is used for storing account information, driver identity information and vehicle driving information of a vehicle management system user.
Further, as the vehicle management system based on the Beidou satellite and Lora digital radio, the vehicle running information comprises the vehicle number, the license plate number, the vehicle type, the running path, the speed, the altitude, the acceleration, the Beidou communication SIM card number of the intelligent vehicle-mounted module and the vehicle fault state.
Has the advantages that:
the intelligent vehicle-mounted module based on STM32 has the advantages of simple structure, low cost and convenient operation. The Beidou communication link is used for establishing the relation between all vehicles and the vehicle management platform, the communication distance is long, the coverage of a base station is not needed, all vehicles in the Asia-Pacific region can be under the supervision of a vehicle management system, and the service cost does not need to be paid. When the Beidou communication of the vehicle fails, auxiliary communication can be carried out by the Lora data transmission radio station of the relay vehicle in the vehicle subnet, so that the method is a redundant communication means, and the reliability of the vehicle management system is improved.
Drawings
FIG. 1 is a schematic diagram of the vehicle management system of the present application;
FIG. 2 is a schematic diagram of the structure of an intelligent vehicle module;
FIG. 3 is a data frame type diagram of data transmitted in the Beidou communication link;
FIG. 4 is a diagram of the types of data frames transmitted in the communication link of a Lora data radio;
FIG. 5 is a processing flow chart after the Beidou data frame is received by the intelligent vehicle-mounted module;
FIG. 6 is a diagram of a vehicle subnet topology;
FIG. 7 is a flow chart of the process after the intelligent vehicle module receives the data frame of the Lora data transmission station;
FIG. 8 is a functional block diagram of a vehicle management module.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention are described clearly and completely below, and it is obvious that the described embodiments are some, not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention designs an intelligent vehicle-mounted module based on an STM32 main control unit, which can acquire motion information of a vehicle from a three-axis acceleration sensor, control data receiving, transmitting and communication processes of a Beidou and a Lora data transmission radio station, and enable a driver to quickly log in a system through fingerprint identification. When the speed and the acceleration of the vehicle exceed the preset values or the running route is close to a dangerous area, the buzzer alarm can give an alarm, and when an emergency occurs, a driver can inform the vehicle management platform through the emergency switch, so that the vehicle management platform is simple, convenient and easy to use. According to the vehicle management system, the connection between all vehicles and the vehicle management platform is established through the Beidou communication link, the communication distance is long, the cost is low, relay auxiliary communication can be carried out by Lora data transmission radio stations of other vehicles when the Beidou communication of the vehicles fails, and the reliability of the vehicle management system is improved.
The technical scheme provided by the invention is as follows: the utility model provides a vehicle management system based on big dipper and Lora data transfer radio station, includes the inside vehicle management platform of a plurality of vehicles, a plurality of vehicle subnet and enterprise, and all vehicles all are equipped with intelligent vehicle-mounted module. The intelligent vehicle-mounted module is communicated with the vehicle management platform through the Beidou link, and meanwhile, the intelligent vehicle-mounted module can form a vehicle subnet with other vehicles close to each other through a Lora data transmission radio station. When the Beidou communication of the intelligent vehicle-mounted module breaks down, the connection can be established through the Lora data transmission radio station and the relay vehicle in the vehicle subnet, and the relay vehicle indirectly communicates with the vehicle management platform.
The intelligent vehicle-mounted module comprises an STM32 main control unit, a Beidou communication positioning unit, a Lora data transmission radio unit, a three-axis acceleration sensor, a buzzer alarm, a fingerprint identification unit and an emergency switch. The Beidou communication positioning unit integrates two functions of communication and positioning, the Beidou communication function is used for communication between the vehicle and the vehicle management platform, and the positioning function is used for acquiring longitude and latitude, speed and altitude information of the vehicle. The Lora radio module is used for communicating with other vehicles in the vehicle subnet, namely, the vehicles in the vehicle subnet are networked through the Lora radio. The three-axis acceleration sensor is used for acquiring acceleration information of the vehicle in the forward direction, the lateral direction and the vertical direction so as to judge the real-time motion state of the vehicle. If the running speed and the acceleration of the vehicle exceed the preset threshold values or an alarm information frame sent by the vehicle management platform is received, the buzzer alarm can sound for alarming. The fingerprint identification module is used for collecting driver identity information, and is convenient for the driver to log in quickly. The emergency switch is used by the driver when communication with the vehicle management platform is required in an emergency. The intelligent vehicle-mounted module is powered by a general 12V power supply in the vehicle.
In the vehicle management system, the data frame type transmitted in the Beidou communication link comprises: the system comprises a registration command frame, a registration reply frame, a vehicle basic information frame, a vehicle state information frame, a query command frame, an emergency communication frame and an alarm information frame; the types of data frames transmitted in the link of the Lora data transmission station comprise: networking request frame, networking state frame.
The registration command frame is used when the vehicle starts to work and is sent to the vehicle management platform by the intelligent vehicle-mounted module through the Beidou, after the vehicle management platform receives the registration command frame, the information of the vehicle and a driver is written into a database of the vehicle management platform, and a registration reply frame is sent to the intelligent vehicle-mounted module through the Beidou so as to inform whether the vehicle is successfully registered or not. When the intelligent vehicle management system works normally, the vehicle management platform can send basic information frames of vehicles to all vehicles through the Beidou communication link according to a certain period, the intelligent vehicle-mounted module stores the corresponding basic information of the vehicles in a memory of the intelligent vehicle-mounted module after receiving the basic information, and the basic information of the vehicles only comprises vehicle numbers and vehicle longitude and latitude. All vehicles need to send vehicle state information frames to the vehicle management platform according to a certain period when working, the vehicle management platform receives the vehicle state information frames and stores the vehicle state information frames, and the vehicle state information frames comprise the vehicle basic information, license plate numbers, vehicle types, Beidou SIM card numbers of intelligent vehicle-mounted modules, speed, acceleration, altitude, vehicle fault states and other information. When the vehicle management platform needs to inquire the state information of some vehicles, the vehicle management platform can send inquiry command frames to the vehicles at any time, and after the inquired vehicles receive the inquiry command frames, the vehicle management platform sends vehicle state information frames in the next Beidou sending period. When a vehicle needs to be combined with other vehicles to form a vehicle subnet, the intelligent vehicle-mounted module sends a networking request frame to a target vehicle through the Lora radio, and the target vehicle sends a networking state frame to a sender vehicle through the Lora radio after receiving the networking request frame so as to inform whether networking is successful or not. When the driver triggers emergency switch, the intelligent vehicle-mounted module can send the emergency communication frame through big dipper and Lora digital transmission radio station simultaneously, and other vehicles in the vehicle subnet can retransmit this emergency communication frame to the vehicle management platform through respective big dipper after receiving again. When the vehicle management platform monitors that the vehicle is possibly in a dangerous situation, an alarm information frame is sent to the intelligent vehicle-mounted module, and therefore the intelligent vehicle-mounted module is driven to sound and alarm.
The intelligent vehicle-mounted module has two communication modes of Beidou communication and Lora data transmission radio station communication, wherein the Beidou communication is used for establishing contact between a vehicle and a vehicle management platform, so that the working mode of the Beidou communication is a point-to-point mode, namely, each vehicle is communicated with the vehicle management platform through the intelligent vehicle-mounted module. The Lora data transmission radio station works in a broadcasting mode when sending the emergency communication frame, namely the intelligent vehicle-mounted module does not designate a receiver through the emergency communication frame sent by the Lora data transmission radio station, but works in a point-to-point mode when sending other data frames.
In the vehicle subnet, two tables, namely a vehicle basic information table and a vehicle subnet information table, are maintained in each intelligent vehicle-mounted module, and are stored in a memory of the intelligent vehicle-mounted module. The intelligent vehicle-mounted module updates a vehicle basic information table in real time according to the received vehicle basic information frame; meanwhile, the distance between the intelligent vehicle-mounted module and other vehicles in the vehicle basic information table is calculated once every 1 minute by the program in the intelligent vehicle-mounted module, if the distance is less than 8km, a networking request frame is sent to the vehicle through a Lora digital transmission radio station, and if networking is successful, the vehicle information is added into a vehicle subnet information table. The vehicle subnet is formed by all vehicles in the vehicle subnet information table.
The vehicle basic information table is constructed and updated according to a vehicle basic information frame sent by a vehicle management platform, and the content in the vehicle basic information table comprises a vehicle number and vehicle longitude and latitude; the vehicle subnet information table is constructed and updated according to the distance between the vehicle and other vehicles, and the content in the vehicle subnet information table comprises vehicle numbers, vehicle longitude and latitude and Beidou signal intensity.
The relay vehicle, the program in the intelligent vehicle-mounted module can sort the big dipper signal intensity in the vehicle subnet information table from big to small in real time, and the vehicle with the largest big dipper signal intensity is the relay vehicle in the vehicle subnet. It should be noted that each vehicle within the vehicle subnet has a corresponding relay vehicle, which may be different at different times.
When the Beidou communication fails, the vehicle management system communicates with a relay vehicle in the vehicle subnet through a Lora data transmission radio station and is connected with the vehicle management system through the Beidou communication of the relay vehicle.
The vehicle management platform is arranged inside an enterprise, and the functional modules of the vehicle management platform comprise a computer, a vehicle management module running on the computer, a database and a Beidou commander. The Beidou commander is connected with the computer through an RS232 interface, and the vehicle management platform can send information to a plurality of vehicles through the Beidou commander simultaneously. The vehicle management module comprises a user management unit, a communication management unit, an electronic map unit, a vehicle state monitoring unit and an information inquiry unit. The user management unit is used for managing an account number, a password and vehicle driver identity information of a vehicle management system user; the communication management unit is used for controlling data receiving and transmitting between the computer and the Beidou commander; the electronic map unit is used for displaying the positions of all vehicles in a map and marking dangerous areas; the vehicle state monitoring unit is used for analyzing the received vehicle state information frame and monitoring the dynamic state of all vehicles in real time; the information inquiry unit is used for inquiring the real-time information of the specified vehicle. The database is used for storing account information, driver identity information and vehicle running information of a vehicle management system user, and the vehicle running information comprises a vehicle number, a license plate number, a vehicle type, a running path, speed, altitude, acceleration, a Beidou communication SIM card number of the intelligent vehicle-mounted module and a vehicle fault state.
As shown in fig. 1, an embodiment of the invention provides a vehicle management system based on a Beidou and Lora data transmission radio station, which comprises a plurality of vehicles, a plurality of vehicle subnets and a vehicle management platform in an enterprise, wherein all the vehicles are provided with intelligent vehicle-mounted modules. The intelligent vehicle-mounted module is communicated with the vehicle management platform through a Beidou communication link, and meanwhile, the intelligent vehicle-mounted module can form a vehicle subnet with other vehicles close to each other through a Lora data transmission radio station. When the Beidou communication of the intelligent vehicle-mounted module breaks down, the connection can be established through the Lora data transmission radio station and the relay vehicle in the vehicle subnet, and the relay vehicle indirectly communicates with the vehicle management platform.
The function module of the intelligent vehicle-mounted module comprises an STM32 main control unit, a Beidou communication positioning unit, a Lora data transmission radio unit, a three-axis acceleration sensor, a buzzer alarm, a fingerprint identification unit and an emergency switch, and the structural schematic diagram of the embodiment of the intelligent vehicle-mounted module is shown in FIG. 2. The intelligent vehicle-mounted module is powered by a general 12V power supply in the vehicle and is subjected to voltage division by DC-DC so as to provide power for other units. Preferably, the STM32 main control unit is an embedded system with an STM32 single-chip microcomputer as a core, specifically, an STM32F103VCT6 single-chip microcomputer can be adopted, control of a communication flow and data processing are performed through an internal running program, and the program inside the STM32 single-chip microcomputer is written in C language under Keil integrated development software.
Preferably, the big dipper communication positioning unit is realized with TM8650 chip, and the inside big dipper first generation communication, the second generation of big dipper location and the GPS location function of having integrateed of this chip, the mixed positioning accuracy who adopts the second generation of big dipper and GPS simultaneously is 2.5 m. The data port of the chip is connected to a USART1 interface of an STM32 singlechip through RS232, the antenna port is connected with a mushroom head circularly polarized Beidou/GPS antenna through a coaxial cable, and the communication range can basically cover the whole Asia-Pacific region. The inside program of STM32 monolithic reads USART1 interface with the mode of interrupting, can obtain the big dipper communication data and the location data of receiving to the data frame that obtains vehicle management platform and send is analyzed out from big dipper communication data, and the longitude and latitude, speed and the height above sea level information of vehicle are analyzed out from the location data.
Preferably, the Lora data transmission radio unit is realized by an SX1278 chip, the chip adopts an LORA spread spectrum technology to realize stronger anti-interference capability, and the central working frequency is 433 MHz. A data port of the SX1278 chip is connected to a USART2 interface of an STM32 singlechip through RS232, an antenna port is connected with a monopole whip antenna with the length of 1m through a coaxial cable, the monopole whip antenna is installed on the outer side of a vehicle cab, and the effective communication distance can reach 8 km. The program in the STM32 single chip reads the USART2 interface in an interrupted mode, so that the received communication data of the Lora data transmission radio station can be obtained, the information sent by other vehicles can be obtained through analysis, and the vehicles in the vehicle subnet communicate with each other through the Lora data transmission radio station. It should be noted that, the TM8650 chip and the USART1 interface, and the SX1278 chip and the USART2 interface are all connected by means of RS232, and in order to ensure the consistency of the transmission levels, a MAX232 chip needs to be added between the TM8650 chip and the USART1 interface, and between the SX1278 chip and the USART2 interface, respectively, for conversion between the TTL level and the RS232 level.
Preferably, the three-axis acceleration sensor unit adopts an ADXL345 three-axis acceleration sensor based on the iMEMS technology, and is connected with the STM32 single chip microcomputer through an I2C bus, the measurement range can reach-16 g to 16g, and the average working current is only 100 microamperes. The triaxial acceleration sensor can gather the acceleration information of vehicle at forward, side direction, vertical to three direction to I2C interface through I2C bus transmission to STM32 singlechip. The program inside the STM32 chip determines the real-time motion state of the vehicle by reading the data of the I2C interface.
Preferably, the fingerprint identification unit is realized by an FPM10A optical fingerprint unit and is connected with UART4 of an STM32 singlechip in an RS232 mode. Before a driver drives the vehicle, the driver needs to press the fingerprint identification unit with a thumb to log in the vehicle management system, and the fingerprint identification unit acquires driver identity information and writes the driver identity information into a registration command frame and sends the driver identity information to the vehicle management platform through the Beidou.
Preferably, the buzzer adopts an MLT-9650Y-05 type electromagnetic active buzzer and is connected to a PB8 pin in an IO interface of an STM32 singlechip. If the running speed and the acceleration of the vehicle exceed the preset threshold values or an alarm information frame sent by a vehicle management platform is received, the STM32 single chip controls the PB8 pin to output a square wave with the period of 2 seconds and the duty ratio of 0.5, so that the buzzer is driven to sound once every 1s to remind a driver of paying attention to the current vehicle condition or contacting management personnel as soon as possible.
Preferably, the emergency switch adopts IDEC emergency switch, installs the top in the inside central console of vehicle to connect through the PB4 pin in twisted pair and the STM32 singlechip IO interface, IDEC emergency switch triggers through the mode of clockwise rotation, and it has stronger anti-misoperation performance to adopt rotatory mode to trigger than pressing mode trigger. When a driver encounters an emergency, the button switch is rotated clockwise for a half turn, and the electrical level of the PB4 pin of the STM32 single chip microcomputer is pulled down. The program of STM32 singlechip inside detects that PB4 pin level changes the back and will emergent communication frame simultaneously through big dipper and Lora data transmission radio station transmission.
When the Beidou satellite and the Lora data transmission radio stations are used for communication, the types of the data frames transmitted by the Beidou satellite comprise a registration command frame, a registration reply frame, a vehicle basic information frame, a vehicle state information frame, an inquiry command frame, an emergency communication frame and an alarm information frame, and are shown in an attached figure 3. The data frame types transmitted by the Lora radio station include a networking request frame, a networking status frame, a vehicle basic information frame, a vehicle status information frame, a query command frame, an emergency communication frame and an alarm information frame, as shown in fig. 4. The interactive process of these data frames is divided into two phases: a registration phase and a normal working phase.
In the registration stage, when a driver of a vehicle starts to work, the driver presses a fingerprint identification unit of the intelligent vehicle-mounted module with a thumb to log in, and after the STM32 single chip microcomputer identifies login information, driver information, vehicle information and the like are written into a registration command frame and are sent to the vehicle management platform through the Beidou. After receiving the registration command frame, the vehicle management platform writes driver information, vehicle information and the like into the database, and sends a registration reply frame to the intelligent vehicle-mounted module through the Beidou. If the data is successfully written into the database, the registration reply frame contains information of successful registration, the intelligent vehicle-mounted module can give a prompt through an indicator light after receiving the information, and a vehicle basic information table is created in the STM32 single chip microcomputer; if the data is written into the database unsuccessfully, the registration reply frame contains information of registration failure, the intelligent vehicle-mounted module receives the information and the indicating lamp does not prompt, and at the moment, the driver needs to use the fingerprint to log in again to register the vehicle until the registration is successful.
And after the vehicles are successfully registered, entering a normal working stage, wherein the vehicle management platform reads basic information of all currently working vehicles from the database according to a period of 2 minutes, and sends basic information frames of the vehicles to all vehicles through the Beidou, wherein the basic information frames of the vehicles only comprise vehicle numbers and vehicle longitudes and latitudes. If the number of vehicles working at present is too large, and the length of the basic information frame of the vehicle exceeds the maximum byte number limit required by Beidou communication, the basic information frame of the vehicle is divided into a plurality of frames and then the frames are sequentially sent. After receiving the basic information, the intelligent vehicle-mounted module writes or updates the basic information of all vehicles into a vehicle basic information table in the memory of the STM32 single chip. Meanwhile, in a normal working stage, internal programs of STM32 single-chip microcomputers of all intelligent vehicle-mounted modules can send vehicle state information frames to the vehicle management platform through Beidou according to a timer in a period of 5 minutes, the vehicle management platform stores the vehicle state information frames into a database after receiving the vehicle state information frames, and the vehicle state information frames comprise the vehicle number, the Beidou SIM card number of the intelligent vehicle-mounted modules, the speed, the acceleration, the altitude, the vehicle fault state and other information besides the basic information of the vehicle. When the manager needs to inquire the real-time state information of the appointed vehicle, the vehicle management platform can send an inquiry command frame to the appointed vehicle, and the intelligent vehicle-mounted module of the inquired vehicle sends a vehicle state information frame in the next Beidou transmission period after receiving the inquiry command frame, so that the manager can master the real-time state of the vehicle. The warning information frame is sent randomly by the vehicle management platform as required, and after receiving the warning information frame, the intelligent vehicle-mounted module can drive the buzzer to sound through the STM32 single chip microcomputer. Above-mentioned data frame processing flow through big dipper interaction also can refer to fig. 5, and fig. 5 has represented the processing flow after intelligent on-vehicle module received big dipper data frame, and it should be noted that, intelligent on-vehicle module all receives big dipper data frame once, all needs to check data frame earlier, can adopt the mode of CRC cyclic redundancy check. If the check is correct, processing is carried out, and if the check is wrong, no processing is carried out, and the data frame can be considered to be discarded. Because the Beidou communication receiver of the intelligent vehicle-mounted module is always the vehicle management platform, the working mode of Beidou communication is a point-to-point mode.
After the vehicle enters a normal working stage, the intelligent vehicle-mounted module needs to perform networking of the vehicle through a Lora data transmission radio station besides transmitting and receiving Beidou data. The STM32 single chip microcomputer in each intelligent vehicle-mounted module is used for maintaining a vehicle subnet information table besides a vehicle basic information table, and the content in the vehicle subnet information table comprises vehicle numbers, vehicle longitude and latitude and Beidou signal intensity.
And (3) calculating the distance between the vehicle and other vehicles in the vehicle basic information table once every 1 minute by using a program in an STM32 single chip microcomputer in the intelligent vehicle-mounted module, and if a vehicle with the distance less than 8km appears, sending a networking request frame to a target vehicle through a Lora data transmission station. And after receiving the networking request frame, the target vehicle calculates the distance between the target vehicle and the sending party again, sends a networking state frame to the sending party vehicle through a Lora data transmission radio station, if the distance is less than 8km, the state in the networking state frame is successful, the vehicle information of the sending party is written into a vehicle subnet information table of the target vehicle, and if the distance is not less than 8km, the state in the networking state frame is failed. And if the intelligent vehicle-mounted module receives the networking state frame with the successful state, adding the target vehicle information into the vehicle subnet information table. The vehicle subnet is formed by jointly constructing the vehicle and all vehicles in the vehicle subnet information table, communication links among all vehicles in the vehicle subnet are completed by Lora data transmission radio stations, the vehicle with the largest Beidou signal intensity in the vehicle subnet information table is specified as a relay vehicle, and other vehicles are member vehicles. The topology of the vehicle sub-network is shown in fig. 6. It should be noted that each vehicle has a corresponding relay vehicle because the vehicle subnet information table is inside the intelligent on-board module of each vehicle. Since the position of the vehicles is dynamically changing, the relay vehicles for each vehicle may be different at different times.
The Lora data transmission radio station is not only used for vehicle networking, but also provides a function of redundant communication. When normal during operation promptly, all intelligent vehicle module all communicate through big dipper and vehicle management platform, when intelligent vehicle module's big dipper communication broke down, then communicated with the relay vehicle in this vehicle subnet through the Lora digital transmission radio station to establish with the help of relay vehicle's big dipper communication and vehicle management system and be connected.
When the driver met emergency and triggered emergency switch, the intelligent vehicle-mounted module can outwards transmit emergency communication frames through big dipper and Lora data transmission radio station simultaneously, other vehicles in the vehicle subnet can retransmit the emergency communication frames to the vehicle management platform through respective big dipper after receiving, so as to ensure that the vehicle management platform can receive the emergency communication frames with high probability, so that managers can master the vehicle information of emergency at the first time, and take certain measures. It can be seen that the Lora radio station in the intelligent vehicle-mounted module works in a broadcast mode when sending the emergency communication frame, that is, the emergency communication frame sent by the Lora radio station does not designate a receiver, but works in a point-to-point mode when sending other data frames.
Above-mentioned data frame processing flow through Lora data transmission radio station is interactive also can refer to fig. 7, and fig. 7 has represented the processing flow after intelligence vehicle-mounted module received Lora data transmission radio station data frame. Similar to fig. 5, the data frame needs to be checked first every time the data frame of the Lora data transmission radio station is received by the intelligent vehicle-mounted module, and a Cyclic Redundancy Check (CRC) mode can be adopted. If the check is correct, processing is carried out, if the check is wrong, no processing is carried out, and the data frame can be considered to be discarded. In fig. 7, in the data frames received by the Lora radio station, the networking request frame and the networking status frame are appeared and used in the process of building the vehicle subnet, and other data frames are all appeared and used when the relay vehicle plays a role in assisting communication.
The functional modules of the vehicle management platform comprise a computer, a vehicle management unit running on the computer, a database and a Beidou commander. Preferably, the computer can adopt desktop computer to through the connection of RS232 serial ports PD08-1000 type big dipper commander, 1000 vehicles can be managed simultaneously to this big dipper commander, can be simultaneously through the big dipper to the on-vehicle module of intelligence of 1000 vehicles send information. And the database adopted by the vehicle management platform is an Access database.
The functional units of the vehicle management unit comprise a user management unit, a communication management unit, an electronic map unit, a vehicle state monitoring unit and an information inquiry unit, as shown in fig. 8. Preferably, the vehicle management module runs in a computer and is realized by MFC component development in a visual studio integrated development environment. The user management unit in the software is a user management function UserManagement (), when a user of the vehicle management system logs in the system, the program enters the UserManagement () function and is used for recording account number and password information of a login person and writing the information into an Access database. In addition, after the driver performs the login operation of the intelligent vehicle-mounted module in a fingerprint swiping manner, the vehicle management unit receives the registration command frame, and the program also enters a user management () function to record the fingerprint information of the driver so as to compare the fingerprint information of the driver with the fingerprint information of the driver stored in the database. The communication management unit is a Commmanagement (int VehiclelID) function and is used for controlling data receiving and sending between the computer and the Beidou director, wherein the tangible parameter VehiclelID is a vehicle number. When the serial port of the computer receives data, the program enters a Commmanagement (intervention vector) function, the value of the parameter vector is set to 0, and the function body can read the serial port data frame and write the data frame into a receiving cache serving as a global variable so that the vehicle management unit can process the data. When the vehicle management unit needs to send data, the program also enters a Commmanagement (int vehicle ID) function, and sends the data to be sent to the vehicle with the specified number. The electronic map unit is realized by a Baidu map API control called by the MFC, and the vehicle management unit can read longitude and latitude data of all vehicles at all times from the Access database in real time, display the longitude and latitude data in the map control and draw driving routes of different vehicles by using traces with different colors. In addition, the electronic map can mark dangerous areas according to the features of landforms such as mountains, rivers, frozen soil and the like, and when a certain vehicle is closer to the dangerous areas, for example, the distance between the vehicle and the boundary of the dangerous areas is less than 2km, a warning information frame can be sent to the vehicle through the Beidou so as to prompt a driver to pay attention to safety. If the Beidou communication of a certain vehicle breaks down, the vehicle management unit firstly sends the alarm information frame to the relay vehicle of the vehicle through the Beidou and forwards the alarm information frame through the Lora data transmission radio station of the relay vehicle. The vehicle state monitoring unit is a Vehiclonitor () function, when the vehicle management module receives a vehicle state information frame, a program can enter the Vehiclonitor () function to analyze the vehicle state information frame, information such as the serial number of a vehicle, the type of the vehicle, the Beidou SIM card number of the intelligent vehicle-mounted module, the speed, the acceleration, the longitude and latitude, the altitude, the vehicle fault state and the like is written into an Access database, and the vehicle management module can know whether Beidou communication of the vehicle breaks down or not by identifying the vehicle fault state information. The information query unit is an InfoQuery (intVehiclelID) function, when a user of the vehicle management system needs to query the real-time state of a certain vehicle, the user can select the vehicle on a software interface and click a query button, a program enters the function, and a query command frame is sent to the vehicle with the specified number through the Beidou.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A vehicle management system based on Beidou and a Lora data transmission radio station is characterized by comprising a plurality of vehicles, a plurality of vehicle subnets formed by the vehicles through the Lora data transmission radio station, and a vehicle management platform in an enterprise; each vehicle subnet is internally provided with a relay vehicle;
each vehicle is equipped with an intelligent vehicle-mounted module; the intelligent vehicle-mounted module is provided with a Beidou communication link and a Lora data transmission radio station communication link;
each vehicle is communicated with the vehicle management platform through the Beidou communication link, and simultaneously, each vehicle is communicated with other vehicles in the vehicle subnet through the Lora radio communication link;
when the Beidou communication link of the intelligent vehicle-mounted module breaks down, the Beidou communication link of the intelligent vehicle-mounted module can be connected with the relay vehicle through the Lora data transmission radio station communication link, the relay vehicle is communicated with other vehicles in the vehicle subnet, and meanwhile the relay vehicle is indirectly communicated with the vehicle management platform.
2. The vehicle management system based on big dipper and Lora number pass radio of claim 1, characterized in that, on-vehicle module of intelligence includes: the system comprises an STM32 main control unit, a Beidou communication positioning unit, a Lora data transmission radio station unit, a three-axis acceleration sensor, a buzzer alarm, a fingerprint identification unit and an emergency switch, wherein the Beidou communication positioning unit, the Lora data transmission radio station unit, the three-axis acceleration sensor, the buzzer alarm, the fingerprint identification unit and the emergency switch are connected with the STM32 main control unit;
the Beidou communication positioning unit integrates two functions of communication and positioning, the Beidou communication function is used for communication between the vehicle and the vehicle management platform, and the positioning function is used for acquiring longitude and latitude, speed and altitude information of the vehicle;
the Lora data transmission radio station unit is used for communicating with other vehicles in the vehicle subnet;
the three-axis acceleration sensor is used for acquiring acceleration information of the vehicle in three directions, namely a forward direction, a lateral direction and a vertical direction, so as to judge the real-time motion state of the vehicle;
the buzzer alarm is used for reminding a driver of the vehicle in a sound alarm mode when the vehicle monitored by the vehicle management platform is abnormal;
the fingerprint identification unit is used for acquiring identity information of a vehicle driver so as to log in a vehicle management system through fingerprint information;
the emergency switch is used for when vehicle driver emergence emergency, takes place the information to STM32 main control unit, and STM32 main control unit makes contact through big dipper communication positioning unit and Lora number pass radio station unit and external world.
3. The vehicle management system based on the Beidou and Lora digital radio stations according to claim 1, wherein the data frame types transmitted in the Beidou communication link include: the system comprises a registration command frame, a registration reply frame, a vehicle basic information frame, a vehicle state information frame, a query command frame, an emergency communication frame and an alarm information frame;
the registration command frame is sent to the vehicle management platform by the intelligent vehicle-mounted module through the Beidou, and after the vehicle management platform receives the registration command frame, the information of the vehicle and the driver is written into a database of the vehicle management platform;
the registration reply frame is sent to the corresponding intelligent vehicle-mounted module by the vehicle management platform through the Beidou so as to inform whether the vehicle registration is successful or not;
the vehicle basic information frame is sent to the intelligent vehicle-mounted modules of all vehicles by the vehicle management platform through the Beidou communication link according to a certain period, the intelligent vehicle-mounted modules store the corresponding basic information of the vehicles in the memories of the intelligent vehicle-mounted modules after receiving the basic information, and the basic information of the vehicles comprises vehicle numbers and vehicle longitude and latitude;
the vehicle state information frame is sent to a vehicle management platform by an intelligent vehicle-mounted module of a vehicle according to a certain period, the vehicle management platform receives the vehicle state information frame and then stores the vehicle state information frame, and the vehicle state information frame comprises a license plate number, a vehicle type, a Beidou SIM card number of the intelligent vehicle-mounted module, speed, acceleration, altitude and vehicle fault state information besides basic information of the vehicle;
the inquiry command frame is sent to the inquired vehicle by the vehicle management platform, and the inquired vehicle sends a vehicle state information frame to the vehicle management platform in the next Beidou sending period after receiving the inquiry command frame;
the emergency communication frame is simultaneously sent to a vehicle and a vehicle management platform in a vehicle subnet by the intelligent vehicle-mounted module; after receiving the emergency communication frame, other vehicles in the vehicle subnet can forward the emergency communication frame to the vehicle management platform through respective Beidou communication positioning units again;
and the alarm information frame is sent to a vehicle possibly in a dangerous case by the vehicle management platform, so that the intelligent vehicle-mounted module is driven to sound and alarm.
4. The vehicle management system based on the big dipper and the Lora radio as claimed in claim 1, wherein the data frame type transmitted in the communication link of the Lora radio comprises: networking request frame and networking state frame;
the networking request frame is sent to other vehicles in the vehicle subnet by a certain vehicle needing networking;
the networking state frame is sent to a vehicle of a sender by a target vehicle receiving the networking request frame so as to inform whether networking is successful or not.
5. The vehicle management system based on the Beidou and Lora data radio stations according to claim 1, wherein two tables are stored in a memory of each intelligent vehicle-mounted module for maintenance, and the two tables are as follows: a vehicle basic information table and a vehicle subnet information table;
the vehicle basic information table is constructed and updated according to vehicle basic information frames sent by a vehicle management platform, and the content in the vehicle basic information table comprises a vehicle number and vehicle longitude and latitude;
the vehicle subnet information table is constructed and updated according to the distance between the vehicle and other vehicles, and the content in the vehicle subnet information table comprises vehicle numbers, vehicle longitude and latitude and Beidou signal intensity.
6. The vehicle management system based on the Beidou and Lora data radio stations according to claim 1, wherein the relay vehicle changes in a vehicle subnet according to different time;
the intelligent vehicle-mounted module sorts and selects the Beidou signal strength from big to small in the vehicle subnet information table in real time, and the vehicle with the largest Beidou signal strength is the relay vehicle in the vehicle subnet.
7. The vehicle management system based on the Beidou and Lora data radio station as claimed in claim 1, wherein the vehicle management platform is arranged inside an enterprise, and the functional modules of the vehicle management platform comprise a computer, a vehicle management module running on the computer, a database and a Beidou commander;
the Beidou commander is connected with a computer through an RS232 interface, and the computer is simultaneously communicated with a plurality of vehicles through the Beidou commander;
the vehicle management module comprises a user management unit, a communication management unit, an electronic map unit, a vehicle state monitoring unit and an information inquiry unit;
the user management unit is used for managing an account number, a password and vehicle driver identity information of a vehicle management system user;
the communication management unit is used for controlling data receiving and transmitting between the computer and the Beidou commander;
the electronic map unit is used for displaying the positions of all vehicles in a map and marking dangerous areas;
the vehicle state monitoring unit is used for analyzing the received vehicle state information frame and monitoring the dynamic state of all vehicles in real time;
the information inquiry unit is used for inquiring the real-time information of the specified vehicle;
the database is used for storing account information, driver identity information and vehicle driving information of a vehicle management system user.
8. The Beidou and Lora digital radio based vehicle management system according to claim 7, wherein the vehicle driving information comprises vehicle number, license plate number, vehicle type, driving path, speed, altitude, acceleration, Beidou communication SIM card number of intelligent vehicle module and vehicle fault state.
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