CN102226910B - Regional logistics moving monitoring positioning method - Google Patents
Regional logistics moving monitoring positioning method Download PDFInfo
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- CN102226910B CN102226910B CN 201110128917 CN201110128917A CN102226910B CN 102226910 B CN102226910 B CN 102226910B CN 201110128917 CN201110128917 CN 201110128917 CN 201110128917 A CN201110128917 A CN 201110128917A CN 102226910 B CN102226910 B CN 102226910B
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Abstract
The invention, which relates to a logistics positioning method used in specific areas, discloses a regional logistics moving monitoring positioning method. The positioning method includes the following steps: arranging a double-frequency RFID tag possessing low frequency and high frequency; establishing a space rectangular coordinate system in logistics areas; arranging standard tags (S-Tags) and location tags (L-tags); arranging a monitoring robots which comprises a mobile carrying vehicle, two omnidirectional reader and witers which are fixed on the mobile carrying vehicle and share a same central axis, a reading and writing processing system and an emission system; disposing the S-Tags on the fixed constructions or machines in the logistics areas; disposing the L-tags on a mobile logistics pallet or a monitored article; monitoring and analyzing through the monitoring robots; monitoring concrete coordinate figures of the L-tags through defining and making the S-Tags so as to reach monitored positioning of the L-tags.
Description
Technical field
The present invention relates to a kind of physical distribution localization method in the specific region, particularly a kind of double frequency rfid card and mobile monitoring robot of utilizing carries out logistics and personnel in the method for on-site precise positioning.
Background technology
Physical distribution localization refers to the position of concrete article in geographical space, to this position monitoring and to be mapped in the computer program be one of important technology of physical distribution localization.At present, all adopt the modes such as global positioning satellite GPS technology, electronic data interchange EDI technology at the physical distribution localization of macroscopical geographical space, its position precision is generally within 10 meters scope, obviously and be not suitable for enterprises plant area physical distribution localization; And utilize the RFID localization method usually to adopt gate sentry formula location, universe to cover location etc. in plant area.Gate sentry formula location is that the zonule spatial division is less reservoir area, import and export in each reservoir area arrange monitoring equipment, monitoring is with the goods turnover state of RFID electronic tag, reach the purpose of logistic track, be the most widely physical distribution localization method that adopts at present, but it can not accurately be located article and can only know article turnover reservoir area.Universe covers the method for location, namely in the institute compass of competency without dead angle distribution monitoring equipment, Real-Time Monitoring is with logistics or the personnel of electronic tag, representational utilization is the personnel management system in recovery centre or prison, be characterized in without dead angle, dynamic in real time, but cost is high, monitoring range can only illustrate or not within the scope at certain read write line, also be not suitable for enterprises plant area physical distribution localization.For this reason, industry also has other localization method of research or positioning system, as on June 18th, 2008 issued patent number be 200410094181.5 Chinese patent described " utilizing the stacking management system of reference positioning system and the Container Yard of REID ", its method of calculating particular location of this positioning system is to enclose calculating with timestamp and time, namely judge distance between the two with read write line to the light velocity time of return between the rfid card, this principle is identical with satellite GPS positioning principle, but in the situation that distance is less, light velocity time of return is difficult to difference, therefore also is not easy to locate accurately.
Summary of the invention
Order of the present invention provides a kind of regional logistics moving monitoring positioning method that can accurately monitor the particular location of monitored mobile object in workshop or the storage zonule for solving the accurate orientation problem of logistics of workshop, storage zonule.
The technical solution used in the present invention is to achieve the above object of the invention: a kind of regional logistics moving monitoring positioning method, this localization method may further comprise the steps: (1) arranges a kind of double frequency RFID label with low frequency and two kinds of frequencies of high frequency, this double frequency RFID label has two kinds of transponders of low frequency high frequency and circuit, can reply simultaneously the signal of two kinds of read write lines of low frequency high frequency; (2) set up rectangular coordinate system in space at the ground surface in the logistics zone or the space plane point that is parallel to ground surface as initial point, and arrange respectively double frequency RFID label on the fixed object in the logistics regional space and the mobile cargo, the double frequency RFID label that is arranged in the logistics space on the fixed object is defined as the benchmark label, the double frequency RFID label that is arranged in the logistics space on the monitored mobile object is defined as mobile tag; (3) a kind of portable logistics position monitor robot is set, this monitoring robot comprises mobile carrier, be fixed on two omnidirectional's read write lines that have the common center axis on the mobile carrier, read-write disposal system and emission coefficient, one of them omnidirectional's read write line is the high frequency read write line, another omnidirectional's read write line is the low frequency read write line, the radius that reads of adjusting two omnidirectional's read write lines differs 1 meter, the high frequency read write line read radius greater than the read-write radius of low frequency read write line, the radius that reads of high frequency read write line is R, the read-write radius of low frequency read write line is r, in the zone of centered by monitoring robot, putting, the read-write scope of removing the low frequency read write line in the read-write scope of high frequency read write line has just formed a donut zone, is effective read-write scope of monitoring robot with this donut region division; (4) place the benchmark label at fixed buildings or the machine in logistics zone, holding movable label on mobile logistics tray or monitored article, then carry out twice monitoring or two modes that above-mentioned monitoring robot is monitored respectively simultaneously with the above-mentioned monitoring robot of separate unit two different coordinate points on different coordinate points, grid bearing to the benchmark label in the logistics zone is monitored, when monitoring robot reads out to rare three benchmark labels in a donut regional extent, the home position of donut can be determined, readable all mobile tags that go out to fall in this donut zone of while monitoring robot, when certain mobile tag is read in distance of center circle monitored robot in less than or equal to two donut zones of 2R, the overlapping region in these two donut zones, be the mobile tag region, the coordinate figure at this center, overlapping region is the coordinate figure of mobile tag; (5) coordinate figure with all mobile tags of monitoring out in the step (4) is transmitted into remote receiver and imports computer server into through remote transmitter, shows in patterned mode on computer server and shares the realization real-time dynamic monitoring.
Double frequency RFID label in the wherein said step (1) is double frequency single deck tape-recorder RFID label or double frequency double card RFID laminated label.
Benchmark label in the wherein said step (2) is used for origin reference location and gives accurate position coordinate figure, and mobile tag is attaching the details of identified mobile object.
Wherein said monitoring robot also comprises the directed read write line that has the common center axis with two omnidirectional's read write lines.
Adopt regional logistics moving monitoring positioning method of the present invention owing to adopting said method to have following beneficial effect: the concrete coordinate figure that can monitor the object or person person who carries double frequency RFID label in the controlled small area, accuracy rating can be controlled in 1 meter scope, reaches the pinpoint purpose of logistics.
Below in conjunction with drawings and Examples regional logistics moving monitoring positioning method of the present invention is further described.
Description of drawings
Fig. 1 is the schematic diagram of the monitoring robot of regional logistics moving monitoring positioning method of the present invention;
Fig. 2 is that the monitoring scene is overlooked coordinate diagram;
Fig. 3 is flow chart of data processing figure.
The main element explanation:
1-moves carrier, the 2-storage battery, and 3-reads and writes disposal system, the 4-remote transmitter, 5-high frequency read write line, 6-low frequency read write line, the 7-antenna, 8-display, 9-operation keyboard, the 10-control loop, 11-remote receiver, 12-computer server, the 13-fixed buildings, 14-benchmark label, the monitored article of 15-, the 16-mobile tag, the directed read write line of 17-.
Embodiment
As shown in Figure 1 to Figure 3, regional logistics moving monitoring positioning method of the present invention, this localization method may further comprise the steps:
(1) a kind of double frequency RFID label with low frequency and two kinds of frequencies of high frequency is set, this double frequency RFID label has two kinds of transponders of low frequency high frequency and circuit, can reply simultaneously the signal of two kinds of read write lines of low frequency high frequency, double frequency RFID label is double frequency single deck tape-recorder RFID label or double frequency double card RFID laminated label;
(2) set up rectangular coordinate system in space at the ground surface in the logistics zone (the O-O line is as ground surface among the figure) or the space plane point that is parallel to ground surface as initial point, and arrange respectively double frequency RFID label on the fixed object in the logistics regional space and the mobile cargo, the double frequency RFID label that is arranged in the logistics space on the fixed object is defined as benchmark label (Standard Tag, be called for short S-Tag), the benchmark label is used for origin reference location, and give accurate position coordinate figure, the double frequency RFID label that is arranged in the logistics space on the monitored mobile object is defined as mobile tag (Location Tag, be called for short L-Tag), mobile tag is attaching the details of identified mobile object;
(3) a kind of portable logistics position monitor robot is set, this monitoring robot comprises mobile carrier 1, be fixed on two omnidirectional's read write lines 5 that have the common center axis on the mobile carrier, 6, read-write disposal system 3 and emission coefficient, monitoring robot also comprises the directed read write line 17 that has the common center axis with two omnidirectional's read write lines, one of them omnidirectional's read write line is high frequency read write line 5, another omnidirectional's read write line is low frequency read write line 6, the radius that reads of adjusting two omnidirectional's read write lines differs 1 meter, the high frequency read write line read radius greater than the read-write radius of low frequency read write line, the radius that reads of high frequency read write line is R, the read-write radius of low frequency read write line is r, because it is that semicircle is spherical that two read write lines place the read range of same central axis and omnidirectional's read write line, therefore the read-write scope of two read write lines be have common center point semisphere (such as the P among Fig. 1, two hemisphere of Q), in the zone of centered by monitoring robot, putting, high frequency read write line scope is that radius is the great circle of R, low frequency read write line scope is that radius is the roundlet of r, the high frequency read write line is read and write the front end of the double frequency RFID label in all great circles that fall into the high frequency read write line, and the low frequency read write line reads the low-frequency range that is in high frequency read write line great circle and is in again all the double frequency RFID labels in the low frequency read write line roundlet simultaneously.Because great circle and roundlet are concentric, just having formed a donut zone so remove the read-write scope of low frequency read write line in the height h ≈ 600-800mm planimetric coordinates more than being parallel to ground level O-O in the read-write scope of high frequency read write line, is effective read-write scope (in like manner effective read-write scope of volume coordinate is circular shell) of monitoring robot with this donut region division.Emission coefficient remote transmitter 4 and antenna 7, monitoring robot also are provided with storage battery 2, display 8, operation keyboard 9 and control loop 10, and mobile carrier drives its motion by storage battery;
(4) place benchmark label 14 at fixed buildings 13 or the machine in logistics zone, holding movable label 16 on mobile logistics tray or monitored article 15, then carry out twice monitoring or two modes that above-mentioned monitoring robot is monitored respectively simultaneously with the above-mentioned monitoring robot of separate unit two different coordinate points on different coordinate points, grid bearing to the benchmark label in the logistics zone is monitored, when monitoring robot reads out to rare three benchmark labels in a donut regional extent, the home position of donut can be determined, monitoring robot is also read all mobile tags that fall in this donut zone simultaneously, when certain mobile tag is read in distance of center circle monitored robot in less than or equal to two donut zones of 2R, the overlapping region in these two donut zones, be the mobile tag region, the coordinate figure at this center, overlapping region is the coordinate figure of mobile tag.The below illustrates this step to monitor a monitored object as example, monitoring robot monitors the coordinate figure of three benchmark label S1, S2, S3 constantly at t1, can be determined the center of circle P1 (a of first donut P1 by the coordinate figure of S1, S2, three points of S3, and record mobile tags all on first donut b); Constantly monitor the coordinate figure of other three benchmark label S4, S5, S6 at t2, can be determined the center of circle P2 (c of second donut P2 by the coordinate figure of S4, S5, three points of S6, d), judge the distance D between the P1, P2 at 2, when D≤2R, whether judgement has the mobile tag (being called for short " judging common RFID " among Fig. 3) that jointly monitors in the intersection region, have the mobile tag that jointly monitors can calculate the center of intersection region.The mathematical principle that calculates the mobile tag coordinate figure is as follows:
As (a, b), during the distance D that (c, d) is 2≤2R, establish (x, y) and be the coordinate points (being mobile tag region centre coordinate point) in the intersection region, then
(x-a)
+ (y-b)
=[(R+r)/2]
Formula 1
(x-c)
+ (y-d)
=[(R+r)/2]
Formula 2
Solution of equation (x
p, y
p) be the coordinate figure of monitored label, can determine in the present embodiment the accurate coordinate value (x7, y7) of monitored mobile tag L1, namely L1 (x7, y7) is positioned;
Wherein (a, b), (c, d) are respectively for the first time and the annulus center of circle of monitoring for the second time, and R is the annulus external radius, and r is the annulus inside radius, and 1 meter of R-r ≈ be the annulus width, also is the accuracy requirement of monitoring.If when in this step, reading the intersection region mobile tag and have dual solution with omnidirectional's read write line, can read the accurate coordinate value that mobile tag assists to determine mobile object in conjunction with directed read write line;
(5) coordinate figure with all mobile tags of monitoring out in the step (4) is transmitted into remote receiver 11 and imports computer server 12 into through remote transmitter 4, on computer server 12, show in patterned mode and share, realize real-time dynamic monitoring.
Claims (4)
1. a regional logistics moving monitoring positioning method is characterized in that, this localization method may further comprise the steps:
(1) a kind of double frequency RFID label with low frequency and two kinds of frequencies of high frequency is set, this double frequency RFID label have two kinds of transponders of low frequency high frequency and and circuit, can reply simultaneously the signal of two kinds of read write lines of low frequency high frequency;
(2) set up rectangular coordinate system in space at the ground surface in the logistics zone or the space plane point that is parallel to ground surface as initial point, and arrange respectively double frequency RFID label on the fixed object in the logistics regional space and the mobile cargo, the double frequency RFID label that is arranged in the logistics space on the fixed object is defined as the benchmark label, the double frequency RFID label that is arranged in the logistics space on the monitored mobile object is defined as mobile tag;
(3) a kind of portable logistics position monitor robot is set, this monitoring robot comprises mobile carrier, the read-write disposal system, emission coefficient, be fixed on two omnidirectional's read write lines that have the common center axis on the mobile carrier, one of them omnidirectional's read write line is the high frequency read write line, another omnidirectional's read write line is the low frequency read write line, the radius that reads of adjusting two omnidirectional's read write lines differs 1 meter, the high frequency read write line read radius greater than the read-write radius of low frequency read write line, the radius that reads of high frequency read write line is R, the read-write radius of low frequency read write line is r, in the zone of centered by monitoring robot, putting, the read-write scope of removing the low frequency read write line in the read-write scope of high frequency read write line has just formed a donut zone, is effective read-write scope of monitoring robot with this donut region division;
(4) place the benchmark label at fixed buildings or the machine in logistics zone, holding movable label on mobile logistics tray or monitored article, then carry out twice monitoring or two modes that above-mentioned monitoring robot is monitored respectively simultaneously with the above-mentioned monitoring robot of separate unit two different coordinate points on different coordinate points, grid bearing to the benchmark label in the logistics zone is monitored, when monitoring robot reads out to rare three benchmark labels in a donut regional extent, the home position of donut can be determined, readable all mobile tags that go out to fall in this donut zone of while monitoring robot, when certain mobile tag is read in distance of center circle monitored robot in less than or equal to two donut zones of 2R, the overlapping region in these two donut zones, be the mobile tag region, the coordinate figure at this center, overlapping region is the coordinate figure of mobile tag;
(5) coordinate figure with all mobile tags of monitoring out in the step (4) is transmitted into remote receiver and imports computer server into through remote transmitter, shows in patterned mode on computer server and shares the realization real-time dynamic monitoring.
2. regional logistics moving monitoring positioning method as claimed in claim 1 is characterized in that, the double frequency RFID label in the described step (1) is double frequency single deck tape-recorder RFID label or double frequency double card RFID laminated label.
3. regional logistics moving monitoring positioning method as claimed in claim 1, it is characterized in that, benchmark label in the described step (2) is used for origin reference location and gives accurate position coordinate figure, and mobile tag is attaching the details of identified mobile object.
4. regional logistics moving monitoring positioning method as claimed in claim 1 is characterized in that, described monitoring robot also comprises the directed read write line that has the common center axis with two omnidirectional's read write lines.
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| CN 201110128917 CN102226910B (en) | 2011-05-18 | 2011-05-18 | Regional logistics moving monitoring positioning method |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105260760A (en) * | 2015-11-23 | 2016-01-20 | 北京云镜元谱信息科技有限公司 | Positioning employing combination of two RFID tags and data cleaning algorithm |
| CN106997518A (en) * | 2016-01-22 | 2017-08-01 | 阿里巴巴集团控股有限公司 | Logistics Distribution Method and its equipment |
| EP3223200A1 (en) * | 2016-03-22 | 2017-09-27 | Hexagon Technology Center GmbH | Construction site management |
| CN105951618A (en) * | 2016-05-09 | 2016-09-21 | 徐洪军 | Speed-control bump type robot for emitting vehicle location |
| CN109978098B (en) * | 2019-03-30 | 2022-04-15 | 浙江清华长三角研究院 | Bridge fitting identification system based on RFID |
| CN113421047A (en) * | 2021-08-25 | 2021-09-21 | 泰豪信息技术有限公司 | Article distribution method, system, storage medium and equipment applied to prison |
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|---|---|---|---|---|
| WO2002103645A2 (en) * | 2001-06-14 | 2002-12-27 | Rf Code, Inc. | Wireless identification system and protocol |
| CN1630232A (en) * | 2003-12-19 | 2005-06-22 | 朱建宇 | System and method for cargo discrete trace |
| CN1871596A (en) * | 2003-09-08 | 2006-11-29 | 单晶片***公司 | Systems and methods for configuring a warehouse for tracking the location of items within a controlled area |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2002103645A2 (en) * | 2001-06-14 | 2002-12-27 | Rf Code, Inc. | Wireless identification system and protocol |
| CN1871596A (en) * | 2003-09-08 | 2006-11-29 | 单晶片***公司 | Systems and methods for configuring a warehouse for tracking the location of items within a controlled area |
| CN1630232A (en) * | 2003-12-19 | 2005-06-22 | 朱建宇 | System and method for cargo discrete trace |
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Assignee: Liuzhou micro Square Industrial Technology Co.,Ltd. Assignor: Guangxi University of Technology Contract record no.: 2011450000101 Denomination of invention: Regional logistics moving monitoring positioning method License type: Exclusive License Open date: 20111026 Record date: 20111010 |
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