CN115985130A

CN115985130A - UWB-based in-field vehicle management system and control method thereof

Info

Publication number: CN115985130A
Application number: CN202211588980.2A
Authority: CN
Inventors: 陈学荣; 李泽冰
Original assignee: Guangzhou Zhonghailong International Freight Forwarding Co ltd
Current assignee: Guangzhou Zhonghailong International Freight Forwarding Co ltd
Priority date: 2022-12-09
Filing date: 2022-12-09
Publication date: 2023-04-18

Abstract

The application discloses UWB-based in-field vehicle management system and control method thereof, the system includes: the UWB base station group is used for acquiring information of UWB tags in the station field and sending the information of the UWB tags to the background server, and the information of the tags comprises coordinate information and card number information; a UWB tag provided with a button, which transmits instruction information to the UWB base station when the button is pressed; the background server is used for providing specific services according to the information of the UWB tag, and the specific services comprise positioning navigation services and passing authority control services; and when the UWB base station receives the instruction information, the coordinate information of the current UWB tag is sent to a background server to record the parking position. The present embodiment realizes management of vehicle personnel using UWB tags.

Description

UWB-based in-field vehicle management system and control method thereof

Technical Field

The application relates to the technology of the Internet of things, in particular to an in-field vehicle management system based on UWB and a control method thereof.

Background

In ports, freight yards, etc., access requires the possession of credentials, which are typically electronic credentials. Vehicles and people entering and exiting by using the electronic certificate can pass or transact related services in the gateway.

The positioning in the station yard generally adopts ordinary satellite positioning, and indoor positioning is few, but traditional electronic certificates generally can only realize verification and pass, do not possess other complicated functions.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides an on-site vehicle management system based on UWB and a control method thereof, so as to realize the management of the on-site vehicle by using the UWB technology.

In one aspect, an embodiment of the present application provides an in-field vehicle management system based on UWB, including:

the UWB base station group is used for acquiring information of UWB tags in the station field and sending the information of the UWB tags to the background server, and the information of the tags comprises coordinate information and card number information;

a UWB tag provided with a button, which transmits instruction information to the UWB base station when the button is pressed;

the background server is used for providing specific services according to the information of the UWB tag, and the specific services comprise positioning navigation services and passing authority control services;

when the UWB base station receives the instruction information, the coordinate information of the current UWB tag is sent to the background server to record the parking position.

In some embodiments, when the background server provides a positioning navigation service, a car-finding navigation in a field is provided to a mobile phone terminal according to the current positioning information of the UWB tag and a parking position corresponding to the UWB tag, and the mobile phone terminal and the UWB tag are registered and bound in the server.

In some embodiments, the system comprises a parking space ground sensing device, wherein the parking space ground sensing device is used for sensing whether a vehicle is parked in a parking space, and the background server provides a parking space searching service for the mobile phone terminal according to the state of each ground sensing device.

In some embodiments, the parking position of the user is automatically recorded based on the position of the UWB tag and the location sensing device.

In some embodiments, the device automatically records the parking position of the user according to the position of the UWB tag and the parking space ground sense, specifically:

when the parking space ground sensing device detects that a vehicle is parked, the background server searches the UWB label on the area where the parking space is located, judges whether the UWB label records the parking position through the button or not, and if not, the parking space is used as the parking position corresponding to the UWB label when the UWB label leaves the area where the parking space is located and the ground sensing device continuously senses the vehicle.

In some embodiments, when the parking space ground sensing device senses that the vehicle drives away, the background server clears the parking position of the user.

In some embodiments, the access control service includes access control services of personnel indoor access control and outdoor vehicle access control.

In some embodiments, the background server is further configured to monitor a moving speed of the UWB tag, and when the moving speed of the UWB tag exceeds a limit value, send a prompt to a mobile phone terminal to which the UWB tag is bound, or record an illegal behavior of a user corresponding to the UWB tag.

In some embodiments, the UWB tag includes a battery and charging interface.

In another aspect, an embodiment of the present application provides a method for controlling an in-field UWB-based vehicle management system, where the method includes:

collecting information of a UWB tag in a station, wherein the information of the tag comprises coordinate information and card number information, and sending the information of the UWB tag to a background server;

and when the UWB base station receives the instruction information, marking the coordinate information of the current UWB tag as a parking position.

According to the embodiment of the application, vehicles in a field are managed based on the UWB tags, the positions of the vehicles can be positioned at high precision, and the SOS button reserved in the UWB tags is used as a parking registration button, so that the parking positions of users in the field can be recorded, and the users can conveniently find the vehicles; simultaneously, UWB label follower person carries and can regard as the pass voucher in the scene, can realize more functions for traditional pass voucher.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a block diagram of a system provided by an embodiment of the present application;

fig. 2 is a flow chart of a method provided by an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be described in detail and completely through implementation by referring to the drawings in the examples of the present application, and it is obvious that the described examples are some examples of the present application, but not all examples. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.

In the description of the present invention, the meaning of a plurality is one or more, the meaning of a plurality is two or more, and the above, below, exceeding, etc. are understood as excluding the present numbers, and the above, below, within, etc. are understood as including the present numbers. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless otherwise specifically limited, the terms such as set forth and the like should be construed broadly, and those skilled in the art can reasonably determine the specific meanings of the above terms in combination with the detailed contents of the technical solutions.

In the description of the present invention, reference to the description of "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples", etc., means that a particular feature or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

UWB is an abbreviation of U l tra Wide Band, can be understood as ultra Wide Band, is a wireless carrier communication technology, and has a characteristic of high positioning accuracy when positioning is performed using the UWB technology. This application combines together UWB and gate, can effectively improve the efficiency of switching off. The UWB base station herein is a plurality of deployed UWB positioning base stations. The target area is understood to be an area controlled by UWB base stations, such as a factory area requiring UWB signal coverage. The moving object here may be a motor vehicle or the like. The identification card data here can be understood as the card number of the UWB location tag. The target coordinate data here may be understood as coordinates of the moving target.

When acquiring the target coordinate data through the UWB base station, a ToF positioning algorithm may be employed. The ToF positioning algorithm is a time-of-flight ranging method, the distance from the UWB positioning tag to the UWB positioning base station is obtained by measuring the time from the beginning to the return of a pulse signal and multiplying the time by the propagation speed, and the distance from the UWB positioning tag to the UWB positioning base station is obtained by dividing the distance by 2. It can be understood that the propagation speed of the pulse signal in the air is a constant value v =30 km/sec. Coordinates of the UWB positioning base station are known, after the distance from the tag to the base station is measured, 3 circles are drawn through a three-point positioning method, and the intersection point is the position of the UWB positioning tag. Referring to FIG. 2, the coordinates of the UWB positioning base station are R respectively ₁ (X ₁ 、Y ₁ )、R ₂ (X ₂ 、Y ₂ )、R ₃ (X ₃ 、Y ₃ ) UWB positioning base station R ₁ 、R ₂ 、R ₃ When the UWB positioning tag is installed and deployed, the position is fixed, the coordinates are known, and the coordinates of the UWB positioning tag are obtained as O _o (X _o 、Y _o ). Setting d ₁ 、d ₂ 、d ₃ Respectively 3 UWB positioning base stations and UWB positioning tags O _o With time t of propagation of the passing signal in between ₁ 、t ₂ 、t ₃ The calculated relative distance is calculated as a function of the distance,each base station draws a circular trajectory with a relative distance as a radius. The unique intersection can be calculated using three circular equations, as follows:

a ranging method based on a ToF (ToF) positioning algorithm belongs to a two-way ranging technology and mainly measures the distance between nodes by using the round-trip flight time of a signal between a UWB positioning label and a UWB positioning base station.

When the UWB base station is used to obtain the target coordinate data, a TDoA positioning algorithm may also be used. Conventional ranging techniques are classified into a two-way ranging technique and a one-way ranging technique. ToF belongs to a two-way ranging technology, while TDoA is a one-way ranging technology, and only a one-way distance between a UWB positioning base station and a UWB positioning tag needs to be measured. The TDoA positioning algorithm is a method of calculation using time difference. Accurate absolute time is relatively difficult to measure, the distance difference from the signal to each UWB positioning base station is calculated by comparing the time difference from the signal to each UWB positioning base station, and then hyperbolas with the UWB positioning base stations as focuses and the distance difference as long axes can be made, and the intersection point of the three groups of hyperbolas is the position of the UWB positioning tag. The coordinates of the UWB positioning base station are respectively R ₁ (X ₁ ，Y ₁ )、R ₂ (X ₂ ，Y ₂ )、R ₃ (X ₃ ，Y ₃ )、R ₄ (X ₄ ，Y ₄ ) UWB positioning base station R ₁ 、R ₂ 、R ₃ 、R ₄ When the UWB positioning tag is installed and deployed, the position is fixed and the coordinate is known, and the coordinate of the UWB positioning tag O is obtained as O (X) _o ，Y _o ). The propagation velocity of the pulse signal is constant v =30 km/sec, assuming that the pulse signal is determined from UWBArrival of bit label O at UWB positioning base station R ₁ 、R ₂ 、R ₃ 、R ₄ Time of t ₁ 、t ₂ 、t ₃ 、t ₄ With (R1, R4), (R2, R4), and (R3, R4) as the focal points, respectively, the distance difference between the signal transmitted by the UWB positioning tag O and the two base stations is constant, and 3 sets of hyperbolas can be obtained, where the intersection of the hyperbolas is the coordinate of the UWB positioning tag O. Solving for the coordinate O (X) _o ，Y _o ) The system of equations (a) is shown as follows:

the UWB base station may calculate the target coordinate data using a TDoA positioning algorithm.

It should be noted that the TDoA positioning algorithm determines the position of the mobile station by detecting the time difference between the arrival of the signals at two base stations, rather than the absolute time of arrival, thereby reducing the time synchronization requirement of the system. The TDoA positioning algorithm is an improvement on the ToF positioning algorithm, and compared with the ToF positioning algorithm, a special time stamp does not need to be added, so that the positioning accuracy is improved. In specific implementation, the UWB base station may adopt 4 UWB positioning base stations to form a UWB local area network, and is configured to receive information of the UWB positioning tag.

Referring to fig. 1, the present embodiment provides a UWB-based vehicle management system in a yard, which is explained first, and the yard is referred to as a dock or a freight yard, in which a large truck is usually entered and exited, a vehicle driver needs to enter and exit the yard with a certificate, and the vehicle driver needs to handle procedures in the yard. The system comprises:

and the UWB base station group is used for acquiring the information of the UWB tags in the station field and sending the information of the UWB tags to the background server, wherein the information of the tags comprises coordinate information and card number information. The use of UWB technology typically requires the deployment of multiple UWB base stations within a range to implement the positioning function. And determining the coordinates of the UWB tag, the card number and other information through the UWB base station.

The UWB tag is provided with a button, a charging interface and a battery, and sends instruction information to the UWB base station when the button is pressed; signals transmitted by the UWB tag can be received by the UWB base station, and the position of the UWB tag can be determined through the processing of the received signals by the UWB base station. UWB technology is widely introduced to indoor locations at the time of design, and therefore the command function of the SOS button, which is generally used for calling for help, is designed. The application utilizes the instruction function to realize the function of indicating the background server to record the parking of the user at the specific position. When the user actively uses the function to record the parking place, the parking position of the user can be recorded no matter whether the user is parked in a normal parking space or whether the parking space has a sensing function. The method is convenient to operate, and can be combined with the UWB real-time positioning function to carry out vehicle searching and navigation. Certainly, the premise is that the UWB tag needs to be bound through the mobile phone terminal, and the server can perform route planning by combining the current position of the UWB tag and the parking position, so as to help the user to find the own vehicle. Since the UWB tag is used for positioning and also used as a pass certificate, which is generally carried by a clerk, when the user operates, the user can pass through a gate of a station yard through the UWB tag, and when the user drives to a parking position (which may be a parking space or a roadside), the user can press an SOS button to mark the parking position. Then the user carries the UWB tag to get off for handling procedures, and can pass at a specific indoor gate by the UWB tag or carry out identity authentication in a handling area and the like. Meaning UWB tags, carry other functions in addition to positioning in this scenario.

The background server is used for providing specific services according to the information of the UWB tags, the specific services comprise positioning navigation services and access authority control services, and the access authority control services comprise access authority services of personnel indoor access control and outdoor vehicle access control. Location navigation services include, but are not limited to, indoor and outdoor location services within a venue, indoor and outdoor checkpoint clearance, authentication services, attendance check-in, and the like. The positioning navigation service comprises the step of referring vehicles to vacant parking spaces and the step of finding own vehicles for users.

And the mobile phone terminal is used for accessing the background server to obtain the specific service. The mobile phone terminal needs to be bound with the UWB tag in advance. Therefore, the background server can provide service for the mobile phone terminal based on the corresponding relation between the UWB tag and the mobile phone. For office personnel, there is no UWB functionality requirement for their handset devices. Drivers of the same company can reuse the same UWB tag, and the corresponding relation between driver information and the card number is managed inside the company.

When the UWB base station receives the instruction information (the instruction triggered when the SOS button is pressed), the coordinate information of the current UWB tag is sent to the background server to record the parking position.

It can be understood from the above embodiments that the above embodiments utilize the original functions of the UWB tag to apply

And managing vehicles in the station, associating the UWB tag with user information by utilizing the uniqueness of the UWB tag card number, and simultaneously using the UWB tag as a pass certificate of the user, wherein after the UWB tag reaches a specified area, the background server determines whether to open a door or release the door according to the pass authority of the UWB tag.

In the above embodiment, the mobile phone terminal loads the map in the station field from the background server, and the map is calibrated by the positioning information of the UWB base station. Therefore, after the UWB tag is located by the UWB base station, the corresponding position in the map can be displayed, and meanwhile, the background server can plan a route between two points by using a route planning technology according to a request of the mobile phone terminal. Through this function, the user can conveniently navigate to the location where the vehicle is parked. Without relying on other facilities within the yard.

For this service, mainly for a regular parking space, the parking space ground sensing device is usually a magnetic sensor or other devices for detecting whether there is metal above the parking space. When the parking space ground sensing device does not detect a vehicle in a parking space, the parking space can be judged to be an empty parking space, when a regular parking space is available, a user can request a background server to search the parking space through a mobile phone terminal, and the user is navigated by combining a label bound by the mobile phone terminal and the position of the parking space through a navigation technology. It should be understood that in the location in the station yard, the mobile phone terminal sees not the location information of the mobile phone, but the location of the tag. In other words, when the UWB tag is separated from the bound handset (e.g., 100 meters apart), the handset still sees the location of the UWB tag. Since the UWB tag is a pass certificate for the user, it is typically carried around. It can be understood that the position of the UWB tag can be located through the above functions, and the tag is conveniently found in the case of losing the tag.

Since the user is not necessarily accustomed to pressing the UWB tag button when parking, in some embodiments, the user's parking position is automatically recorded based on the position of the UWB tag and the parking space location sensing device. The method comprises the following steps:

when the parking space ground sensing device detects that a vehicle is parked, the background server searches the UWB label on the area where the parking space is located, judges whether the UWB label records the parking position through the button or not, and if not, takes the parking space as the parking position corresponding to the UWB label when the UWB label leaves the area where the parking space is located and the ground sensing device continuously senses the vehicle.

As can be seen from the above description, the present embodiment is suitable for a user who parks a vehicle in a parking space having a parking space ground sensing device. The parking stall ground sensing device can be triggered to inform the background server that the vehicle has been parked in this parking stall when the user parks the parking stall, and at this moment, the server can detect whether there is the UWB label on the position of this parking stall, if have, and UWB label leave the regional back parking stall ground sensing device of parking stall and still detect when having the vehicle to park, just register this parking stall as UWB label and correspond user's parking position. By means of the scheme, the user can automatically record the position of the vehicle without pressing a button. Of course, when the parking space ground sensing device senses that the vehicle drives away, the background server clears the parking position of the user. On the one hand, the background server can release the parking space, and meanwhile, the parking position of the user is deleted, so that the situation that the user still has the parking position when visiting next time is avoided. The deletion of the parking position may be triggered by time, such as a clear over a certain time period, a manual clear by the user, or the like.

In some embodiments, the background server is further configured to monitor a moving speed of the UWB tag, and when the moving speed of the UWB tag exceeds a limit value, send a prompt to a mobile phone terminal to which the UWB tag is bound, or record an illegal behavior of a user corresponding to the UWB tag. For safety management in a station, the present embodiment may perform speed measurement based on the UWB tag to determine whether the user is speeding. When the user is in the overspeed driving in the field, the prompt can be carried out through the mobile phone terminal, and the violation behaviors of the corresponding user can also be recorded.

The embodiment provides a control method of an in-field vehicle management system based on UWB, which comprises the following steps:

s1, collecting information of a UWB tag in a station, wherein the information of the tag comprises coordinate information and card number information, and sending the information of the UWB tag to a background server;

and S2, when the UWB base station receives the instruction information, marking the coordinate information of the current UWB tag as a parking position.

The method embodiments described above may also implement the corresponding functions of the system embodiments described above. Including but not limited to cooperate the ground to feel the device and carry out automatic registration to parking position, measure the speed and carry out the warning etc. based on the position of UWB label.

The integrated units described in this application may be stored in a computer-readable storage medium if they are implemented in the form of software functional units and sold or used as separate products. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a portable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other media capable of storing program codes.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present application and the technical principles employed. It will be understood by those skilled in the art that the present application is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the application. Therefore, although the present application has been described in more detail with reference to the above embodiments, the present application is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. An UWB-based on-site vehicle management system, comprising:

the UWB base station group is used for acquiring information of a UWB tag in a station field and sending the information of the UWB tag to the background server, and the information of the tag comprises coordinate information and card number information;

2. The UWB-based in-field vehicle management system according to claim 1, wherein the background server provides a positioning navigation service, and provides in-field vehicle searching navigation to the mobile phone terminal according to current positioning information of the UWB tag and a parking position corresponding to the UWB tag, and the mobile phone terminal and the UWB tag are registered and bound in the server.

3. The UWB-based on-site vehicle management system according to claim 2, comprising a parking space ground sensing device, wherein the parking space ground sensing device is used for sensing whether a vehicle is parked in a parking space, and the background server provides a parking space searching service to the mobile phone terminal according to the state of each ground sensing device.

4. An in-field UWB-based vehicle management system as claimed in claim 3, wherein the parking position of the user is automatically recorded based on the position of the UWB tag and the parking space ground sensing device.

5. An UWB-based on-site vehicle management system according to claim 4, wherein the device automatically records the parking position of the user according to the position of the UWB tag and the parking space ground sense, in particular:

6. The UWB-based in-field vehicle management system of claim 5, wherein the background server clears the parking position of the user when the vehicle departure is sensed by the parking space sensing device.

7. The UWB-based on-site vehicle management system of claim 1, wherein the access right control services comprise access right services for personnel indoor gate entry and outdoor vehicle gate entry.

8. The UWB-based on-site vehicle management system of claim 1, wherein the background server is further configured to monitor a moving speed of the UWB tag, and when the moving speed of the UWB tag exceeds a limit value, send a prompt to a mobile phone terminal to which the UWB tag is bound, or record an illegal action of a user corresponding to the UWB tag.

9. An in-field UWB-based vehicle management system as defined in claim 1, wherein the UWB tag includes a battery and charging interface.

10. A method of controlling a UWB-based on-site vehicle management system according to claim 1, comprising the steps of:

collecting information of a UWB tag in a station field, wherein the information of the tag comprises coordinate information and card number information, and sending the information of the UWB tag to a background server;