WO2018107907A1 - Uwb positioning-based automobile storage site management system and management method therefor - Google Patents

Uwb positioning-based automobile storage site management system and management method therefor Download PDF

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Publication number
WO2018107907A1
WO2018107907A1 PCT/CN2017/107629 CN2017107629W WO2018107907A1 WO 2018107907 A1 WO2018107907 A1 WO 2018107907A1 CN 2017107629 W CN2017107629 W CN 2017107629W WO 2018107907 A1 WO2018107907 A1 WO 2018107907A1
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WIPO (PCT)
Prior art keywords
vehicle
node
module
tag
computer system
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PCT/CN2017/107629
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French (fr)
Chinese (zh)
Inventor
丁月民
段权珍
王劲松
石凯
黄胜明
李晓卉
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天津理工大学
武汉科技大学
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Publication of WO2018107907A1 publication Critical patent/WO2018107907A1/en

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/50—Network services
    • H04L67/52—Network services specially adapted for the location of the user terminal
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/10544—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
    • G06K7/1404—Methods for optical code recognition
    • G06K7/1408—Methods for optical code recognition the method being specifically adapted for the type of code
    • G06K7/1417—2D bar codes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
    • H04L41/08—Configuration management of networks or network elements
    • H04L41/0803—Configuration setting

Definitions

  • the invention belongs to the technical field of automobile storage site management, and particularly relates to a vehicle storage site management system based on UWB positioning and a management method thereof.
  • Car storage sites are usually built in large ports, terminals, bonded areas, and logistics parks. They are places where cars are stored centrally. Large-scale car storage sites usually have storage capacity of tens of thousands of vehicles. In a large-scale storage site, how to accurately find the storage location according to the car frame number to complete the warehousing and delivery operations is a difficult problem in the management of the car storage site. In response to this problem, there are currently two main solutions:
  • the more traditional solutions rely mainly on manual manual entry.
  • the manual frame entry method is used to record the unique frame number (VIN) of the vehicle and the approximate storage position of the vehicle (such as the first row, the first few cars), etc., thereby establishing the frame number and The matching relationship of the vehicle storage location and store it in the database.
  • the database is queried according to the frame number (VIN), and the approximate storage location (such as the first few rows and the first few vehicles) in the automobile storage site is obtained, and then the manual is inspected to complete the delivery.
  • scheme (1) relies heavily on manual manual entry, and the probability of error is high, and the process of vehicle inventory information entry and vehicle outbound search is cumbersome, resulting in a large amount of human resources waste.
  • scheme (2) simplifies the process of warehousing information entry and retrieval of the vehicle to a certain extent.
  • the positioning error due to the positioning error of about 10 meters in the civilian GPS technology, it is difficult to achieve accurate positioning of the vehicle. The vehicle needs to be manually searched in the local area.
  • the object of the present invention is to provide a vehicle storage site management system based on UWB positioning and a management method thereof.
  • a vehicle storage site management system based on UWB positioning comprising a host computer system, a boundary node, a plurality of anchor nodes and a plurality of tag nodes; the tag nodes are respectively connected to the host computer system through the anchor node and the boundary node; wherein the anchor node Connected to each other and form an anchor node network, the tag node is set in the anchor node network and connected by wireless communication The anchor node, and the tag node is carried by the field staff and moves with the field staff.
  • the upper computer system includes a data processing module, a vehicle information data storage module, a visual display module, a first control module, a human-computer interaction module, a communication module, a data processing module, a vehicle information data storage module, a visual display module, and a human-machine
  • the interaction module and the communication module are all connected to the first control module, and the communication module is connected to the boundary node.
  • the boundary node includes a second controller, a second UWB communication module, a second power supply module, and a host computer interface module; the second UWB communication module and the upper computer interface module are both connected to the second controller, and the second UWB communication module
  • the communication module is connected to the upper computer system; the second power supply module supplies power to the second controller, the second UWB communication module, and the upper computer interface module.
  • the anchor node includes a third controller, a third UWB communication module, a third power supply module, and a first user interface module; the third UWB communication module and the first user interface module are all connected to the third controller; The module provides power to the third controller, the third UWB communication module, and the first user interface module.
  • the label node includes a fourth controller, a fourth UWB communication module, a fourth power supply module, a frame number acquisition module, a second user interface module, and a display module; a fourth UWB communication module, a frame number acquisition module, and a The two user interface modules and the display module are both connected to the fourth controller; the fourth power supply module provides power for the fourth controller, the fourth UWB communication module, and the frame number acquisition module.
  • a method for managing vehicle warehousing using a UWB-based vehicle storage site management system includes the following steps in sequence:
  • S1 phase of system initialization At this stage, the upper computer system, the boundary node, the plurality of anchor nodes and the plurality of tag nodes are initialized, and then enter the S2 phase;
  • S3 stage of collecting the frame number information of the tag node At this stage, the staff manually enters, photographs, scans the bar code, scans the QR code, and reads the RFID tag through the frame number acquisition module of the tag node carried around. Way to obtain the frame number information, and then enter the S4 phase;
  • V) S5 phase of positioning of the tag node by the host computer system At this stage, the first control module of the host computer system sequentially locates the tag node through the communication module, the boundary node and the anchor node according to the instruction sent by the tag node to obtain S4 stage sends the position information of the tag node of the instruction, and stores the frame number of the vehicle and its corresponding position information in the vehicle information data storage module;
  • VI judging whether the vehicle location information is stored in the S6 phase of the host computer system: at this stage, determining whether the tag node receives the feedback information of “location data storage success” sent by the host computer system, and if the feedback information is received, the vehicle enters The library work is completed; if no feedback is received, it returns to the S3 phase.
  • a method for managing a vehicle outbound using a UWB-based vehicle storage site management system includes the following steps in sequence:
  • the upper computer system obtains the position information of all the tag nodes in the storage site through the boundary node and the anchor node, and finds the tag node closest to the current storage location of the vehicle to be delivered, according to the storage location of the vehicle and the distance from the vehicle to be discharged from the vehicle.
  • the current location of the tag node plans the path that the worker arrives at the vehicle storage location;
  • the upper computer system sends the frame number of the vehicle to be delivered, the current storage position of the vehicle, the planned route, and the vehicle delivery instruction to the label node carried by the staff member closest to the current storage location of the vehicle to be discharged, and executes the vehicle
  • the tag node displayed by the staff of the library operation is displayed on the display module;
  • Step 5) The tag node carried by the staff member who is closest to the current storage location of the vehicle to be discharged from the vehicle receives the vehicle delivery instruction sent by the host computer system, and then sends the vehicle delivery instruction confirmation through the carried tag node to the host computer system. information;
  • the host computer system determines whether the confirmation information sent by the label node is received. If the judgment result is “Yes”, the host computer system changes the vehicle storage state to “vehicle outbound” and proceeds to the next step; otherwise, Return to step 6);
  • the staff performing the vehicle delivery operation arrives at the current storage location of the vehicle to be discharged according to the planned route displayed on the display module;
  • the staff performing the vehicle delivery operation controls the frame number acquisition module through the fourth controller of the carried tag node to obtain the pending entry by manual input, photographing, barcode scanning, two-dimensional code scanning, and reading of the RFID tag.
  • Frame number information of the vehicle
  • step 11 judging whether the frame number information collected in step 10) of the tag node is consistent with the frame number of the outbound vehicle sent by the host computer to the tag node, and if the judgment result is “Yes”, the vehicle is taken out; if the judgment result is "No”, the tag node carried by the staff member performing the vehicle delivery operation prompts the staff member "the frame number matching error", and returns to step 10);
  • the vehicle node completes the vehicle delivery completion instruction through the label node, and the host computer system stores the vehicle information after receiving the delivery completion instruction sent by the label node.
  • the storage state of the corresponding vehicle in the module is modified to "outbound".
  • a management method for vehicle position change using a UWB-based vehicle storage site management system comprising the following steps in sequence:
  • the staff obtains the frame number information of the position-changing vehicle by means of manual input, barcode scanning, two-dimensional code scanning, and reading of the RFID tag through the frame number acquisition module of the tag node carried by the worker;
  • the staff sends the frame number information and the position change request of the position change vehicle to the upper computer system through the label node;
  • the host computer system modifies the storage state information corresponding to the frame number in the vehicle information data storage module to “changing the location change”, and Returning a location change confirmation command to the tag node that sent the location change request;
  • the staff member checks whether the tag node receives the location change confirmation command fed back by the host computer system, and if the result of the check is that the location information change command is received, proceeds to step g); otherwise, returns to step d);
  • the worker moves the position change vehicle to a new storage location, and after the vehicle position change is completed, sends a positioning request command through the boundary node and the anchor node to the upper computer system through the carried tag node;
  • the first control module of the host computer system sequentially locates the tag node through the communication module, the boundary node and the anchor node according to the instruction sent by the tag node, and performs location information corresponding to the frame number in the vehicle information data storage module. Updating, and canceling the storage state of "in progress position change" corresponding to the frame number in the vehicle information data storage module;
  • the upper computer system sends the confirmation information of the completion of the vehicle position change to the label node carried by the staff member who performs the vehicle position change through the boundary node and the anchor node;
  • the UWB-based vehicle storage site management system and its management method realize the centimeter-level precise search and information management of a vehicle with a specific frame number in a large automobile storage site by adopting UWB positioning technology. .
  • FIG. 1 is a schematic diagram of a minimum structural unit of a management system provided by the present invention.
  • FIG. 2 is a schematic diagram of an extended structure of a management system provided by the present invention.
  • Figure 3 is a schematic diagram of the structure of the host computer system.
  • Figure 4 is a schematic diagram of the structure of a boundary node.
  • Figure 5 is a schematic diagram of the structure of an anchor node.
  • Figure 6 is a schematic diagram of the structure of a tag node.
  • FIG. 7 is a flow chart of a vehicle storage management method.
  • FIG. 8 is a flow chart of a vehicle outbound management method.
  • FIG. 9 is a flow chart of a vehicle position change management method.
  • FIG. 1 is a minimum application system of a UWB positioning based automobile storage site management system, which is suitable for a small automobile storage site;
  • FIG. 2 is a UWB positioning based automobile storage site provided by the present invention.
  • the UWB-based vehicle storage site management system includes a host computer system, a boundary node, a plurality of anchor nodes, and a plurality of tag nodes; the tag nodes are respectively connected to the host computer system through anchor nodes and boundary nodes.
  • the anchor nodes are connected to each other and form an anchor node network, the tag node is disposed in the anchor node network and connected to the anchor node by wireless communication, and the tag node is carried by the field staff and moves with the field staff ;
  • the upper computer system includes a data processing module 101, a vehicle information data storage module 102, a visual display module 103, a first control module 104, a human-machine interaction module 105, and a communication module 106; a data processing module 101, and a vehicle information data storage module. 102.
  • the visual display module 103, the human-machine interaction module 105, and the communication module 106 are all connected to the first control module 104, and the communication module 106 is connected to the boundary node.
  • the boundary node includes a second controller 201, a second UWB communication module 203, a second power supply module 204, and a host computer interface module 202.
  • the second UWB communication module 203 and the upper computer interface module 202 are both connected to the second controller. 201.
  • the second UWB communication module 203 is connected to the communication module 106 of the upper computer system.
  • the second power supply module 204 provides power for the second controller 201, the second UWB communication module 203, and the upper computer interface module 202.
  • the anchor node includes a third controller 301, a third UWB communication module 303, a third power supply module 304, and a first user interface module 302; the third UWB communication module 303 and the first user interface module 302 are all connected to the third The controller 301; the third power supply module 304 provides power to the third controller 301, the third UWB communication module 303, and the first user interface module 302.
  • the tag node includes a fourth controller 401, a fourth UWB communication module 404, a fourth power supply module 405, a frame number acquisition module 402, a second user interface module 403, and a display module 406; a fourth UWB communication module 404, The frame number acquisition module 402, the second user interface module 403, and the display module 406 are all connected to the fourth controller 401; the fourth power supply module 405 is the fourth controller 401, the fourth UWB communication module 404, and the frame number acquisition module. 402 provides electrical energy.
  • the vehicle storage management method includes the following steps in sequence:
  • the staff performing the vehicle warehousing operation acquires the frame number information by means of manual input, photographing, barcode scanning, two-dimensional code scanning, and reading of the RFID tag through the frame number acquisition module 402 of the tag node that is carried around;
  • the staff performing the vehicle warehousing operation transmits the collected frame number information, the vehicle warehousing request, and the node locating request to the upper computer system through the tag node carried with the vehicle, and waits for the upper computer system to send the vehicle warehousing confirmation information;
  • the first control module 104 of the host computer system sequentially collects the parameter information of the tag node and locates the tag node through the communication module 106, the boundary node, and the anchor node in sequence according to the instruction sent by the tag node, and obtains the tag node to obtain Transmitting the location information of the tag node of the vehicle warehousing request command in the previous step, and storing the frame number of the vehicle and its corresponding location information in the vehicle information data storage module 102;
  • the tag node receives the feedback information of “location data storage success” sent by the host computer system, and if the feedback information is received, the vehicle storage work is completed; if the feedback information is not received, the frame number is re-acquired. And repeat the above steps.
  • the vehicle outbound management method includes the following steps in sequence:
  • the host computer system receives the vehicle delivery instruction issued by the staff member and the frame number information of the outbound vehicle through the human-machine interaction module 105;
  • the first control module 104 of the upper computer system queries the vehicle information data storage module 102 for the current storage location of the vehicle to be released according to the outbound vehicle frame number information input in step 3);
  • the upper computer system obtains the position information of all the tag nodes in the storage site through the boundary node and the anchor node, and finds the tag node closest to the current storage location of the vehicle to be delivered, according to the storage location of the vehicle and the distance from the vehicle to be discharged from the vehicle.
  • the current location of the tag node plans the path that the worker arrives at the vehicle storage location;
  • the upper computer system sends the frame number of the vehicle to be delivered, the current storage position of the vehicle, the planned route, and the vehicle delivery instruction to the label node carried by the staff member closest to the current storage location of the vehicle to be discharged, and executes the vehicle
  • the tag node display module 406 carried by the staff of the library operation performs display;
  • Step 5) The tag node carried by the staff member who is closest to the current storage location of the vehicle to be discharged from the vehicle receives the vehicle delivery instruction sent by the host computer system, and then sends the vehicle delivery instruction confirmation through the carried tag node to the host computer system. information;
  • the host computer system determines whether the confirmation information sent by the label node is received. If the judgment result is “Yes”, the host computer system changes the vehicle storage state to “vehicle outbound” and proceeds to the next step; otherwise, Return to step 6);
  • the staff performing the vehicle delivery operation arrives at the current storage location of the vehicle to be discharged according to the planned route displayed on the display module 406;
  • the staff performing the vehicle delivery operation controls the frame number acquisition module 402 through the fourth controller 401 of the carried tag node to obtain the image by manual input, photographing, barcode scanning, two-dimensional code scanning, and reading of the RFID tag.
  • Frame number information of the outbound vehicle
  • step 11 judging whether the frame number information collected in step 10) of the tag node is consistent with the frame number of the outbound vehicle sent by the host computer to the tag node, and if the judgment result is “Yes”, the vehicle is taken out; if the judgment result is "No”, the tag node carried by the staff member performing the vehicle delivery operation prompts the staff member "the frame number matching error", and returns to step 10);
  • the vehicle node completes the vehicle delivery completion instruction through the label node, and the host computer system stores the vehicle information after receiving the delivery completion instruction sent by the label node.
  • the storage state of the corresponding vehicle in the module 102 is modified to "out of the library".
  • FIG. 9 is a flowchart of a vehicle position change management method.
  • the vehicle position change management method includes the following steps in sequence:
  • the staff obtains the frame number information of the position-changing vehicle by means of manual input, barcode scanning, two-dimensional code scanning, and reading of the RFID tag through the frame number acquisition module 402 of the tag node carried by the worker;
  • the staff sends the frame number information and the position change request of the position change vehicle to the upper computer system through the label node;
  • the host computer system modifies the storage state information corresponding to the frame number in the vehicle information data storage module 102 to “changing the position in progress”. And feeding back a location change confirmation command to the tag node that sends the location change request;
  • the staff member checks whether the tag node receives the location change confirmation command fed back by the host computer system, and if the result of the check is that the location information change command is received, proceeds to step g); otherwise, returns to step d);
  • the worker moves the position change vehicle to a new storage location, and after the vehicle position change is completed, sends a positioning request command through the boundary node and the anchor node to the upper computer system through the carried tag node;
  • the first control module 104 of the host computer system sequentially locates the tag node through the communication module 106, the boundary node and the anchor node according to the instruction sent by the tag node, and corresponds to the frame number in the vehicle information data storage module 102.
  • the location information is updated, and the storage state of the "changing location change" corresponding to the frame number in the vehicle information data storage module 102 is canceled;
  • the upper computer system sends the confirmation information of the completion of the vehicle position change to the label node carried by the staff member who performs the vehicle position change through the boundary node and the anchor node;
  • step g determining whether the tag node carried by the worker performing the vehicle position change receives the confirmation information of the vehicle position change transmitted by the host computer system, and if the determination result is "No", returns to step g); otherwise, the vehicle change work is completed.

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Abstract

Disclosed is a UWB positioning-based automobile storage site management system, comprising: an upper computer system, boundary nodes, a plurality of anchor nodes, and a plurality of tag nodes; the tag nodes are connected to the upper computer system by means the anchor nodes and the boundary nodes in sequence, respectively; wherein the anchor nodes are connected with one another to form an anchor node network; the tag nodes are provided in a grid formed by the anchor node network and are connected to the anchor nodes in a wireless communication mode; and the tag nodes are carried by field personnel and move along with the field personnel. The UWB positioning-based automobile storage site management system and a management method therefor achieve centimeter-level exact search and informatization management of an automobile with a specific frame number in a large automobile storage site by using the UWB positioning technology.

Description

基于UWB定位的汽车仓储场地管理***及其管理方法Automobile storage site management system based on UWB positioning and management method thereof 技术领域Technical field
本发明属于汽车仓储场地管理技术领域，特别涉及一种基于UWB定位的汽车仓储场地管理***及其管理方法。The invention belongs to the technical field of automobile storage site management, and particularly relates to a vehicle storage site management system based on UWB positioning and a management method thereof.
背景技术Background technique
汽车仓储场地通常建设在大型港口、码头、保税区、以及物流园区内，是集中存放汽车整车的场所；大型的汽车仓储场地通常具备上万辆汽车整车的存储规模。在大规模的存储场地中，如何根据汽车车架号准确地查找其存储位置，从而完成入库与出库操作，是汽车仓储场地管理中的难点问题。针对这一难题，目前主要有以下两种解决方案：Car storage sites are usually built in large ports, terminals, bonded areas, and logistics parks. They are places where cars are stored centrally. Large-scale car storage sites usually have storage capacity of tens of thousands of vehicles. In a large-scale storage site, how to accurately find the storage location according to the car frame number to complete the warehousing and delivery operations is a difficult problem in the management of the car storage site. In response to this problem, there are currently two main solutions:
(1)较为传统的解决方案主要依赖人工手动录入完成。在汽车整车入库时，通过人工手动录入的方式，记录车辆的唯一车架号(VIN)与车辆的大概存放位置(如第几排，第几辆)等信息，从而建立车架号与车辆存放位置的匹配关系，并将其存储于数据库中。在出库时，则根据车架号(VIN)查询数据库，获得其在汽车仓储场地中的大概存放位置(如第几排，第几辆)，再由人工到现场查询，完成出库。(1) The more traditional solutions rely mainly on manual manual entry. When the whole vehicle is put into storage, the manual frame entry method is used to record the unique frame number (VIN) of the vehicle and the approximate storage position of the vehicle (such as the first row, the first few cars), etc., thereby establishing the frame number and The matching relationship of the vehicle storage location and store it in the database. When out of the warehouse, the database is queried according to the frame number (VIN), and the approximate storage location (such as the first few rows and the first few vehicles) in the automobile storage site is obtained, and then the manual is inspected to complete the delivery.
(2)基于GPS定位的解决方案。在汽车整车入库时，通过手持GPS移动定位终端，获取车辆的准确位置信息，进而建立车架号(VIN)与GPS定位信息的匹配关系，并将其存于数据库中。在出库时，则根据车架号(VIN)查询数据库，获取与之对应的GPS位置信息，进而通过GPS位置信息对车辆进行查找，完成出库。(2) A solution based on GPS positioning. When the whole vehicle is put into storage, the GPS is used to move the positioning terminal to obtain the accurate position information of the vehicle, and then the matching relationship between the frame number (VIN) and the GPS positioning information is established, and stored in the database. When out of the warehouse, the database is queried according to the frame number (VIN), and the GPS location information corresponding thereto is obtained, and then the vehicle is searched by the GPS location information to complete the delivery.
方案(1)的技术缺陷在于严重依赖人工手动录入，出错概率较高，且车辆入库信息录入与车辆出库查找过程较为繁琐，造成了大量的人力资源浪费。方案(2)与方案(1)相比，在一定程度上简化了车辆入库信息录入与出库查找过程，但是由于民用GPS技术存在10米左右的定位误差，难以实现对车辆的精准定位，在局部范围内仍需通过人工对车辆进行查找。The technical defect of scheme (1) is that it relies heavily on manual manual entry, and the probability of error is high, and the process of vehicle inventory information entry and vehicle outbound search is cumbersome, resulting in a large amount of human resources waste. Compared with the scheme (1), the scheme (2) simplifies the process of warehousing information entry and retrieval of the vehicle to a certain extent. However, due to the positioning error of about 10 meters in the civilian GPS technology, it is difficult to achieve accurate positioning of the vehicle. The vehicle needs to be manually searched in the local area.
发明内容Summary of the invention
本发明的目的是提供一种基于UWB定位的汽车仓储场地管理***及其管理方法。The object of the present invention is to provide a vehicle storage site management system based on UWB positioning and a management method thereof.
为此，本发明技术方案如下：To this end, the technical solution of the present invention is as follows:
一种基于UWB定位的汽车仓储场地管理***，包括上位机***、边界节点、多个锚节点和多个标签节点；标签节点分别依次通过锚节点、边界节点连接到上位机***；其中，锚节点之间互相连接，并形成锚节点网络，标签节点设置在锚节点网络中并以无线通讯的方式连接到 锚节点，且标签节点由现场工作人员携带，并随现场工作人员移动。A vehicle storage site management system based on UWB positioning, comprising a host computer system, a boundary node, a plurality of anchor nodes and a plurality of tag nodes; the tag nodes are respectively connected to the host computer system through the anchor node and the boundary node; wherein the anchor node Connected to each other and form an anchor node network, the tag node is set in the anchor node network and connected by wireless communication The anchor node, and the tag node is carried by the field staff and moves with the field staff.
所述的上位机***包括数据处理模块、车辆信息数据存储模块、可视化展示模块、第一控制模块、人机交互模块、通讯模块；数据处理模块、车辆信息数据存储模块、可视化展示模块、人机交互模块、通讯模块均连接到第一控制模块，通讯模块连接到边界节点。The upper computer system includes a data processing module, a vehicle information data storage module, a visual display module, a first control module, a human-computer interaction module, a communication module, a data processing module, a vehicle information data storage module, a visual display module, and a human-machine The interaction module and the communication module are all connected to the first control module, and the communication module is connected to the boundary node.
所述的边界节点包括第二控制器、第二UWB通信模块、第二供电模块和上位机接口模块；第二UWB通信模块、上位机接口模块均连接到第二控制器，第二UWB通信模块连接到上位机***的通讯模块；第二供电模块为第二控制器、第二UWB通信模块和上位机接口模块提供电能。The boundary node includes a second controller, a second UWB communication module, a second power supply module, and a host computer interface module; the second UWB communication module and the upper computer interface module are both connected to the second controller, and the second UWB communication module The communication module is connected to the upper computer system; the second power supply module supplies power to the second controller, the second UWB communication module, and the upper computer interface module.
所述的锚节点包括第三控制器、第三UWB通信模块、第三供电模块和第一用户接口模块；第三UWB通信模块、第一用户接口模块均连接到第三控制器；第三供电模块为第三控制器、第三UWB通信模块和第一用户接口模块提供电能。The anchor node includes a third controller, a third UWB communication module, a third power supply module, and a first user interface module; the third UWB communication module and the first user interface module are all connected to the third controller; The module provides power to the third controller, the third UWB communication module, and the first user interface module.
所述的标签节点包括第四控制器、第四UWB通信模块、第四供电模块、车架号获取模块、第二用户接口模块和显示模块；第四UWB通信模块、车架号获取模块、第二用户接口模块和显示模块均连接到第四控制器；第四供电模块为第四控制器、第四UWB通信模块、车架号获取模块提供电能。The label node includes a fourth controller, a fourth UWB communication module, a fourth power supply module, a frame number acquisition module, a second user interface module, and a display module; a fourth UWB communication module, a frame number acquisition module, and a The two user interface modules and the display module are both connected to the fourth controller; the fourth power supply module provides power for the fourth controller, the fourth UWB communication module, and the frame number acquisition module.
一种采用基于UWB定位的汽车仓储场地管理***进行车辆入库的管理方法，包括按顺序进行的下列步骤：A method for managing vehicle warehousing using a UWB-based vehicle storage site management system includes the following steps in sequence:
Ⅰ)***初始化的S1阶段：在此阶段，上位机***、边界节点、多个锚节点和多个标签节点进行初始化，然后进入S2阶段；I) S1 phase of system initialization: At this stage, the upper computer system, the boundary node, the plurality of anchor nodes and the plurality of tag nodes are initialized, and then enter the S2 phase;
Ⅱ)对锚节点进行网络配置的S2阶段：在此阶段，完成锚节点网络的配置；II) S2 phase of network configuration for the anchor node: At this stage, the configuration of the anchor node network is completed;
Ⅲ)标签节点采集车架号信息的S3阶段：在此阶段，工作人员通过随身携带的标签节点的车架号获取模块以手工输入、拍照、条码扫描、二维码扫描、读取RFID标签的方式获取车架号信息，然后进入S4阶段；III) S3 stage of collecting the frame number information of the tag node: At this stage, the staff manually enters, photographs, scans the bar code, scans the QR code, and reads the RFID tag through the frame number acquisition module of the tag node carried around. Way to obtain the frame number information, and then enter the S4 phase;
Ⅳ)工作人员通过标签节点发送指令的S4阶段：在此阶段，工作人员通过随身携带的标签节点将采集的车架号信息、车辆入库请求、节点定位请求发送到上位机***，并等待上位机***发送车辆入库确认信息，然后进入S5阶段；IV) The S4 phase in which the staff sends the command through the tag node: At this stage, the worker sends the collected frame number information, the vehicle warehousing request, and the node locating request to the host computer system through the tag node carried around, and waits for the upper position. The machine system sends the vehicle warehousing confirmation information, and then enters the S5 stage;
Ⅴ)上位机***对标签节点定位的S5阶段：在此阶段，上位机***的第一控制模块根据标签节点发送的指令，依次通过通讯模块、边界节点和锚节点对标签节点进行定位，以获取S4阶段发送指令的标签节点的位置信息，并将车辆的车架号及其对应的位置信息存储到车辆信息数据存储模块中； V) S5 phase of positioning of the tag node by the host computer system: At this stage, the first control module of the host computer system sequentially locates the tag node through the communication module, the boundary node and the anchor node according to the instruction sent by the tag node to obtain S4 stage sends the position information of the tag node of the instruction, and stores the frame number of the vehicle and its corresponding position information in the vehicle information data storage module;
Ⅵ)判断车辆位置信息是否存储在上位机***的S6阶段：在此阶段，判断标签节点是否收到上位机***发送的“位置数据存储成功”的反馈信息，若收到反馈信息，则车辆入库工作完成；若未收到反馈信息，则返回S3阶段。VI) judging whether the vehicle location information is stored in the S6 phase of the host computer system: at this stage, determining whether the tag node receives the feedback information of “location data storage success” sent by the host computer system, and if the feedback information is received, the vehicle enters The library work is completed; if no feedback is received, it returns to the S3 phase.
一种采用基于UWB定位的汽车仓储场地管理***进行车辆出库的管理方法，包括按顺序进行的下列步骤：A method for managing a vehicle outbound using a UWB-based vehicle storage site management system includes the following steps in sequence:
5)上位机***通过边界节点、锚节点获得存储场地中所有标签节点的位置信息，并找出距离待出库车辆当前存放位置最近的标签节点，根据车辆存放位置、距离待出库车辆距离最近标签节点的当前位置对工作人员到达车辆存放地的路径进行规划；5) The upper computer system obtains the position information of all the tag nodes in the storage site through the boundary node and the anchor node, and finds the tag node closest to the current storage location of the vehicle to be delivered, according to the storage location of the vehicle and the distance from the vehicle to be discharged from the vehicle. The current location of the tag node plans the path that the worker arrives at the vehicle storage location;
6)上位机***向距离待出库车辆当前存放位置最近的工作人员携带的标签节点发送待出库车辆车架号、车辆当前存放位置、规划路径、及车辆出库指令，并通过执行车辆出库操作的工作人员携带的标签节点显示模块上进行显示；6) The upper computer system sends the frame number of the vehicle to be delivered, the current storage position of the vehicle, the planned route, and the vehicle delivery instruction to the label node carried by the staff member closest to the current storage location of the vehicle to be discharged, and executes the vehicle The tag node displayed by the staff of the library operation is displayed on the display module;
7)步骤5)中距离待出库车辆当前存放位置最近的工作人员携带的标签节点收到上位机***发送的车辆出库指令后，通过携带的标签节点向上位机***发送车辆出库指令确认信息；7) Step 5) The tag node carried by the staff member who is closest to the current storage location of the vehicle to be discharged from the vehicle receives the vehicle delivery instruction sent by the host computer system, and then sends the vehicle delivery instruction confirmation through the carried tag node to the host computer system. information;
8)上位机***判断是否收到标签节点发送的确认信息，如果判断结果为“是”，则上位机***将该车辆存储状态修改为“车辆出库中”，并进入下一步；反之，则返回步骤6)；8) The host computer system determines whether the confirmation information sent by the label node is received. If the judgment result is “Yes”, the host computer system changes the vehicle storage state to “vehicle outbound” and proceeds to the next step; otherwise, Return to step 6);
9)执行车辆出库操作的工作人员根据显示模块上显示的规划路线，到达待出库车辆的当前存放位置；9) The staff performing the vehicle delivery operation arrives at the current storage location of the vehicle to be discharged according to the planned route displayed on the display module;
10)执行车辆出库操作的工作人员通过携带的标签节点的第四控制器控制车架号获取模块以手工输入、拍照、条码扫描、二维码扫描、读取RFID标签的方式获取待出库车辆的车架号信息；10) The staff performing the vehicle delivery operation controls the frame number acquisition module through the fourth controller of the carried tag node to obtain the pending entry by manual input, photographing, barcode scanning, two-dimensional code scanning, and reading of the RFID tag. Frame number information of the vehicle;
11)判断标签节点步骤10)中采集的车架号信息是否与上位机发送到标签节点的出库车辆车架号一致，若判断结果为“是”，则将车辆出库；若判断结果为“否”，则执行车辆出库操作的工作人员携带的标签节点向工作人员提示“车架号匹配错误”，并返回步骤10)；11) judging whether the frame number information collected in step 10) of the tag node is consistent with the frame number of the outbound vehicle sent by the host computer to the tag node, and if the judgment result is “Yes”, the vehicle is taken out; if the judgment result is "No", the tag node carried by the staff member performing the vehicle delivery operation prompts the staff member "the frame number matching error", and returns to step 10);
12)执行车辆出库操作的工作人员完成车辆出库操作后，通过标签节点向上位机***发送车辆出库完成指令，上位机***收到标签节点发送的出库完成指令后，将车辆信息存储模块中对应该车辆的存储状态修改为“已出库”。12) After the vehicle performing the vehicle delivery operation completes the vehicle delivery operation, the vehicle node completes the vehicle delivery completion instruction through the label node, and the host computer system stores the vehicle information after receiving the delivery completion instruction sent by the label node. The storage state of the corresponding vehicle in the module is modified to "outbound".
一种采用基于UWB定位的汽车仓储场地管理***进行车辆位置变更的管理方法，包括按顺序进行的下列步骤：A management method for vehicle position change using a UWB-based vehicle storage site management system, comprising the following steps in sequence:
a)对上位机***、边界节点、多个锚节点和多个标签节点进行初始化设置；a) initializing the upper computer system, the boundary node, the plurality of anchor nodes, and the plurality of tag nodes;
b)完成锚节点网络的配置； b) completing the configuration of the anchor node network;
c)工作人员通过自身携带的标签节点的车架号获取模块以手动输入、条码扫描、二维码扫描、读取RFID标签的方式获取位置变更车辆的车架号信息；c) The staff obtains the frame number information of the position-changing vehicle by means of manual input, barcode scanning, two-dimensional code scanning, and reading of the RFID tag through the frame number acquisition module of the tag node carried by the worker;
d)工作人员通过标签节点将位置变更车辆的车架号信息与位置变更请求发送给上位机***；d) the staff sends the frame number information and the position change request of the position change vehicle to the upper computer system through the label node;
e)上位机***收到步骤d)中标签节点发送的车架号信息与变更请求后，将车辆信息数据存储模块中该车架号对应的存储状态信息修改为“正在进行位置变更”，并向发送位置变更请求的标签节点反馈位置变更确认指令；e) after receiving the frame number information and the change request sent by the tag node in step d), the host computer system modifies the storage state information corresponding to the frame number in the vehicle information data storage module to “changing the location change”, and Returning a location change confirmation command to the tag node that sent the location change request;
f)工作人员查看标签节点是否接收到上位机***反馈的位置变更确认指令，若查看结果为收到位置信息变更指令，则进入步骤g)；否则，则返回步骤d)；f) The staff member checks whether the tag node receives the location change confirmation command fed back by the host computer system, and if the result of the check is that the location information change command is received, proceeds to step g); otherwise, returns to step d);
g)工作人员将位置变更车辆移动到新的存储位置，车辆位置变更完成后，并通过携带的标签节点经边界节点、锚节点向上位机***发送定位请求指令；g) The worker moves the position change vehicle to a new storage location, and after the vehicle position change is completed, sends a positioning request command through the boundary node and the anchor node to the upper computer system through the carried tag node;
h)上位机***的第一控制模块根据标签节点发送的指令，依次通过通讯模块、边界节点和锚节点对标签节点进行定位，并对车辆信息数据存储模块中该车架号对应的位置信息进行更新，并将车辆信息数据存储模块中该车架号对应的“正在进行位置变更”的存储状态取消；h) The first control module of the host computer system sequentially locates the tag node through the communication module, the boundary node and the anchor node according to the instruction sent by the tag node, and performs location information corresponding to the frame number in the vehicle information data storage module. Updating, and canceling the storage state of "in progress position change" corresponding to the frame number in the vehicle information data storage module;
i)上位机***通过边界节点、锚节点向执行车辆位置变更的工作人员携带的标签节点发送车辆位置变更完成的确认信息；i) the upper computer system sends the confirmation information of the completion of the vehicle position change to the label node carried by the staff member who performs the vehicle position change through the boundary node and the anchor node;
j)判断执行车辆位置变更的工作人员携带的标签节点是否接收到上位机***发送的车辆位置变更的确认信息，若判断结果为“否”，返回步骤g)；否则，车辆变更工作完成。j) It is judged whether the tag node carried by the worker who performs the vehicle position change receives the confirmation information of the vehicle position change transmitted by the host computer system, and if the determination result is "NO", the process returns to step g); otherwise, the vehicle change work is completed.
与现有技术相比，该基于UWB定位的汽车仓储场地管理***及其管理方法通过采用UWB定位技术，实现了对大型汽车仓储场地中具有特定车架号车辆的厘米级精确查找与信息化管理。Compared with the prior art, the UWB-based vehicle storage site management system and its management method realize the centimeter-level precise search and information management of a vehicle with a specific frame number in a large automobile storage site by adopting UWB positioning technology. .
附图说明DRAWINGS
图1为本发明提供的管理***的最小结构单元示意图。FIG. 1 is a schematic diagram of a minimum structural unit of a management system provided by the present invention.
图2为本发明提供的管理***的拓展结构示意图。FIG. 2 is a schematic diagram of an extended structure of a management system provided by the present invention.
图3为上位机***结构示意图。Figure 3 is a schematic diagram of the structure of the host computer system.
图4为边界节点结构示意图。Figure 4 is a schematic diagram of the structure of a boundary node.
图5为锚节点结构示意图。Figure 5 is a schematic diagram of the structure of an anchor node.
图6为标签节点结构示意图。Figure 6 is a schematic diagram of the structure of a tag node.
图7为车辆入库管理方法流程图。7 is a flow chart of a vehicle storage management method.
图8为车辆出库管理方法流程图。 8 is a flow chart of a vehicle outbound management method.
图9为车辆位置变更管理方法流程图。9 is a flow chart of a vehicle position change management method.
具体实施方式detailed description
下面结合附图及具体实施例对本发明做进一步的说明，但下述实施例绝非对本发明有任何限制。The invention will be further described with reference to the drawings and specific embodiments, but the following examples are in no way intended to limit the invention.
如图1-5所示，图1为本发明提供的基于UWB定位的汽车仓储场地管理***的最小应用***，适用于小型汽车存储场地；图2为本发明提供的基于UWB定位的汽车仓储场地管理***的拓展结构示意图；该基于UWB定位的汽车仓储场地管理***包括上位机***、边界节点、多个锚节点和多个标签节点；标签节点分别依次通过锚节点、边界节点连接到上位机***；其中，锚节点之间互相连接，并形成锚节点网络，标签节点设置在锚节点网络中并以无线通讯的方式连接到锚节点，且标签节点由现场工作人员携带，并随现场工作人员移动；As shown in FIG. 1-5, FIG. 1 is a minimum application system of a UWB positioning based automobile storage site management system, which is suitable for a small automobile storage site; FIG. 2 is a UWB positioning based automobile storage site provided by the present invention. Schematic diagram of the expansion structure of the management system; the UWB-based vehicle storage site management system includes a host computer system, a boundary node, a plurality of anchor nodes, and a plurality of tag nodes; the tag nodes are respectively connected to the host computer system through anchor nodes and boundary nodes. Wherein, the anchor nodes are connected to each other and form an anchor node network, the tag node is disposed in the anchor node network and connected to the anchor node by wireless communication, and the tag node is carried by the field staff and moves with the field staff ;
所述的上位机***包括数据处理模块101、车辆信息数据存储模块102、可视化展示模块103、第一控制模块104、人机交互模块105和通讯模块106；数据处理模块101、车辆信息数据存储模块102、可视化展示模块103、人机交互模块105、通讯模块106均连接到第一控制模块104，通讯模块106连接到边界节点。The upper computer system includes a data processing module 101, a vehicle information data storage module 102, a visual display module 103, a first control module 104, a human-machine interaction module 105, and a communication module 106; a data processing module 101, and a vehicle information data storage module. 102. The visual display module 103, the human-machine interaction module 105, and the communication module 106 are all connected to the first control module 104, and the communication module 106 is connected to the boundary node.
所述的边界节点包括第二控制器201、第二UWB通信模块203、第二供电模块204和上位机接口模块202；第二UWB通信模块203、上位机接口模块202均连接到第二控制器201，第二UWB通信模块203连接到上位机***的通讯模块106；第二供电模块204为第二控制器201、第二UWB通信模块203和上位机接口模块202提供电能。The boundary node includes a second controller 201, a second UWB communication module 203, a second power supply module 204, and a host computer interface module 202. The second UWB communication module 203 and the upper computer interface module 202 are both connected to the second controller. 201. The second UWB communication module 203 is connected to the communication module 106 of the upper computer system. The second power supply module 204 provides power for the second controller 201, the second UWB communication module 203, and the upper computer interface module 202.
所述的锚节点包括第三控制器301、第三UWB通信模块303、第三供电模块304和第一用户接口模块302；第三UWB通信模块303、第一用户接口模块302均连接到第三控制器301；第三供电模块304为第三控制器301、第三UWB通信模块303和第一用户接口模块302提供电能。The anchor node includes a third controller 301, a third UWB communication module 303, a third power supply module 304, and a first user interface module 302; the third UWB communication module 303 and the first user interface module 302 are all connected to the third The controller 301; the third power supply module 304 provides power to the third controller 301, the third UWB communication module 303, and the first user interface module 302.
所述的标签节点包括第四控制器401、第四UWB通信模块404、第四供电模块405、车架号获取模块402、第二用户接口模块403和显示模块406；第四UWB通信模块404、车架号获取模块402、第二用户接口模块403和显示模块406均连接到第四控制器401；第四供电模块405为第四控制器401、第四UWB通信模块404、车架号获取模块402提供电能。The tag node includes a fourth controller 401, a fourth UWB communication module 404, a fourth power supply module 405, a frame number acquisition module 402, a second user interface module 403, and a display module 406; a fourth UWB communication module 404, The frame number acquisition module 402, the second user interface module 403, and the display module 406 are all connected to the fourth controller 401; the fourth power supply module 405 is the fourth controller 401, the fourth UWB communication module 404, and the frame number acquisition module. 402 provides electrical energy.
图7为车辆入库管理方法流程图，采用该基于UWB定位的汽车仓储场地管理***对车辆入库进行管理时，该车辆入库管理方法包括按顺序进行的下列步骤：7 is a flow chart of a vehicle storage management method. When the vehicle storage site management system based on the UWB positioning is used to manage the vehicle storage, the vehicle storage management method includes the following steps in sequence:
首先，对上位机***、边界节点、多个锚节点和多个标签节点进行初始化；First, initializing a host computer system, a boundary node, a plurality of anchor nodes, and a plurality of tag nodes;
其次，完成锚节点网络的配置； Second, complete the configuration of the anchor node network;
再次，执行车辆入库操作的工作人员通过随身携带的标签节点的车架号获取模块402以手工输入、拍照、条码扫描、二维码扫描、读取RFID标签的方式获取车架号信息；Again, the staff performing the vehicle warehousing operation acquires the frame number information by means of manual input, photographing, barcode scanning, two-dimensional code scanning, and reading of the RFID tag through the frame number acquisition module 402 of the tag node that is carried around;
接着，执行车辆入库操作的工作人员通过随身携带的标签节点将采集的车架号信息、车辆入库请求、节点定位请求发送到上位机***，并等待上位机***发送车辆入库确认信息；Then, the staff performing the vehicle warehousing operation transmits the collected frame number information, the vehicle warehousing request, and the node locating request to the upper computer system through the tag node carried with the vehicle, and waits for the upper computer system to send the vehicle warehousing confirmation information;
紧接着，上位机***的第一控制模块104根据标签节点发送的指令，依次通过通讯模块106、边界节点和锚节点以无线通讯的方式采集标签节点的参数信息并对标签节点进行定位，以获取上一步骤中发送车辆入库请求指令的标签节点的位置信息，并将车辆的车架号及其对应的位置信息存储到车辆信息数据存储模块102中；Then, the first control module 104 of the host computer system sequentially collects the parameter information of the tag node and locates the tag node through the communication module 106, the boundary node, and the anchor node in sequence according to the instruction sent by the tag node, and obtains the tag node to obtain Transmitting the location information of the tag node of the vehicle warehousing request command in the previous step, and storing the frame number of the vehicle and its corresponding location information in the vehicle information data storage module 102;
最后，判断标签节点是否收到上位机***发送的“位置数据存储成功”的反馈信息，若收到反馈信息，则车辆入库工作完成；若未收到反馈信息，则重新获取车架号，并重复上述步骤。Finally, it is judged whether the tag node receives the feedback information of “location data storage success” sent by the host computer system, and if the feedback information is received, the vehicle storage work is completed; if the feedback information is not received, the frame number is re-acquired. And repeat the above steps.
图8为车辆出库管理方法流程图，采用该基于UWB定位的汽车仓储场地管理***对车辆出库进行管理时，该车辆出库管理方法包括顺序进行的下列步骤：8 is a flow chart of a vehicle outbound management method. When the vehicle storage site management system based on the UWB positioning manages the vehicle outbound, the vehicle outbound management method includes the following steps in sequence:
1)对上位机***、边界节点、多个锚节点和多个标签节点进行初始化设置；1) Initializing settings on the host computer system, the boundary node, the plurality of anchor nodes, and the plurality of tag nodes;
2)对锚节点网络进行配置；2) Configure the anchor node network;
3)上位机***通过人机交互模块105接收工作人员发出的车辆出库指令与出库车辆的车架号信息；3) The host computer system receives the vehicle delivery instruction issued by the staff member and the frame number information of the outbound vehicle through the human-machine interaction module 105;
4)上位机***的第一控制模块104根据步骤3)中输入的出库车辆车架号信息在车辆信息数据存储模块102中查询待出库车辆的当前存放位置；4) The first control module 104 of the upper computer system queries the vehicle information data storage module 102 for the current storage location of the vehicle to be released according to the outbound vehicle frame number information input in step 3);
5)上位机***通过边界节点、锚节点获得存储场地中所有标签节点的位置信息，并找出距离待出库车辆当前存放位置最近的标签节点，根据车辆存放位置、距离待出库车辆距离最近标签节点的当前位置对工作人员到达车辆存放地的路径进行规划；5) The upper computer system obtains the position information of all the tag nodes in the storage site through the boundary node and the anchor node, and finds the tag node closest to the current storage location of the vehicle to be delivered, according to the storage location of the vehicle and the distance from the vehicle to be discharged from the vehicle. The current location of the tag node plans the path that the worker arrives at the vehicle storage location;
6)上位机***向距离待出库车辆当前存放位置最近的工作人员携带的标签节点发送待出库车辆车架号、车辆当前存放位置、规划路径、及车辆出库指令，并通过执行车辆出库操作的工作人员携带的标签节点显示模块406上进行显示；6) The upper computer system sends the frame number of the vehicle to be delivered, the current storage position of the vehicle, the planned route, and the vehicle delivery instruction to the label node carried by the staff member closest to the current storage location of the vehicle to be discharged, and executes the vehicle The tag node display module 406 carried by the staff of the library operation performs display;
7)步骤5)中距离待出库车辆当前存放位置最近的工作人员携带的标签节点收到上位机***发送的车辆出库指令后，通过携带的标签节点向上位机***发送车辆出库指令确认信息；7) Step 5) The tag node carried by the staff member who is closest to the current storage location of the vehicle to be discharged from the vehicle receives the vehicle delivery instruction sent by the host computer system, and then sends the vehicle delivery instruction confirmation through the carried tag node to the host computer system. information;
8)上位机***判断是否收到标签节点发送的确认信息，如果判断结果为“是”，则上位机***将该车辆存储状态修改为“车辆出库中”，并进入下一步；反之，则返回步骤6)；8) The host computer system determines whether the confirmation information sent by the label node is received. If the judgment result is “Yes”, the host computer system changes the vehicle storage state to “vehicle outbound” and proceeds to the next step; otherwise, Return to step 6);
9)执行车辆出库操作的工作人员根据显示模块406上显示的规划路线，到达待出库车辆的当前存放位置； 9) The staff performing the vehicle delivery operation arrives at the current storage location of the vehicle to be discharged according to the planned route displayed on the display module 406;
10)执行车辆出库操作的工作人员通过携带的标签节点的第四控制器401控制车架号获取模块402以手工输入、拍照、条码扫描、二维码扫描、读取RFID标签的方式获取待出库车辆的车架号信息；10) The staff performing the vehicle delivery operation controls the frame number acquisition module 402 through the fourth controller 401 of the carried tag node to obtain the image by manual input, photographing, barcode scanning, two-dimensional code scanning, and reading of the RFID tag. Frame number information of the outbound vehicle;
11)判断标签节点步骤10)中采集的车架号信息是否与上位机发送到标签节点的出库车辆车架号一致，若判断结果为“是”，则将车辆出库；若判断结果为“否”，则执行车辆出库操作的工作人员携带的标签节点向工作人员提示“车架号匹配错误”，并返回步骤10)；11) judging whether the frame number information collected in step 10) of the tag node is consistent with the frame number of the outbound vehicle sent by the host computer to the tag node, and if the judgment result is “Yes”, the vehicle is taken out; if the judgment result is "No", the tag node carried by the staff member performing the vehicle delivery operation prompts the staff member "the frame number matching error", and returns to step 10);
12)执行车辆出库操作的工作人员完成车辆出库操作后，通过标签节点向上位机***发送车辆出库完成指令，上位机***收到标签节点发送的出库完成指令后，将车辆信息存储模块102中对应该车辆的存储状态修改为“已出库”。12) After the vehicle performing the vehicle delivery operation completes the vehicle delivery operation, the vehicle node completes the vehicle delivery completion instruction through the label node, and the host computer system stores the vehicle information after receiving the delivery completion instruction sent by the label node. The storage state of the corresponding vehicle in the module 102 is modified to "out of the library".
图9为车辆位置变更管理方法流程图，采用该基于UWB定位的汽车仓储场地管理***进行车辆位置变更时，该车辆位置变更管理方法包括按顺序进行的下列步骤：FIG. 9 is a flowchart of a vehicle position change management method. When the vehicle location change is performed by using the UWB positioning-based vehicle storage site management system, the vehicle position change management method includes the following steps in sequence:
a)对上位机***、边界节点、多个锚节点和多个标签节点进行初始化设置；a) initializing the upper computer system, the boundary node, the plurality of anchor nodes, and the plurality of tag nodes;
b)完成锚节点网络的配置；b) completing the configuration of the anchor node network;
c)工作人员通过自身携带的标签节点的车架号获取模块402以手动输入、条码扫描、二维码扫描、读取RFID标签的方式获取位置变更车辆的车架号信息；c) The staff obtains the frame number information of the position-changing vehicle by means of manual input, barcode scanning, two-dimensional code scanning, and reading of the RFID tag through the frame number acquisition module 402 of the tag node carried by the worker;
d)工作人员通过标签节点将位置变更车辆的车架号信息与位置变更请求发送给上位机***；d) the staff sends the frame number information and the position change request of the position change vehicle to the upper computer system through the label node;
e)上位机***收到步骤d)中标签节点发送的车架号信息与变更请求后，将车辆信息数据存储模块102中该车架号对应的存储状态信息修改为“正在进行位置变更”，并向发送位置变更请求的标签节点反馈位置变更确认指令；e) after receiving the frame number information and the change request sent by the tag node in step d), the host computer system modifies the storage state information corresponding to the frame number in the vehicle information data storage module 102 to “changing the position in progress”. And feeding back a location change confirmation command to the tag node that sends the location change request;
f)工作人员查看标签节点是否接收到上位机***反馈的位置变更确认指令，若查看结果为收到位置信息变更指令，则进入步骤g)；否则，则返回步骤d)；f) The staff member checks whether the tag node receives the location change confirmation command fed back by the host computer system, and if the result of the check is that the location information change command is received, proceeds to step g); otherwise, returns to step d);
g)工作人员将位置变更车辆移动到新的存储位置，车辆位置变更完成后，并通过携带的标签节点经边界节点、锚节点向上位机***发送定位请求指令；g) The worker moves the position change vehicle to a new storage location, and after the vehicle position change is completed, sends a positioning request command through the boundary node and the anchor node to the upper computer system through the carried tag node;
h)上位机***的第一控制模块104根据标签节点发送的指令，依次通过通讯模块106、边界节点和锚节点对标签节点进行定位，并对车辆信息数据存储模块102中该车架号对应的位置信息进行更新，并将车辆信息数据存储模块102中该车架号对应的“正在进行位置变更”的存储状态取消；h) The first control module 104 of the host computer system sequentially locates the tag node through the communication module 106, the boundary node and the anchor node according to the instruction sent by the tag node, and corresponds to the frame number in the vehicle information data storage module 102. The location information is updated, and the storage state of the "changing location change" corresponding to the frame number in the vehicle information data storage module 102 is canceled;
i)上位机***通过边界节点、锚节点向执行车辆位置变更的工作人员携带的标签节点发送车辆位置变更完成的确认信息； i) the upper computer system sends the confirmation information of the completion of the vehicle position change to the label node carried by the staff member who performs the vehicle position change through the boundary node and the anchor node;
j)判断执行车辆位置变更的工作人员携带的标签节点是否接收到上位机***发送的车辆位置变更的确认信息，若判断结果为“否”，返回步骤g)；否则，车辆变更工作完成 j) determining whether the tag node carried by the worker performing the vehicle position change receives the confirmation information of the vehicle position change transmitted by the host computer system, and if the determination result is "No", returns to step g); otherwise, the vehicle change work is completed.

Claims (8)

  1. 一种基于UWB定位的汽车仓储场地管理***，其特征在于，包括上位机***、边界节点、多个锚节点和多个标签节点；标签节点分别依次通过锚节点、边界节点连接到上位机***；其中，锚节点之间互相连接，并形成锚节点网络，标签节点设置在锚节点网络中并以无线通讯的方式连接到锚节点，且标签节点由现场工作人员携带，并随现场工作人员移动。A vehicle storage site management system based on UWB positioning, comprising: a host computer system, a boundary node, a plurality of anchor nodes and a plurality of tag nodes; the tag nodes are respectively connected to the host computer system through anchor nodes and boundary nodes; The anchor nodes are connected to each other and form an anchor node network. The tag node is disposed in the anchor node network and connected to the anchor node by wireless communication, and the tag node is carried by the field staff and moves with the field staff.
  2. 根据权利要求1所述的基于UWB定位的汽车仓储场地管理***，其特征在于，所述的上位机***包括数据处理模块(101)、车辆信息数据存储模块(102)、可视化展示模块(103)、第一控制模块(104)、人机交互模块(105)和通讯模块(106)；数据处理模块(101)、车辆信息数据存储模块(102)、可视化展示模块(103)、人机交互模块(105)、通讯模块(106)均连接到第一控制模块(104)，通讯模块(106)连接到边界节点。The UWB positioning-based automobile storage site management system according to claim 1, wherein the upper computer system comprises a data processing module (101), a vehicle information data storage module (102), and a visual display module (103). a first control module (104), a human-computer interaction module (105), and a communication module (106); a data processing module (101), a vehicle information data storage module (102), a visual display module (103), and a human-computer interaction module (105), the communication module (106) is connected to the first control module (104), and the communication module (106) is connected to the boundary node.
  3. 根据权利要求1所述的基于UWB定位的汽车仓储场地管理***，其特征在于，所述的边界节点包括第二控制器(201)、第二UWB通信模块(203)、第二供电模块(204)和上位机接口模块(202)；第二UWB通信模块(203)、上位机接口模块(202)均连接到第二控制器(201)，第二UWB通信模块(203)连接到上位机***的通讯模块(106)；第二供电模块(204)为第二控制器(201)、第二UWB通信模块(203)和上位机接口模块(202)提供电能。The UWB positioning-based automobile storage site management system according to claim 1, wherein the boundary node comprises a second controller (201), a second UWB communication module (203), and a second power supply module (204). And the upper computer interface module (202); the second UWB communication module (203), the upper computer interface module (202) are both connected to the second controller (201), and the second UWB communication module (203) is connected to the upper computer system The communication module (106); the second power supply module (204) provides power for the second controller (201), the second UWB communication module (203), and the host computer interface module (202).
  4. 根据权利要求1所述的基于UWB定位的汽车仓储场地管理***，其特征在于，所述的锚节点包括第三控制器(301)、第三UWB通信模块(303)、第三供电模块(304)和第一用户接口模块(302)；第三UWB通信模块(303)、第一用户接口模块(302)均连接到第三控制器(301)；第三供电模块(304)为第三控制器(301)、第三UWB通信模块(303)和第一用户接口模块(302)提供电能。The UWB positioning-based automobile storage site management system according to claim 1, wherein the anchor node comprises a third controller (301), a third UWB communication module (303), and a third power supply module (304). And the first user interface module (302); the third UWB communication module (303), the first user interface module (302) are both connected to the third controller (301); the third power supply module (304) is the third control The device (301), the third UWB communication module (303), and the first user interface module (302) provide electrical energy.
  5. 根据权利要求1所述的基于UWB定位的汽车仓储场地管理***，其特征在于，所述的标签节点包括第四控制器(401)、第四UWB通信模块(404)、第四供电模块(405)、车架号获取模块(402)、第二用户接口模块(403)、显示模块(406)；第四UWB通信模块(404)、车架号获取模块(402)、显示模块(406)和第二用户接口模块(403)均连接到第四控制器(401)；第四供电模块(405)为第四控制器(401)、第四UWB通信模块(404)、车架号获取模块(402)提供电能。The UWB positioning-based automobile storage site management system according to claim 1, wherein the tag node comprises a fourth controller (401), a fourth UWB communication module (404), and a fourth power supply module (405). , a frame number acquisition module (402), a second user interface module (403), a display module (406); a fourth UWB communication module (404), a frame number acquisition module (402), a display module (406), and The second user interface module (403) is connected to the fourth controller (401); the fourth power supply module (405) is a fourth controller (401), a fourth UWB communication module (404), and a frame number acquisition module ( 402) Providing electrical energy.
  6. 一种采用权利要求1所述的基于UWB定位的汽车仓储场地管理***进行车辆入库的 管理方法，其特征在于，包括按顺序进行的下列步骤：A vehicle storage site management system based on UWB positioning according to claim 1 for vehicle storage The management method is characterized in that it comprises the following steps in order:
    Ⅰ)***初始化的S1阶段：在此阶段，上位机***、边界节点、多个锚节点和多个标签节点进行初始化，然后进入S2阶段；I) S1 phase of system initialization: At this stage, the upper computer system, the boundary node, the plurality of anchor nodes and the plurality of tag nodes are initialized, and then enter the S2 phase;
    Ⅱ)对锚节点进行网络配置的S2阶段：在此阶段，完成锚节点网络的配置；II) S2 phase of network configuration for the anchor node: At this stage, the configuration of the anchor node network is completed;
    Ⅲ)标签节点采集车架号信息的S3阶段：在此阶段，工作人员通过随身携带的标签节点的车架号获取模块(402)以手工输入、拍照、条码扫描、二维码扫描、读取RFID标签的方式获取车架号信息，然后进入S4阶段；III) S3 stage of collecting the frame number information of the tag node: At this stage, the staff manually enters, photographs, scans the barcode, scans the QR code, and reads through the frame number acquisition module (402) of the tag node carried around. The RFID tag method obtains the frame number information, and then enters the S4 stage;
    Ⅳ)工作人员通过标签节点发送指令的S4阶段：在此阶段，工作人员通过随身携带的标签节点将采集的车架号信息、车辆入库请求、节点定位请求发送到上位机***，并等待上位机***发送车辆入库确认信息，然后进入S5阶段；IV) The S4 phase in which the staff sends the command through the tag node: At this stage, the worker sends the collected frame number information, the vehicle warehousing request, and the node locating request to the host computer system through the tag node carried around, and waits for the upper position. The machine system sends the vehicle warehousing confirmation information, and then enters the S5 stage;
    Ⅴ)上位机***对标签节点定位的S5阶段：在此阶段，上位机***的第一控制模块(104)根据标签节点发送的指令，依次通过通讯模块(106)、边界节点和锚节点对标签节点进行定位，以获取S4阶段发送指令的标签节点的位置信息，并将车辆的车架号及其对应的位置信息存储到车辆信息数据存储模块(102)中；V) S5 phase of positioning of the tag node by the host computer system: At this stage, the first control module (104) of the host computer system sequentially passes the communication module (106), the boundary node and the anchor node to the tag according to the instruction sent by the tag node. The node performs positioning to obtain location information of the label node that sends the instruction in the S4 phase, and stores the frame number of the vehicle and its corresponding location information in the vehicle information data storage module (102);
    Ⅵ)判断车辆位置信息是否存储在上位机***的S6阶段：在此阶段，判断标签节点是否收到上位机***发送的“位置数据存储成功”的反馈信息，若收到反馈信息，则车辆入库工作完成；若未收到反馈信息，则返回S3阶段。VI) judging whether the vehicle location information is stored in the S6 phase of the host computer system: at this stage, determining whether the tag node receives the feedback information of “location data storage success” sent by the host computer system, and if the feedback information is received, the vehicle enters The library work is completed; if no feedback is received, it returns to the S3 phase.
  7. 一种采用权利要求1所述的基于UWB定位的汽车仓储场地管理***进行车辆出库的管理方法，其特征在于，包括按顺序进行的下列步骤：A method for managing a vehicle outbound using the UWB positioning-based automobile storage site management system according to claim 1, characterized in that it comprises the following steps in sequence:
    1)对上位机***、边界节点、多个锚节点和多个标签节点进行初始化设置；1) Initializing settings on the host computer system, the boundary node, the plurality of anchor nodes, and the plurality of tag nodes;
    2)对锚节点网络进行配置；2) Configure the anchor node network;
    3)上位机***通过人机交互模块(105)接收工作人员发出的车辆出库指令与出库车辆的车架号信息；3) The host computer system receives the vehicle delivery instruction issued by the staff member and the frame number information of the outbound vehicle through the human-computer interaction module (105);
    4)上位机***的第一控制模块(104)根据步骤3)中输入的出库车辆车架号信息在车辆信息数据存储模块(102)中查询待出库车辆的当前存放位置；4) The first control module (104) of the upper computer system queries the vehicle information data storage module (102) for the current storage location of the vehicle to be delivered according to the information of the outbound vehicle frame number input in step 3);
    5)上位机***通过边界节点、锚节点获得存储场地中所有标签节点的位置信息，并找出距离待出库车辆当前存放位置最近的标签节点，根据车辆存放位置、距离待出库车辆距离最近标签节点的当前位置对工作人员到达车辆存放地的路径进行规划；5) The upper computer system obtains the position information of all the tag nodes in the storage site through the boundary node and the anchor node, and finds the tag node closest to the current storage location of the vehicle to be delivered, according to the storage location of the vehicle and the distance from the vehicle to be discharged from the vehicle. The current location of the tag node plans the path that the worker arrives at the vehicle storage location;
    6)上位机***向距离待出库车辆当前存放位置最近的工作人员携带的标签节点发送待出库车辆车架号、车辆当前存放位置、规划路径、及车辆出库指令，并通过执行车辆出库操作的 工作人员携带的标签节点显示模块(406)上进行显示；6) The upper computer system sends the frame number of the vehicle to be delivered, the current storage position of the vehicle, the planned route, and the vehicle delivery instruction to the label node carried by the staff member closest to the current storage location of the vehicle to be discharged, and executes the vehicle Library operated The label node display module (406) carried by the staff is displayed on the display module;
    7)步骤5)中距离待出库车辆当前存放位置最近的工作人员携带的标签节点收到上位机***发送的车辆出库指令后，通过携带的标签节点向上位机***发送车辆出库指令确认信息；7) Step 5) The tag node carried by the staff member who is closest to the current storage location of the vehicle to be discharged from the vehicle receives the vehicle delivery instruction sent by the host computer system, and then sends the vehicle delivery instruction confirmation through the carried tag node to the host computer system. information;
    8)上位机***判断是否收到标签节点发送的确认信息，如果判断结果为“是”，则上位机***将该车辆存储状态修改为“车辆出库中”，并进入下一步；反之，则返回步骤6)；8) The host computer system determines whether the confirmation information sent by the label node is received. If the judgment result is “Yes”, the host computer system changes the vehicle storage state to “vehicle outbound” and proceeds to the next step; otherwise, Return to step 6);
    9)执行车辆出库操作的工作人员根据显示模块(406)上显示的规划路线，到达待出库车辆的当前存放位置；9) The staff performing the vehicle delivery operation arrives at the current storage location of the vehicle to be discharged according to the planned route displayed on the display module (406);
    10)执行车辆出库操作的工作人员通过携带的标签节点的第四控制器(401)控制车架号获取模块(402)以手工输入、拍照、条码扫描、二维码扫描、读取RFID标签的方式获取待出库车辆的车架号信息；10) The staff performing the vehicle delivery operation controls the frame number acquisition module (402) through the fourth controller (401) of the carried tag node to manually input, photograph, barcode scan, two-dimensional code scan, and read the RFID tag. Way of obtaining the frame number information of the vehicle to be released;
    11)判断标签节点步骤10)中采集的车架号信息是否与上位机发送到标签节点的出库车辆车架号一致，若判断结果为“是”，则将车辆出库；若判断结果为“否”，则执行车辆出库操作的工作人员携带的标签节点向工作人员提示“车架号匹配错误”，并返回步骤10)；11) judging whether the frame number information collected in step 10) of the tag node is consistent with the frame number of the outbound vehicle sent by the host computer to the tag node, and if the judgment result is “Yes”, the vehicle is taken out; if the judgment result is "No", the tag node carried by the staff member performing the vehicle delivery operation prompts the staff member "the frame number matching error", and returns to step 10);
    12)执行车辆出库操作的工作人员完成车辆出库操作后，通过标签节点向上位机***发送车辆出库完成指令，上位机***收到标签节点发送的出库完成指令后，将车辆信息存储模块(102)中对应该车辆的存储状态修改为“已出库”。12) After the vehicle performing the vehicle delivery operation completes the vehicle delivery operation, the vehicle node completes the vehicle delivery completion instruction through the label node, and the host computer system stores the vehicle information after receiving the delivery completion instruction sent by the label node. The storage state of the corresponding vehicle in the module (102) is modified to "out of the library".
  8. 一种采用权利要求1所述的基于UWB定位的汽车仓储场地管理***进行车辆位置变更的管理方法，其特征在于，包括按顺序进行的下列步骤：A method for managing a vehicle position change using the UWB positioning-based automobile storage site management system according to claim 1, characterized in that it comprises the following steps in sequence:
    a)对上位机***、边界节点、多个锚节点和多个标签节点进行初始化设置；a) initializing the upper computer system, the boundary node, the plurality of anchor nodes, and the plurality of tag nodes;
    b)完成锚节点网络的配置；b) completing the configuration of the anchor node network;
    c)工作人员通过自身携带的标签节点的车架号获取模块(402)以手动输入、条码扫描、二维码扫描、读取RFID标签的方式获取位置变更车辆的车架号信息；c) The staff obtains the frame number information of the position-changing vehicle by means of manual input, barcode scanning, two-dimensional code scanning, and reading of the RFID tag through the frame number acquisition module (402) of the tag node carried by the worker;
    d)工作人员通过标签节点将位置变更车辆的车架号信息与位置变更请求发送给上位机***；d) the staff sends the frame number information and the position change request of the position change vehicle to the upper computer system through the label node;
    e)上位机***收到步骤d)中标签节点发送的车架号信息与变更请求后，将车辆信息数据存储模块(102)中该车架号对应的存储状态信息修改为“正在进行位置变更”，并向发送位置变更请求的标签节点反馈位置变更确认指令；e) after receiving the frame number information and the change request sent by the tag node in step d), the host computer system modifies the storage state information corresponding to the frame number in the vehicle information data storage module (102) to “changing the position change. And feeding back a location change confirmation command to the tag node that sent the location change request;
    f)工作人员查看标签节点是否接收到上位机***反馈的位置变更确认指令，若查看结果为收到位置信息变更指令，则进入步骤g)；否则，则返回步骤d)；f) The staff member checks whether the tag node receives the location change confirmation command fed back by the host computer system, and if the result of the check is that the location information change command is received, proceeds to step g); otherwise, returns to step d);
    g)工作人员将位置变更车辆移动到新的存储位置，车辆位置变更完成后，并通过携带的 标签节点经边界节点、锚节点向上位机***发送定位请求指令；g) The staff moves the position change vehicle to a new storage location, after the vehicle position change is completed, and is carried The tag node sends a positioning request instruction to the host computer system via the boundary node and the anchor node;
    h)上位机***的第一控制模块(104)根据标签节点发送的指令，依次通过通讯模块(106)、边界节点和锚节点对标签节点进行定位，并对车辆信息数据存储模块(102)中该车架号对应的位置信息进行更新，并将车辆信息数据存储模块(102)中该车架号对应的“正在进行位置变更”的存储状态取消；h) the first control module (104) of the host computer system sequentially locates the tag node through the communication module (106), the boundary node and the anchor node according to the instruction sent by the tag node, and in the vehicle information data storage module (102) The position information corresponding to the frame number is updated, and the storage state of the "changing position change" corresponding to the frame number in the vehicle information data storage module (102) is canceled;
    i)上位机***通过边界节点、锚节点向执行车辆位置变更的工作人员携带的标签节点发送车辆位置变更完成的确认信息；i) the upper computer system sends the confirmation information of the completion of the vehicle position change to the label node carried by the staff member who performs the vehicle position change through the boundary node and the anchor node;
    j)判断执行车辆位置变更的工作人员携带的标签节点是否接收到上位机***发送的车辆位置变更的确认信息，若判断结果为“否”，返回步骤g)；否则，车辆变更工作完成。 j) It is judged whether the tag node carried by the worker who performs the vehicle position change receives the confirmation information of the vehicle position change transmitted by the host computer system, and if the determination result is "NO", the process returns to step g); otherwise, the vehicle change work is completed.
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