CN101650417B - Layered positioning system and layered positioning method - Google Patents
Layered positioning system and layered positioning method Download PDFInfo
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- CN101650417B CN101650417B CN2008101310461A CN200810131046A CN101650417B CN 101650417 B CN101650417 B CN 101650417B CN 2008101310461 A CN2008101310461 A CN 2008101310461A CN 200810131046 A CN200810131046 A CN 200810131046A CN 101650417 B CN101650417 B CN 101650417B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
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Abstract
The invention relates to a layered positioning system and a layered positioning method, which adopt an information server, and a master device and a slave device which are connected with the information server. The information server comprises a position information database, a tracking module and a warning module; the master device comprises a data processing unit, and a positioning module and a master ZigBee module which are connected with the data processing unit; the slave device comprises a slave ZigBee module and a sensor module which is connected with the slave ZigBee module; and the information server, the master device and the slave device form a sensor network through the ZigBee modules to determine the position and the moving state of an object. The layered positioning system and the layered positioning method are difficult to be disturbed, have the advantages of good reliability, low cost and easy regulation for scales, are suitable for large-scale use; moreover, the layered positioning system and the layered positioning method do not need a new conductor wire, and have lower power consumption and low running cost; and the positioning system can be freely moved.
Description
Technical field
The present invention relates to navigation system and method, more particularly, relate to a kind of layering navigation system and method.
Background technology
Now, need to determine the position of the various objects in those environment that centered on by many metal objects (as container, warehouse, factory building etc.).In addition, some goods and materials, equipment, goods need be monitored.Decision-making during the determining of real-time location and its state can be supported to operate.
GPS of the prior art and based on RFID (Radio Frequency Identification, radio-frequency (RF) identification) RTLS (Real-Time Location System, real-time positioning system) can not satisfy the demand well, because these two kinds of technology all be easy to by becket around environment shield, disturb, cause insecure result.And the cost of these two kinds of technology is all higher, and the use scale is not suitable for adjusting.
Summary of the invention
One of the technical problem to be solved in the present invention is that low at the above-mentioned reliability of prior art, the defective that cost is higher, scale is not suitable for adjusting provides a kind of good reliability, low, the easy layering navigation system of adjusting of scale of cost.
Two of the technical problem to be solved in the present invention is that low at the above-mentioned reliability of prior art, the defective that cost is higher, scale is not suitable for adjusting provides a kind of good reliability, low, the easy layering localization method of adjusting of scale of cost.
The present invention solves the technical scheme that one of its technical problem adopts: according to an aspect of the present invention, construct a kind of layering navigation system, comprising:
Be arranged on the main equipment on the main object, described main object moves in the zone that WLAN covered;
Be arranged on the slave unit on the less important object, described less important object is around different main movement of objects;
Be connected to information server on a plurality of main equipments by WLAN.
In layering navigation system of the present invention, described main equipment comprises data processing unit, locating module and has the main ZigBee module of id number; Described slave unit comprise sensor assembly and have id number from the ZigBee module; Described information server comprises location information data storehouse, tracing module and alarm module.
In layering navigation system of the present invention, described main ZigBee module start wireless sensor network and be connected to around slave unit from the ZigBee module; Described wireless sensor network can make part be directly connected to main ZigBee module from the ZigBee module, and part indirectly is connected to main ZigBee module by being connected to other same network from the ZigBee module from the ZigBee module.
In layering navigation system of the present invention, described wireless sensor network with any in same network main ZigBee module and be considered as node from the ZigBee module; Described node periodically is broadcast to each coupled node; Described node sends response message to the main ZigBee module that starts described network, with the solicited message that responds and the node that it directly is connected is sent.
In layering navigation system of the present invention, described response message comprise request sender id number, response message sender's id number, with solicited message sender and response message sender between relevant data, channel quality value and the sensing data of signal strength signal intensity; Described sensing data is the data that the sensor assembly by slave unit captures.
In layering navigation system of the present invention, described sensor assembly be connected to different transducers catch be connected to less important object on the relevant sensing data of the slave unit that is provided with; Described transducer comprises IR transducer, sonac, heat sensor.
In layering navigation system of the present invention, described locating module is with the position of GPS or DGPS commercial measurement main equipment; Described data processing unit obtains data from locating module and ZigBee module, and by WLAN data is sent in the information server.
In layering navigation system of the present invention, described location information data library storage is come the data of autonomous device; Described tracing module is calculated the position and the state of main equipment; Alarm module sends warning message, if the position of main object or less important object and state take place to comprise unusually: too much less important object moves around main equipment, certain less important object surpasses in the preset time not mobile.
Two technological means that adopted of the technical problem to be solved in the present invention are, according to a further aspect in the invention, provide a kind of layering localization method, comprising:
A. the locator data that measures by locating module identifies the position of main equipment;
B. determine the id number of the node in the wireless sensor network that main equipment starts at each specific time slot;
C. calculate and position with respect to the nearest slave unit of main equipment; And the data of this position and previous or preceding a plurality of time slots are made comparisons, calculate the mobile message of less important object then by the variation of determining the position of slave unit in the wireless sensor network;
D. sensing data of collecting according to sensor assembly and the movable information state of determining less important object.
In layering localization method of the present invention, comprise also that in step b the id number of determining the node in the network obtains around the grouping of the slave unit of main equipment; Also comprise the position of calculating slave unit by the sensor network of checking under it in step c, it is adjacent with the main equipment that comprises described slave unit that starts described network that described slave unit is considered to; In step c, also comprise the id number of the slave unit in the sensor network in the current time slots and the id number of previous or preceding several time slots are made comparisons, to determine the movable information of less important object, comprising: around the arrival of the slave unit of main equipment, leave, the stand-by period; Comprise by movable information at the state of determining less important object described in the steps d and to determine according to activity, temperature, humidity and the less important object of sensor region.
Implement layering navigation system of the present invention and method, have following beneficial effect: the sharpest edges of this system and method be difficult for disturbed, good reliability, cost is low, scale is easily adjusted, suitable extensive the use, do not need new lead in addition, has lower power consumption, cheap operating cost, also since the automatic tissue of network make node to move freely and can not break from network, therefore also can move freely this navigation system.
Description of drawings
The invention will be further described below in conjunction with drawings and Examples, in the accompanying drawing:
Fig. 1 is the system configuration schematic diagram of layering navigation system of the present invention;
Fig. 2 is the structural representation of the information server of layering navigation system of the present invention;
Fig. 3 is the structural representation of the main equipment of layering navigation system of the present invention;
Fig. 4 is the structural representation of the slave unit of layering navigation system of the present invention;
Fig. 5 is one of the structural representation of an application example of layering navigation system of the present invention;
Fig. 6 be layering navigation system of the present invention an application example structural representation two;
Fig. 7 be layering navigation system of the present invention an application example structural representation three.
Embodiment
As shown in Figure 1 be the system configuration schematic diagram of layering navigation system of the present invention.Layering navigation system of the present invention comprises information server and is attached thereto a plurality of main equipments (representing main equipment (Master Device) with MD among Fig. 1) that connect, and a plurality of slave units that are connected with main equipment (representing slave unit (Slave Device) with SD among Fig. 1), slave unit also can be connected with other a plurality of slave units, constitutes tree.Main equipment is arranged on the main object, and main object moves in the zone that WLAN covered; The structure of information server as shown in Figure 2, information server comprises location information data storehouse and tracing module that is connected with information database and alarm module, information server is connected on a plurality of main equipments by WLAN.The structure of main equipment comprises data processing unit and locating module that is connected with data processing unit and main ZigBee module as shown in Figure 3.Data processing unit is connected to information server, receives the data from locating module and ZigBee module.Locating module is used for the measurement and positioning data.Main ZigBee module is connected to slave unit.The structure of slave unit as shown in Figure 4, slave unit comprise have id number from the ZigBee module, with the sensor assembly that is connected from the ZigBee module, sensor assembly comprises a plurality of transducers, and slave unit also can be connected by communicating from the same slave unit of ZigBee module and other.Slave unit is arranged on the less important object, and described less important object is around different main movement of objects.
Main ZigBee module start wireless sensor network and be connected to around slave unit from the ZigBee module.Wireless sensor network can make part be directly connected to main ZigBee module module from the ZigBee module, and part is connected to main ZigBee module by being connected to other same network from the ZigBee module from the ZigBee module.
Wireless sensor network with any in same network main ZigBee module and be considered as node from the ZigBee module.Node periodically is broadcast to each coupled node.Node sends response message to the main ZigBee module that starts network in order to respond the solicited message of sending with the node that it directly is connected.Response message comprise request sender id number, response message sender's id number, with solicited message sender and response message sender between relevant data, channel quality value and the sensing data of signal strength signal intensity.Sensing data is caught data by the sensor assembly of slave unit.Sensor assembly is connected to different transducers and catches the relevant sensing data that is connected to the slave unit of placing on the less important object, and the sensor comprises IR (Infrared, infrared ray) transducer, sonac, heat sensor etc.Locating module by but be not limited to measure the position of main equipment with GPS (Global Position System, global positioning system) or DGPS (Differential Global Position System, DGPS) technology.Data processing unit obtains data from locating module and ZigBee module, and by WLAN data is sent in the information server.
The present invention also provides a kind of layering localization method, comprises the following steps:
A. the locator data that measures by locating module identifies the position of main equipment;
B. determine the id number of the node in the wireless sensor network that main equipment starts at each specific time slot;
C. calculate and position with respect to the nearest slave unit of main equipment; And the data of this position and previous or preceding a plurality of time slots are made comparisons, calculate the mobile message of less important object then by the variation of determining the position of slave unit in the wireless sensor network;
D. sensing data of collecting according to sensor assembly and the movable information state of determining less important object.
Comprise also that in above-mentioned steps b the id number of determining the node in the network obtains around the grouping of the slave unit of main equipment.
Also comprise the position of calculating slave unit by the sensor network of checking under it in above-mentioned steps c, it is adjacent with the main equipment that comprises described slave unit that starts described network that described slave unit is considered to.
In above-mentioned steps c, also comprise the id number of the slave unit in the sensor network in the current time slots and the id number of previous or preceding several time slots are made comparisons, to determine the movable information of less important object, comprising: around the arrival of the slave unit of main equipment, leave, the stand-by period.
In above-mentioned steps d, the state of determining less important object comprises by the movable information according to activity, temperature, humidity and the less important object of sensor region to be determined.
Can be by various technology, sensor network for example, wireless network waits realizes distributed computing environment (DCE), it can be used for monitoring the state information past or current of goods or other objects.This information can come from transducer and can storing be convenient to after use.Below with reference to a Fig. 5 and an application example illustrated in fig. 6 the present invention is made more detailed description.
With reference to figure 5 and Fig. 6, embodiment in a concrete application of the present invention: in the monitoring system of a kind of long-range container terminal, form the real-time monitoring that USN (immanent sensing network) system operates in the container terminal with ZigBee and DGPS technology.
Advantage based on ZigBee, a concrete application example of layering navigation system provided by the invention, with respect to other existing systems, it has several advantages, for example, do not need new lead, have lower power consumption, can move freely (for example, the self-organizing of network makes node to move freely and can not break from network), the harbour undertaker can obtain real-time status information, is easy to control.The present invention is incorporated into DGPS and ZigBee technology in the application of special harbour vanning anywhere at any time and follows the tracks of and locate truck and wharf crane (QC in the loading and unloading, Quay Cranes), the pedestal crane of belt wheel tire (RTGC, Rubber-Tired Gantry Cranes).Especially, DGPS is used for the location of the pedestal crane of wharf crane and belt wheel tire, forms the such data of the time of advent, stand-by period and time departure of queuing truck that a sensor network helps to be determined at the pedestal crane of the wharf crane of bearing container and belt wheel tire and be installed in the main equipment of pedestal crane of wharf crane and belt wheel tire and the slave unit in the truck by the ZigBee module.Main equipment will be set up wireless sensor network (shown in the chain-dotted line among Fig. 5) with the slave unit around it.The locating module of main equipment will be located the wharf crane that slave unit is housed or the pedestal crane of belt wheel tire by DGPS technology (satellite and the geoceiver that are connected with dotted line with reference to the dotted line among the figure 5).In the container terminal, each RTGC/QC is equipped with main equipment.Main equipment will be set up wireless sensor network with the slave unit around it.When truck moves, it will be connected in the network with its nearer RTG/QC.
With reference to figure 6, ZigBee telegon (ZC) and DGPS are installed on the wharf crane, and ZigBee router (ZR) is installed on the truck.In case any truck is near the pedestal crane of wharf crane or belt wheel tire, the ZR on the truck will add the network that ZC started on the pedestal crane of wharf crane or belt wheel tire, this network using be the mesh network structure.Each node (ZR or ZC) periodically sends the ZC of response message to the pedestal crane that is installed in wharf crane or belt wheel tire.ZC will be this response message that coordinate is transferred to server by WiFi.
Simultaneously, infrared ray sensor is installed on the truck, and it is used for detecting whether loaded any container.Whether the output of infrared ray sensor will change according to the existence of the container on the truck.Because infrared ray sensor is connected with ZigBee module on each truck, therefore, the dateout of infrared ray sensor is also contained in the middle of the response message.
Illustrate with an example how coordinate and data are captured by ZigBee below.For example, the ZR on 6 trucies of ZC on the wharf crane and the queuing below it forms network (with reference to figure 7).
At each time slot, each node will send a request to its all adjacent node, and for each request that receives, ZR will measure itself and the signal strength signal intensity of request between the sender, and the signal measurement data are sent a response to ZC.And ZC receives after the request, also can measure it self and the request sender between the signal correction data.
Response message comprises following data:
Request sender id number: the id number that sends the node of request;
Recipient's id number (being response message sender id number): receive the id number of asking and response being sent to the node of ZC;
The intensity sign of the signal that receives (RSSI, Received Signal Strength Indicator): with the relevant data of signal strength signal intensity between solicited message sender and the response message sender;
Channel quality value (LQI, Link Quality Indication): the relevant data of transmitting with the quality of connection and the success of adjacent node in the network of possibility;
Sensing data (DATA): ZR collects the data that obtain from transducer, and these data are the output of IR transducer.
Below be an example, node 003 sends to the response of ZC,
Sender ID=001; Recipient ID=003; RSSI=-57; LQI=255; DATA=10;
Sender ID=002; Recipient ID=003; RSSI=-25; LQI=255; DATA=11;
Sender ID=005; Recipient ID=003; RSSI=-70; LQI=255; DATA=10;
Sender ID=006; Recipient ID=003; RSSI=-30; LQI=255; DATA=00.
Except ZigBee equipment, the DGPS receiver is other from the moving axes capture device, and the receiver on the pedestal crane of wharf crane and belt wheel tire receives their latitude and longitude coordinates and sends to information server and be stored in the information database with WiFi.
The container place is divided into many zones, and regional number is assigned to each zone.In each zone, have a plurality of compartment portion.Tracing module in the information server is corresponding one by one according to zone and compartment, and the coordinate operating unit can convert latitude and longitude coordinates to area I D and compartment ID, can be come out by system identification, and be understood by the people.Id number in the network can be used for determining the ID of queuing truck.The variation of id number also can reflect the arrival time and the time departure of the pedestal crane truck on every side of wharf crane or belt wheel tire in the network.The output of infrared ray sensor can make the number of information server calculation container in when carry or unload with them.
Heavy if any unusual feelings, for example too many truck rests on around the pedestal crane of certain wharf crane or belt wheel tire, and truck rests on the pedestal crane of certain wharf crane or belt wheel tire and waits so long very much on every side, and the alarm module of information server can send warning message.
The above only is a concrete application example of the present invention, it will be understood by those of skill in the art that according to spirit of the present invention, the present invention can also be applied to other the occasion that need position object.
Claims (10)
1. a layering navigation system is characterized in that, comprising:
Be arranged on the main equipment on the main object, described main object moves in the zone that WLAN covered;
Be arranged on the slave unit on the less important object, described less important object is around different main movement of objects;
Be connected to information server on a plurality of main equipments by WLAN;
Described information server comprises and is used to calculate the position of described main equipment and the tracing module of state.
2. according to the described system of claim 1, it is characterized in that described main equipment comprises data processing unit, locating module and has the main ZigBee module of id number; Described slave unit comprise sensor assembly and have id number from the ZigBee module; Described information server also comprises location information data storehouse and alarm module.
3. according to the described system of claim 2, it is characterized in that, described main ZigBee module start wireless sensor network and be connected to around slave unit from the ZigBee module; Described wireless sensor network can make part be directly connected to main ZigBee module from the ZigBee module, and part indirectly is connected to main ZigBee module by being connected to other same network from the ZigBee module from the ZigBee module.
4. according to the described system of claim 3, it is characterized in that, described wireless sensor network with any in same network main ZigBee module and be considered as node from the ZigBee module; Described node periodically is broadcast to each coupled node; Described node sends response message to the main ZigBee module that starts described network, with the solicited message that responds and the node that it directly is connected is sent.
5. according to the described system of claim 4, it is characterized in that, described response message comprise request sender id number, response message sender's id number, with solicited message sender and response message sender between relevant data, channel quality value and the sensing data of signal strength signal intensity; Described sensing data is the data that the sensor assembly by slave unit captures.
6. according to the described system of claim 2, it is characterized in that, described sensor assembly be connected to different transducers catch be connected to less important object on the relevant sensing data of the slave unit that is provided with; Described transducer comprises IR transducer, ultrasonic sensor, heat sensor.
7. according to the described system of claim 2, it is characterized in that described locating module is by the position of GPS or DGPS commercial measurement main equipment; Described data processing unit obtains data from locating module and ZigBee module, and by WLAN data is sent in the information server.
8. according to the described system of claim 2, it is characterized in that described location information data library storage is come the data of autonomous device; Alarm module sends warning message, if the position of main object or less important object and state take place unusually, comprises that too much less important object moves, certain less important object surpasses in the preset time not mobile around main equipment.
9. a layering localization method is characterized in that, comprising:
A. the locator data that measures by locating module identifies the position of main equipment;
B. determine the id number of the node in the wireless sensor network that main equipment starts at each specific time slot;
C. calculate and position with respect to the nearest slave unit of main equipment; And the data of this position and previous or preceding a plurality of time slots are made comparisons, calculate the mobile message of less important object then by the variation of determining the position of slave unit in the wireless sensor network;
D. sensing data of collecting according to sensor assembly and the movable information state of determining less important object.
10. according to the described layering localization method of claim 9, it is characterized in that, comprise also that in step b the id number of determining the node in the network obtains around the grouping of the slave unit of main equipment; Also comprise the position of calculating slave unit by the sensor network of checking under the described slave unit in step c, it is adjacent with the main equipment that comprises described slave unit that starts described network that described slave unit is considered to; In step c, also comprise the id number of the slave unit in the sensor network in the current time slots and the id number of previous or preceding several time slots are made comparisons, to determine the movable information of less important object, comprising: around the arrival of the slave unit of main equipment, leave, the stand-by period; Comprise by movable information at the state of determining less important object described in the steps d and to determine according to activity, temperature, humidity and the less important object of sensor region.
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| CN103544616A (en) * | 2012-07-16 | 2014-01-29 | 福建新大陆电脑股份有限公司 | Whole-course information recording and source tracking method of objects sensitive to environmental changes |
| CN108761463A (en) * | 2018-04-02 | 2018-11-06 | 西京学院 | A kind of acoustics localization method for warehousing system |
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