CN105303345A - RFID based fork truck anti-collision system and method - Google Patents
RFID based fork truck anti-collision system and method Download PDFInfo
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Abstract
The invention discloses an RFID based fork truck anti-collision system and method. The system comprises a fork truck module which is arranged in a fork truck and a warehouse module which is placed in a warehouse. The fork truck module comprises a storage battery pack of the fork truck, a vehicle-mounted tablet computer, an RFID reader, an RFID omnidirectional antenna and an RFID low-frequency activation label placed at the top of the truck, wherein the RFID omnidirectional antenna is connected with the RFID reader via a serial port, and the storage battery pack of the fork truck supplies power to the RFID reader, namely, dry batteries are used for power supply. The warehouse module comprises a power supply module, an RFID antenna, an RFID reader, low-frequency activators, low-frequency rod-shaped antennas, an Ethernet switch, a server and a display, wherein the RFID antenna is connected with the RFID reader via the serial port, then connected to the Ethernet switch via a cable, and finally connected to the server; each low-frequency activator needs to connected with multiple low-frequency rod-shaped antennas and serves as positioning reference; and the power supply module uses 48V DC to supply power to the RFID reader.
Description
Technical field
The present invention relates to a kind of fork truck collision avoidance system based on RFID and method, belong to radio communication and technology of Internet of things field.
Background technology
In the world, some advanced countries just begin one's study from the end of the eighties car collision avoidance System.In the early 1990s, country has been reported on motor vehicles for civilian use and has been equipped with collision avoidance system U.S., moral, day etc.But the starting of China in collision avoidance system is more late, even technology is immature, so there is not yet the report of mass production and equipment automobile.Along with the development of wireless communication technology and Internet technology, the data carrying capabilities of network and data-handling capacity are maked rapid progress.Meanwhile, in internet, existing information cannot meet the growing quantity of information requirement of the network user completely.People start to attempt by new wireless communication technology by increasing equipment so that various article abstract be the node in network, be linked among internet.On this basis, people can be managed by network and control various equipment and article, and carry out message exchange with them and share.
The network that this thing thing with internet being core expands and extend is connected is called as Internet of Things.The definition of Internet of Things is by information sensing equipment such as shooting frequency technology (i.e. RFID), infrared inductor, GPS, by the agreement of agreement, any article are connected with internet, carry out message exchange and communicate, to realize a kind of network of Weigh sensor to article, location, tracking, monitor and managment.
The industry that Internet of Things covers is a lot, and in the exploitation of Sensor Network technology and the expansion in market, one of wherein very crucial technology is exactly RFID technique.Its essence, utilizes RFID technique exactly, in conjunction with existing network technology, database technology, middleware Technology etc., constructs the Internet of Things that a ratio internet be made up of the label of the reader of networking in a large number and countless movement is more huge.
RFID (RadioFrequencyIdentification) technology, also known as radio frequency identification, be a kind of communication technology, read and write related data by radio signals identification specific objective, and without the need to setting up machinery or optical contact between recognition system and specific objective.In existing short-distance wireless communication technology, RFID have read that convenient and swift, recognition speed is fast, long service life and the remarkable advantage such as with low cost.At present, RFID technique is widely used in the aspects such as mobile payment, access control, package track identification, logistics management, product false proof, Mobile business, voucher management, handling of goods and materials, car alarm, parking lot control, production line automation.
Internet of Things is inseparable with wireless communication technologys such as RFID.The accurate concept of Internet of Things is put forward when studying RFID by the Ashton professor at MITAuto-ID center for 1999.In addition, to take RFID as the short-distance wireless communication technology of representative be Internet of things system is in one of the gordian technique in networking stage.Secondly, also driven the demand growth of people to Wireless Telecom Equipments such as wireless sensers in the development of Internet of Things, also promoted wireless communication technology to two-forty, low energy consumption, anti-interference future development simultaneously.
In positioning field, in order to make up GPS rapid drawdown due to the stop of buildings and multipath effect locating effect in indoor, there is the indoor locating system based on RFID technique.RFID localization and tracking system mainly utilizes label to the unique identification characteristic of object, according to the signal of radio communication between read write line and the label being arranged on object to measure the locus of article.
Along with the development of RFID technique, how to realize the correct exchanges data simultaneously and between multiple target, namely solve the data collision in rfid system between multiple read write line and transponder, become a difficult problem for limit RFI D technical development.In recent years, RFID technique due to its noncontact and non line of sight cost lower, the advantages such as transmission range is large are expected to the first-selection becoming indoor objects track and localization.This fork truck anticollision management system application technology of Internet of things, realizes anticollision and the intelligent dispatch of fork truck in conjunction with RFID location technology.And the present invention can solve problem above well.
Summary of the invention
The object of the invention is to solve the problem of in warehouse environment fork truck and personnel, anticollision early warning between fork truck and fork truck, achieves the intelligent management in warehouse between article and personnel.
The present invention solves the technical scheme that its technical matters takes: a kind of fork truck anticollision management system based on RFID, and this system comprises the fork truck module be arranged in fork truck and the warehouse module be placed in warehouse.
The function of fork truck module is: comprise the battery pack of fork truck, vehicle-mounted flat computer, RFID reader, RFID omnidirectional antenna and be positioned at the RFID low frequency activation label of roof.Wherein, RFID omnidirectional antenna is connected with RFID reader serial ports, and uses the battery pack of fork truck to power for RFID reader.Because RFID label tag power consumption is extremely low, therefore adopt dry cell power supply, the button type lithium-manganese battery of 1 joint capacity 500mAh can meet this labeling task electricity needs of a year.
The function of warehouse module is: comprise power module, RFID antenna and reader, low frequency activation device, low frequency bar antenna, Ethernet switch, server and display.After RFID antenna is connected with serial ports with RFID reader, then be connected with Ethernet switch by cable, be finally connected on server.In addition, in order to ensure the levels of precision of location, each low frequency activation device needs to connect several low frequency bar antennas, as the reference of location.
Power module (that is: fork truck storage battery group) adopts the galvanic mode of 48V to power to RFID reader.Low frequency activation device, switch, server and display all use common 220V alternating current, do not need extra power module.
The present invention arranges some low frequency activation devices in warehouse, and activator appliance initiatively launches the continuous low frequency pulse signal comprising its numbering.Fork truck in warehouse, the RFID low frequency activation label that personnel and special article carry, when receiving the activation signal of certain activator appliance, real time parsing is gone out this activator appliance numbering and antenna number by the low frequency chip of this label.Detect the RSSI field intensity value of this low frequency signal simultaneously, then wake up and import MCU into, the radio frequency chip that then open plate carries carries out once strong signal and launches.RFID antenna in warehouse receives the signal sent from label, transfers to reader to resolve.The tidal data recovering of each reader sends server to switch.Utilize server software to calculate data, just can obtain positional information and the movement locus of each label, the display that result can be real-time over the display.Vehicle-mounted computer on fork truck can be connected with server to wirelessly, and to the positional information of other labels near this fork truck label position of server request.
Vehicle-mounted computer in fork truck module wirelessly connects the location-server in warehouse, constantly receives the locating information from server, and is generated the image of surrounding tags position by the client software run thereon.RFID reader on fork truck has preset Signal reception distance, and when after the signal that this reader have received from personnel or fork truck label, by the RSSI field intensity value parsed, the information such as label ID pass to vehicle-mounted computer.Client software on vehicle-mounted computer can be pointed out around driver and occurred which personnel and vehicle, and according to the distance increasing arrangement estimated by RSSI field intensity value.When RSSI value reaches the threshold value preset, explanation may collide, and client software can control alarm equipment alarm, reminds unit around to dodge in time.When fork truck lade, the RFID sensor (that is: antenna adds reader) on fork truck can receive the radiofrequency signal that the label on goods transmits.The information scanned is passed to vehicle-mounted computer by RFID sensor, and truck driver can connect by client software the details that lade learnt by enterprise stock management software, can increase work efficiency to a certain extent.
Present invention also offers a kind of implementation method of the fork truck collision avoidance system based on RFID, the method comprises the steps:
Step 1: label is in unactivated state.
Step 2: whether tags detected receives low frequency pulse signal, if nothing, then returns step 1; If receive signal, then the information package such as activator appliance ID, antenna ID, RSSI field intensity value and self label ID are become packet and launched by frequency electromagnetic waves.
Step 3: detect RFID sensor and whether receive signal, if nothing, then return step 2; If have, then utilize reader to parse the information such as activator appliance ID, antenna ID, RSSI field intensity value and timestamp and pass to information server.
Step 4: server software resolution data bag, calculates the position of each label and graphic software platform by RSSI method.
Step 5: detect the request of data whether receiving client, if nothing, then re-execute step 5; If have, then return UDP message bag to client.
Step 6: client resolves UDP message bag and graphic software platform, driver assistance is driven.
Step 7: whether detecting sensor receives the signal of personnel and fork truck label, if nothing, then represents that fork truck is in safety traffic state, does not have personnel's vehicle around, and re-executes step 7; If have, then these labels are gone out distance as the object that may collide according to intensity estimation signal, and by distance inverted order listing arrangement.
Step 8: whether the RSSI field intensity value of tags detected reaches threshold, if do not reach threshold, then represents that fork truck is in safety traffic state, and returns step 7; If reach threshold, then client software prompting warning message is to driver, and controls the warning of sound flash alarm system device.
Said method of the present invention is applied to the fork truck collision avoidance system based on RFID.
Beneficial effect:
1, RFID low frequency activation device of the present invention adopts tdma, and many equipment does not interfere with each other, and can activate a hundreds of label simultaneously, and the low frequency pulse signal launched can effectively penetrate the barrier such as body of wall and human body.
2, the present invention adopts the location of personnel in RSSI method Implementation repository, fork truck and goods, the RFID reader quantity needed for covering warehouse can be made to reduce, and improve positioning precision.
3, the label position information that gets of RFID reader of the present invention, can pass to vehicle-mounted computer in real time by server and truck driver can be allowed to understand situation around.
4, the power supply of all devices use fork truck storage batteries of fork truck module of the present invention, does not need extra power module, has saved cost well.
5, present system platform is with good expansibility and ease for maintenance, and increasing sensor does not need to change the system changed and disposed, and can expand orientation range like a cork.
Accompanying drawing explanation
Fig. 1 is the one-piece construction schematic diagram of the fork truck module of present system.
Fig. 2 is the one-piece construction schematic diagram of the warehouse module of present system.
Fig. 3 is method flow diagram of the present invention.
Embodiment
Below in conjunction with Figure of description, the invention is described in further detail.
As shown in Figure 1, system of the present invention can by the communication of RFID transceiver module in depot area, and the information interaction between Implementation repository and fork truck, provides anticollision early warning to fork truck.
The invention provides a kind of fork truck anticollision management system based on RFID, this system is made up of the fork truck module be arranged in fork truck and the warehouse module be placed in warehouse.As shown in Figure 1, fork truck module is made up of the battery pack of fork truck, vehicle-mounted flat computer, RFID omnidirectional sensor, audible-visual annunciator and cable etc.Wherein, RFID omnidirectional sensor comprises RFID antenna and RFID reader, and RFID omnidirectional sensor comprises RFID antenna is connected with RFID reader serial ports, and uses the battery pack of fork truck to power for RFID reader.Because RFID label tag power consumption is extremely low, therefore adopt dry cell power supply, the button type lithium-manganese battery of 1 joint capacity 500mAh can meet this labeling task electricity needs of a year.Its workflow is as follows: fork truck storage battery provides direct current to vehicle-mounted flat computer, RFID omnidirectional sensor, audible-visual annunciator.Operationally, RFID omnidirectional sensor constantly obtains label information, and wirelessly passes to server, and information is passed to vehicle-mounted flat computer by server after treatment again, and on panel computer graphic software platform.If there is the fork truck that may collide, then touch alarm, sounding light crossing-signal gives a warning information.
Client software each a bit of time is to server request one secondary data, server return data adopts UDP encapsulation, and the form of UDP message bag is as follows: i.e. (label ID, the time, X-axis coordinate, Y-axis coordinate, Z axis coordinate), as " 004-521-260; 2015-05-2716:22:37; 3.879 ,-96.543,12.685 ".Client receives after UDP message bag and resolves it, and software interface marks out the information such as the particular location of this label and classification.
Client software constantly calculates the label (that is: personnel or fork truck label) whether having hypotelorism around fork truck, when unusual circumstance at vehicle-mounted computer warning, and control alarm and give the alarm, remind unit around to dodge in time.In smooth-ride process, in positioning image, truck driver fast searching can be helped again to target goods about the mark of label.
When fork truck takes out goods from shelf, the RFID sensor (that is: antenna adds reader) on fork truck can receive the ultra-wideband pulse signal that the label on goods transmits.The information scanned is passed to vehicle-mounted computer by RFID sensor, and truck driver can learn the details of lade by client software, can improve the work efficiency of fork truck to a certain extent.
As shown in Figure 2, warehouse of the present invention module is made up of a power module, RFID label tag, several RFID omnidirectional sensors, some low frequency activation devices, Ethernet switch, location-server, a display and some twisted-pair feeders.RFID omnidirectional sensor comprises RFID antenna and RFID reader, and with after connecting with serial ports, then be connected with Ethernet switch by twisted-pair feeder, be finally connected on server.In addition, in order to ensure the levels of precision of location, each low frequency activation device needs to connect the reference of several low frequency bar antennas as location.Its workflow is as follows: power module provides power supply to other modules.Operationally, low frequency activation device passes through low frequency and continuous pulse to RFID label tag transmission of information, RFID label tag passes through high-frequency RF ID carrier wave again to RFID omnidirectional sensor passes label information, then, RFID omnidirectional sensor passes to Ethernet switch by twisted-pair feeder, then passes to location-server, location-server resolution data bag, and graphic software platform result over the display, finally information is passed to fork truck module.
RFID label tag in warehouse module, for personnel, the location of goods, some low frequency activation devices are for activating each transmitting interrogation signals, and some bar-shaped low-frequency antennas are as the benchmark of location.Each low frequency activation device can connect maximum 6 antennas.The aerial head of each antenna can have antenna ID, and accurately can receive the signal in 3-5 rice radius.So, antenna activator appliance after equipment installs separates layout, six roots of sensation antenna just can control the scope of 6 points, is activated and uploads No. ID of label and the address code number of antenna after label enters the induction range of each antenna, thus realizes accurately location.Sensor receives the label ID that label is sent, activator appliance ID, the packing such as antenna ID, RSSI field intensity value and time sends to server to process by procotol, just can calculate label (namely needing by the personnel that locate or object) present position and movement locus.Each label has a unique ID, system can by this ID distinguish this label corresponding be personnel, fork truck or goods, and on server and client side's software distinguish represent.
System acceptance signal intensity method (i.e. RSSI) localization method of the present invention determines the position of label in warehouse.Acknowledge(ment) signal intensity method be receiving node according to the signal intensity received, calculate from the propagation loss transmitted from transmitter to receiver transmitting procedure, use the signal propagation model of theory or experience that propagation loss is converted into distance.The localization method that theoretical value and the empirical value of signal intensity merge mutually, combines signal propagation model and field survey, both ensure that positioning error in allowed limits, reduced again the workload of field survey greatly.Simple at environment, clog-free region adopts theoretical value database, the database of namely being derived by signal propagation model; Empirical value database is adopted in circumstance complication, snagged region.In practical application, the number of sensors increasing system can improve reliability and the validity of positioning precision, increases the robustness of system.
As shown in Figure 3, its idiographic flow is as follows for the method flow of this fork truck collision avoidance system:
First constantly whether tags detected receives low frequency pulse signal, if receive signal, then the information package such as activator appliance ID, antenna ID, RSSI field intensity value and self label ID is become packet and is transmitted to RFID sensor by frequency electromagnetic waves.RFID sensor constantly detects whether receive signal, if receive signal, then utilizes reader to parse the information such as activator appliance ID, antenna ID, RSSI field intensity value and timestamp and passes to information server.Server software resolution data bag, calculates the position of each label and graphic software platform by RSSI method.Server constantly detects the request of data whether receiving client, if receive request, then returns UDP message bag to client.Client resolves UDP message bag and graphic software platform, and driver assistance is driven.Sensor constantly detects the signal whether receiving personnel and fork truck label, if do not receive signal, then represents that fork truck is in safety traffic state, does not have personnel's vehicle around; If receive signal, then these labels are gone out distance as the object that may collide according to intensity estimation signal, and by distance inverted order listing arrangement, then whether the RSSI field intensity value of tags detected reaches threshold, if do not reach threshold, then represent that fork truck is in safety traffic state; If reach threshold, then client software prompting warning message is to driver, and controls the warning of sound flash alarm system device.
When fork truck arrives target location lade, the RFID sensor (that is: antenna adds reader) on fork truck can receive the RFID signal that the label on goods transmits.RFID sensor passes to vehicle-mounted computer by after the signal resolution scanned, and client software can show the details of lade.Driver can check whether be loaded with correct goods according to these information, can increase work efficiency to a certain extent, decreases the error in loading process.
In addition, the client software of native system can carry out synchronizing information with the warehouse inventory management system of enterprise.Arrange a low frequency bar antenna respectively at store exit two ends and set decipherment distance and again they are linked on same low frequency activation device.If system have received the RFID signal comprising these two aerial informations continuously, system can judge to there occurs outbound and warehouse-in behavior.Client software according to the label information scanned (that is: needing to increase quantity of goods etc. in former data), can call the interface of Inventory Management Software, adjusts corresponding stock.The method can promote the automatization level of former inventory management system, saves human cost.
Claims (7)
1. based on a fork truck collision avoidance system of RFID, it is characterized in that, described system comprises the fork truck module be arranged in fork truck and the warehouse module be placed in warehouse;
The function of fork truck module is: comprise the battery pack of fork truck, vehicle-mounted flat computer, RFID reader, RFID omnidirectional antenna and be positioned at the RFID low frequency activation label of roof, wherein, RFID omnidirectional antenna is connected with RFID reader serial ports, and uses the battery pack of fork truck to power for RFID reader;
The function of warehouse module is: comprise power module, RFID antenna and reader, low frequency activation device, low frequency bar antenna, Ethernet switch, server and display, after described RFID antenna is connected with serial ports with RFID reader, be connected with Ethernet switch by cable again, be finally connected on server; Each low frequency activation device connects low frequency bar antenna, as the reference of location.
2. a kind of fork truck collision avoidance system based on RFID according to claim 1, is characterized in that, the power module of described system is fork truck storage battery group, and described fork truck storage battery group adopts dry cell power supply.
3. a kind of fork truck collision avoidance system based on RFID according to claim 1, is characterized in that, described power module adopts the galvanic mode of 48V to power to RFID reader; Described low frequency activation device, switch, server and display all use common 220V alternating current, do not need extra power module.
4. a kind of fork truck collision avoidance system based on RFID according to claim 1, it is characterized in that, described system comprises: in warehouse, arrange that low frequency activation device, described activator appliance initiatively launch the continuous low frequency pulse signal comprising its numbering, fork truck in warehouse, the RFID low frequency activation label that personnel and special article carry, when receiving the activation signal of certain activator appliance, real time parsing is gone out this activator appliance numbering and antenna number by the low frequency chip of this label, detect the RSSI field intensity value of this low frequency signal simultaneously, then wake up and import MCU into, then the radio frequency chip that open plate carries carries out once strong signal and launches, RFID antenna in warehouse receives the signal sent from label, reader is transferred to resolve, the tidal data recovering of each reader sends server to switch, server software is utilized to calculate data, obtain positional information and the movement locus of each label, display during fructufy over the display, vehicle-mounted computer on fork truck is wirelessly connected with server, and to the positional information of other labels near this fork truck label position of server request.
5. a kind of fork truck collision avoidance system based on RFID according to claim 1, it is characterized in that, vehicle-mounted computer in described fork truck module wirelessly connects the location-server in warehouse, continuous reception is from the locating information of server, and the image of surrounding tags position is generated by the client software run thereon, RFID reader on fork truck has preset Signal reception distance, when after the signal that this reader have received from personnel or fork truck label, by the RSSI field intensity value parsed, label ID information passes to vehicle-mounted computer, client software on vehicle-mounted computer can be pointed out around driver and occurred which personnel and vehicle, and according to the distance increasing arrangement estimated by RSSI field intensity value, when RSSI value reaches the threshold value preset, explanation may collide, client software can control alarm equipment alarm, unit is around reminded to dodge in time, when fork truck lade, RFID sensor on fork truck can receive the radiofrequency signal that the label on goods transmits, the information scanned is passed to vehicle-mounted computer by RFID sensor, truck driver connects by client software the details that lade learnt by enterprise stock management software.
6. based on an implementation method for the fork truck collision avoidance system of RFID, it is characterized in that, described method comprises the steps:
Step 1: label is in unactivated state;
Step 2: whether tags detected receives low frequency pulse signal, if nothing, then returns step 1; If receive signal, then activator appliance ID, antenna ID, RSSI field intensity value and self label ID information are packaged into packet and are launched by frequency electromagnetic waves;
Step 3: detect RFID sensor and whether receive signal, if nothing, then return step 2; If have, then utilize reader to parse activator appliance ID, antenna ID, RSSI field intensity value and timestamp information and pass to information server;
Step 4: server software resolution data bag, calculates the position of each label and graphic software platform by RSSI method;
Step 5: detect the request of data whether receiving client, if nothing, then re-execute step 5; If have, then return UDP message bag to client;
Step 6: client resolves UDP message bag and graphic software platform, driver assistance is driven;
Step 7: whether detecting sensor receives the signal of personnel and fork truck label, if nothing, then represents that fork truck is in safety traffic state, does not have personnel's vehicle around, and re-executes step 7; If have, then these labels are gone out distance as the object that may collide according to intensity estimation signal, and by distance inverted order listing arrangement;
Step 8: whether the RSSI field intensity value of tags detected reaches threshold, if do not reach threshold, then represents that fork truck is in safety traffic state, and returns step 7; If reach threshold, then client software prompting warning message is to driver, and controls the warning of sound flash alarm system device.
7. the implementation method of a kind of fork truck collision avoidance system based on RFID according to claim 6, is characterized in that: described method is applied to the fork truck collision avoidance system based on RFID.
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Application publication date: 20160203 |