CN102226910A - Regional logistics moving monitoring positioning method - Google Patents
Regional logistics moving monitoring positioning method Download PDFInfo
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- CN102226910A CN102226910A CN2011101289176A CN201110128917A CN102226910A CN 102226910 A CN102226910 A CN 102226910A CN 2011101289176 A CN2011101289176 A CN 2011101289176A CN 201110128917 A CN201110128917 A CN 201110128917A CN 102226910 A CN102226910 A CN 102226910A
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Abstract
The invention, which relates to a logistics positioning method used in specific areas, discloses a regional logistics moving monitoring positioning method. The positioning method includes the following steps: arranging a double-frequency RFID tag possessing low frequency and high frequency; establishing a space rectangular coordinate system in logistics areas; arranging standard tags (S-Tags) and location tags (L-tags); arranging a monitoring robots which comprises a mobile carrying vehicle, two omnidirectional reader and witers which are fixed on the mobile carrying vehicle and share a same central axis, a reading and writing processing system and an emission system; disposing the S-Tags on the fixed constructions or machines in the logistics areas; disposing the L-tags on a mobile logistics pallet or a monitored article; monitoring and analyzing through the monitoring robots; monitoring concrete coordinate figures of the L-tags through defining and making the S-Tags so as to reach monitored positioning of the L-tags.
Description
Technical field
The present invention relates to a kind of logistics localization method in the specific region, particularly a kind of double frequency rfid card and mobile monitoring robot of utilizing carries out logistics and personnel in the accurate method of location of on-site.
Background technology
Logistics location is meant the position of concrete article in geographical space, to this position monitoring and to be mapped in the computer program be one of important technology of logistics location.At present, all adopt modes such as global positioning satellite GPS technology, electronic data interchange EDI technology in the logistics of macroscopical geographical space location, its position precision is generally within 10 meters scope, obviously and be not suitable for enterprises plant area logistics location; And utilize the RFID localization method to adopt gate sentry formula location, universe to cover location etc. usually in plant area.Gate sentry formula location is that the zonule spatial division is littler reservoir area, import and export in each reservoir area are provided with monitoring equipment, monitoring has the goods turnover state of RFID electronic tag, reach the purpose of logistic track, be to adopt at present logistics localization method the most widely, but it can not accurately be located and can only know article turnover reservoir area to article.Universe covers the method for location, promptly there is not dead angle distribution monitoring equipment in the institute compass of competency, monitoring in real time has the logistics or the personnel of electronic tag, representational utilization is the personnel management system in recovery centre or prison, be characterized in not having the dead angle, Real-time and Dynamic, but cost height, monitoring range can only illustrate or not within the scope at certain read write line, also be not suitable for enterprises plant area logistics location.For this reason, industry also has other localization method of research or positioning system, as on June 18th, 2008 issued patent number be 200410094181.5 Chinese patent described " utilizing the stacking management system of the reference positioning system and the Container Yard of REID ", its method of calculating particular location of this positioning system is to enclose calculating with timestamp and time, just judge distance between the two to the light velocity time of return between the rfid card with read write line, this principle is identical with satellite GPS positioning principle, but under the less situation of distance, light velocity time of return is difficult to difference, therefore also is not easy accurate in locating.
Summary of the invention
Order of the present invention provides a kind of Regional Logistics mobile monitoring localization method that can accurately monitor the particular location of monitored mobile object in workshop or the storage zonule for solving the accurate orientation problem of logistics of workshop, storage zonule.
The technical solution used in the present invention is to achieve the above object of the invention: a kind of Regional Logistics mobile monitoring localization method, this localization method may further comprise the steps: (1) is provided with a kind of double frequency RFID label with low frequency and two kinds of frequencies of high frequency, this double frequency RFID label has two kinds of transponders of low frequency high frequency and circuit, can reply the signal of two kinds of read write lines of low frequency high frequency simultaneously; (2) be that initial point is set up rectangular coordinate system in space with ground surface in the logistics zone or the space plane point that is parallel to ground surface, and arrange double frequency RFID label on fixed object in the logistics regional space and the mobile goods respectively, with the double frequency RFID label definition that is arranged in the logistics space on the fixed object is the benchmark label, is mobile tag with the double frequency RFID label definition that is arranged in the logistics space on the monitored mobile object; (3) a kind of portable logistics position monitor robot is set, this monitoring robot comprises mobile carrier, be fixed on two omnidirectional's read write lines that have the common center axis on the mobile carrier, read-write disposal system and emission coefficient, one of them omnidirectional's read write line is the high frequency read write line, another omnidirectional's read write line is the low frequency read write line, the radius that reads of adjusting two omnidirectional's read write lines differs 1 meter, the high frequency read write line read the read-write radius of radius greater than the low frequency read write line, the radius that reads of high frequency read write line is R, the read-write radius of low frequency read write line is r, in zone with the artificial central point of monitoring machinery, the read-write scope of removing the low frequency read write line in the read-write scope of high frequency read write line has just formed a donut zone, and this donut zone is set to effective read-write scope of monitoring robot; (4) on the fixed buildings in logistics zone or machine, place the benchmark label, on logistics tray that moves or monitored article, place mobile tag, on two different coordinate points, carry out twice monitoring or two modes that above-mentioned monitoring robot is monitored respectively simultaneously with the above-mentioned monitoring robot of separate unit on different coordinate points then, grid bearing to the benchmark label in the logistics zone is monitored, when monitoring robot reads out to rare three benchmark labels in a donut regional extent, the home position of donut can be determined, readable all mobile tags that go out to fall in this donut zone of while monitoring robot, when certain mobile tag at distance of center circle when monitored robot is read in smaller or equal to two donut zones of 2R, the overlapping region in these two donut zones, be the mobile tag region, the coordinate figure at this center, overlapping region is the coordinate figure of mobile tag; (5) coordinate figure with all mobile tags of monitoring out in the step (4) is transmitted into remote receiver and imports computer server into through remote transmitter, shows in patterned mode on computer server and shares the realization real-time dynamic monitoring.
Double frequency RFID label in the wherein said step (1) is double frequency single deck tape-recorder RFID label or the two card of double frequency RFID laminated label.
Benchmark label in the wherein said step (2) is used for the benchmark location and gives accurate position coordinate figure, and mobile tag is attaching by the details of sign mobile object.
Wherein said monitoring robot also comprises the directed read write line that has the common center axis with two omnidirectional's read write lines.
Adopt Regional Logistics mobile monitoring localization method of the present invention owing to adopt said method to have following beneficial effect: the concrete coordinate figure that can monitor the object or person person who carries double frequency RFID label in the controlled small area, accuracy rating can be controlled in 1 meter scope, reaches the pinpoint purpose of logistics.
Below in conjunction with drawings and Examples Regional Logistics mobile monitoring localization method of the present invention is further described.
Description of drawings
Fig. 1 is the synoptic diagram of the monitoring robot of Regional Logistics mobile monitoring localization method of the present invention;
Fig. 2 is that the monitoring scene is overlooked coordinate diagram;
Fig. 3 is flow chart of data processing figure.
The main element explanation:
1-moves carrier, the 2-storage battery, and 3-reads and writes disposal system, the 4-remote transmitter, 5-high frequency read write line, 6-low frequency read write line, the 7-antenna, 8-display, 9-operation keyboard, the 10-control loop, 11-remote receiver, 12-computer server, the 13-fixed buildings, 14-benchmark label, the monitored article of 15-, the 16-mobile tag, the directed read write line of 17-.
Embodiment
As shown in Figure 1 to Figure 3, Regional Logistics mobile monitoring localization method of the present invention, this localization method may further comprise the steps:
(1) a kind of double frequency RFID label with low frequency and two kinds of frequencies of high frequency is set, this double frequency RFID label has two kinds of transponders of low frequency high frequency and circuit, can reply the signal of two kinds of read write lines of low frequency high frequency simultaneously, double frequency RFID label is double frequency single deck tape-recorder RFID label or the two card of double frequency RFID laminated label;
(2) be that initial point is set up rectangular coordinate system in space with ground surface in the logistics zone (the O-O line is a ground surface among the figure) or the space plane point that is parallel to ground surface, and arrange double frequency RFID label on fixed object in the logistics regional space and the mobile goods respectively, with the double frequency RFID label definition that is arranged in the logistics space on the fixed object is benchmark label (Standard Tag, be called for short S-Tag), the benchmark label is used for the benchmark location, and give accurate position coordinate figure, with the double frequency RFID label definition that is arranged in the logistics space on the monitored mobile object is mobile tag (Location Tag, be called for short L-Tag), mobile tag is attaching by the details of sign mobile object;
(3) a kind of portable logistics position monitor robot is set, this monitoring robot comprises mobile carrier 1, be fixed on two omnidirectional's read write lines 5 that have the common center axis on the mobile carrier, 6, read-write disposal system 3 and emission coefficient, monitoring robot also comprises the directed read write line 17 that has the common center axis with two omnidirectional's read write lines, one of them omnidirectional's read write line is a high frequency read write line 5, another omnidirectional's read write line is a low frequency read write line 6, the radius that reads of adjusting two omnidirectional's read write lines differs 1 meter, the high frequency read write line read the read-write radius of radius greater than the low frequency read write line, the radius that reads of high frequency read write line is R, the read-write radius of low frequency read write line is r, because it is the semicircle sphere that two read write lines place the read range of same central axis and omnidirectional's read write line, therefore the read-write scope of two read write lines be have common center point semisphere (as the P among Fig. 1, two hemisphere of Q), in zone with the artificial central point of monitoring machinery, high frequency read write line scope is that radius is the great circle of R, low frequency read write line scope is that radius is the roundlet of r, the high frequency read write line is read and write the front end of the double frequency RFID label in all great circles that fall into the high frequency read write line, and the low frequency read write line reads the low-frequency range that is in high frequency read write line great circle and is in all the double frequency RFID labels in the low frequency read write line roundlet simultaneously again.Because great circle and roundlet are concentric, just formed a donut zone so remove the read-write scope of low frequency read write line in the height h ≈ 600-800mm planimetric coordinates more than being parallel to ground level O-O in the read-write scope of high frequency read write line, this donut zone is set to effective read-write scope (in like manner effective read-write scope of volume coordinate is a circular shell) of monitoring robot.Emission coefficient remote transmitter 4 and antenna 7, monitoring robot also are provided with storage battery 2, display 8, operation keyboard 9 and control loop 10, and mobile carrier drives its motion by storage battery;
(4) on the fixed buildings 13 in logistics zone or machine, place benchmark label 14, on logistics tray that moves or monitored article 15, place mobile tag 16, on two different coordinate points, carry out twice monitoring or two modes that above-mentioned monitoring robot is monitored respectively simultaneously with the above-mentioned monitoring robot of separate unit on different coordinate points then, grid bearing to the benchmark label in the logistics zone is monitored, when monitoring robot reads out to rare three benchmark labels in a donut regional extent, the home position of donut can be determined, monitoring robot is also read all mobile tags that fall in this donut zone simultaneously, when certain mobile tag at distance of center circle when monitored robot is read in smaller or equal to two donut zones of 2R, the overlapping region in these two donut zones, be the mobile tag region, the coordinate figure at this center, overlapping region is the coordinate figure of mobile tag.Be that example illustrates this step to monitor a monitored object below, monitoring robot monitors the coordinate figure of three benchmark label S1, S2, S3 constantly at t1, can determine the center of circle P1 (a of first donut P1 by the coordinate figure of S1, S2, three points of S3, and write down mobile tags all on first donut b); Monitor the coordinate figure of other three benchmark label S4, S5, S6 constantly at t2, can determine the center of circle P2 (c of second donut P2 by the coordinate figure of S4, S5, three points of S6, d), judge the distance D between P1, the P2 at 2, when D≤2R, whether judgement has the mobile tag (being called for short " judging common RFID " among Fig. 3) that monitors jointly in the intersection region, have the mobile tag that monitors jointly can calculate the center of intersection region.The mathematical principle that calculates the mobile tag coordinate figure is as follows:
When (a, b), (c d) during 2 distance D≤2R, establishes that (x y) is the coordinate points (being mobile tag region centre coordinate point) in the intersection region, then
(x-a)
+ (y-b)
=[(R+r)/2]
Formula 1
(x-c)
+ (y-d)
=[(R+r)/2]
Formula 2
Solution of equation (x
p, y
p) be the coordinate figure of monitored label, can determine in the present embodiment monitored mobile tag L1 the accurate coordinate value (x7, y7), promptly (x7's L1 y7) is positioned;
Wherein (a, b), (R is the annulus external radius for c, d) the annulus center of circle that is respectively for the first time and monitors the second time, and r is the annulus inside radius, and R-r ≈ is the annulus width for 1 meter, also is the accuracy requirement of monitoring.In this step if when reading the intersection region mobile tag and have dual separating, can read the accurate coordinate value that mobile tag is assisted definite mobile object in conjunction with directed read write line with omnidirectional's read write line;
(5) coordinate figure with all mobile tags of monitoring out in the step (4) is transmitted into remote receiver 11 and imports computer server 12 into through remote transmitter 4, on computer server 12, show and share, realize real-time dynamic monitoring in patterned mode.
Claims (4)
1. Regional Logistics mobile monitoring localization method is characterized in that this localization method may further comprise the steps:
(1) a kind of double frequency RFID label with low frequency and two kinds of frequencies of high frequency is set, this double frequency RFID label has two kinds of transponders of low frequency high frequency and circuit, can reply the signal of two kinds of read write lines of low frequency high frequency simultaneously;
(2) be that initial point is set up rectangular coordinate system in space with ground surface in the logistics zone or the space plane point that is parallel to ground surface, and arrange double frequency RFID label on fixed object in the logistics regional space and the mobile goods respectively, with the double frequency RFID label definition that is arranged in the logistics space on the fixed object is the benchmark label, is mobile tag with the double frequency RFID label definition that is arranged in the logistics space on the monitored mobile object;
(3) a kind of portable logistics position monitor robot is set, this monitoring robot comprises mobile carrier, be fixed on two omnidirectional's read write lines that have the common center axis on the mobile carrier, read-write disposal system and emission coefficient, one of them omnidirectional's read write line is the high frequency read write line, another omnidirectional's read write line is the low frequency read write line, the radius that reads of adjusting two omnidirectional's read write lines differs 1 meter, the high frequency read write line read the read-write radius of radius greater than the low frequency read write line, the radius that reads of high frequency read write line is R, the read-write radius of low frequency read write line is r, in zone with the artificial central point of monitoring machinery, the read-write scope of removing the low frequency read write line in the read-write scope of high frequency read write line has just formed a donut zone, and this donut zone is set to effective read-write scope of monitoring robot;
(4) on the fixed buildings in logistics zone or machine, place the benchmark label, on logistics tray that moves or monitored article, place mobile tag, on two different coordinate points, carry out twice monitoring or two modes that above-mentioned monitoring robot is monitored respectively simultaneously with the above-mentioned monitoring robot of separate unit on different coordinate points then, grid bearing to the benchmark label in the logistics zone is monitored, when monitoring robot reads out to rare three benchmark labels in a donut regional extent, the home position of donut can be determined, readable all mobile tags that go out to fall in this donut zone of while monitoring robot, when certain mobile tag at distance of center circle when monitored robot is read in smaller or equal to two donut zones of 2R, the overlapping region in these two donut zones, be the mobile tag region, the coordinate figure at this center, overlapping region is the coordinate figure of mobile tag;
(5) coordinate figure with all mobile tags of monitoring out in the step (4) is transmitted into remote receiver and imports computer server into through remote transmitter, shows in patterned mode on computer server and shares the realization real-time dynamic monitoring.
2. Regional Logistics mobile monitoring localization method as claimed in claim 1 is characterized in that, the double frequency RFID label in the described step (1) is double frequency single deck tape-recorder RFID label or the two card of double frequency RFID laminated label.
3. Regional Logistics mobile monitoring localization method as claimed in claim 1, it is characterized in that, benchmark label in the described step (2) is used for the benchmark location and gives accurate position coordinate figure, and mobile tag is attaching by the details of sign mobile object.
4. Regional Logistics mobile monitoring localization method as claimed in claim 1 is characterized in that described monitoring robot also comprises the directed read write line that has the common center axis with two omnidirectional's read write lines.
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| CN 201110128917 CN102226910B (en) | 2011-05-18 | 2011-05-18 | Regional logistics moving monitoring positioning method |
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| CN 201110128917 CN102226910B (en) | 2011-05-18 | 2011-05-18 | Regional logistics moving monitoring positioning method |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105260760A (en) * | 2015-11-23 | 2016-01-20 | 北京云镜元谱信息科技有限公司 | Positioning employing combination of two RFID tags and data cleaning algorithm |
| CN105951618A (en) * | 2016-05-09 | 2016-09-21 | 徐洪军 | Speed-control bump type robot for emitting vehicle location |
| CN106997518A (en) * | 2016-01-22 | 2017-08-01 | 阿里巴巴集团控股有限公司 | Logistics Distribution Method and its equipment |
| EP3223200A1 (en) * | 2016-03-22 | 2017-09-27 | Hexagon Technology Center GmbH | Construction site management |
| CN109978098A (en) * | 2019-03-30 | 2019-07-05 | 浙江清华长三角研究院 | Gap bridge fitting identifying system based on RFID |
| CN113421047A (en) * | 2021-08-25 | 2021-09-21 | 泰豪信息技术有限公司 | Article distribution method, system, storage medium and equipment applied to prison |
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| WO2002103645A2 (en) * | 2001-06-14 | 2002-12-27 | Rf Code, Inc. | Wireless identification system and protocol |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105260760A (en) * | 2015-11-23 | 2016-01-20 | 北京云镜元谱信息科技有限公司 | Positioning employing combination of two RFID tags and data cleaning algorithm |
| CN106997518A (en) * | 2016-01-22 | 2017-08-01 | 阿里巴巴集团控股有限公司 | Logistics Distribution Method and its equipment |
| EP3223200A1 (en) * | 2016-03-22 | 2017-09-27 | Hexagon Technology Center GmbH | Construction site management |
| US10713607B2 (en) | 2016-03-22 | 2020-07-14 | Hexagon Technology Center Gmbh | Method and system for a construction site management and support system with a marking robot |
| CN105951618A (en) * | 2016-05-09 | 2016-09-21 | 徐洪军 | Speed-control bump type robot for emitting vehicle location |
| CN109978098A (en) * | 2019-03-30 | 2019-07-05 | 浙江清华长三角研究院 | Gap bridge fitting identifying system based on RFID |
| CN109978098B (en) * | 2019-03-30 | 2022-04-15 | 浙江清华长三角研究院 | Bridge fitting identification system based on RFID |
| CN113421047A (en) * | 2021-08-25 | 2021-09-21 | 泰豪信息技术有限公司 | Article distribution method, system, storage medium and equipment applied to prison |
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