CN102566575A - Unmanned vehicle running controlling method based on Zigbee and radio frequency identification (RFID) - Google Patents
Unmanned vehicle running controlling method based on Zigbee and radio frequency identification (RFID) Download PDFInfo
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- CN102566575A CN102566575A CN201210039424XA CN201210039424A CN102566575A CN 102566575 A CN102566575 A CN 102566575A CN 201210039424X A CN201210039424X A CN 201210039424XA CN 201210039424 A CN201210039424 A CN 201210039424A CN 102566575 A CN102566575 A CN 102566575A
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Abstract
The invention discloses an unmanned vehicle running controlling method based on Zigbee and radio frequency identification (RFID). The method comprises the following steps of: (1) standby; (2) station calling in a standby state: when a certain station sends a request signal, receiving and processing station request information by a vehicle-mounted gateway, and starting a vehicle; (3) automatic tracking; (4) station calling in a running process: if other stations send request signals in the running process of the vehicle, receiving and processing station request information by the vehicle-mounted gateway, and acquiring information of the stations sequentially required to stop; and (5) arrival of a destination station: after an RFID station identification module identifies arrival of the destination station, stopping the vehicle, reading cards and selecting the stations to arrive after passengers get on the vehicle, starting the vehicle to run to the next required destination station, repeating the (4) till the destination station does not have a request, and returning to the (1). By the method, unmanned driving becomes possible under the condition of low cost and high efficiency.
Description
Technical field
The present invention relates to unmanned field; Particularly a kind of automatic driving vehicle travel control method based on Zigbee and RFID; Employing is with the wireless internet network that Zigbee and RFID etc. is the basis, make unmanned less cost more with become possibility under the environment more efficiently.
Background technology
Be to solve problems such as urban traffic blocking, unmannedly be applied to more and more in the daily life, at present; In the campus, perhaps conventional artificial steering vehicle method is also adopted in place such as enterprise campus, sight spot district mostly, and people often can not in time know information of vehicles; Need on platform, wait blindly, as if situation such as vehicle break down in the driving way, people can not in time know; Can not in time change other circuit, thereby waste a large amount of Waiting times, make trip very inconvenient; The pilot steering vehicle has not only increased cost, and can not guarantee the process safe property of driving a vehicle, and can't avoid in the driving process driver not according to the generation of situation such as circuit driving, driver and passenger quarrel; The existing manual steering vehicle does not possess real-time monitoring and control; Administrative center can't know the car body situation in real time, when accident takes place, can't make the very first time and remedying; Also can't the clearly defining responsibilities people when carrying out responsibility investigation, the existing unmanned situation such as less cost and environment efficiently that are not suitable for.
Summary of the invention
The object of the invention promptly is to overcome the deficiency of prior art; A kind of automatic driving vehicle travel control method based on Zigbee and RFID is provided; The wireless internet network that employing is the basis with Zigbee and RFID etc. makes up the Unmanned Systems, and people call out public transport as by elevator; Make things convenient for people's trip, more embodied environmental protection and efficient energy-saving.If the single-pipe tower mobile base station of using classic method to make up a 30m needs 200,000 yuan, in the present invention, use the Zigbee building network, have with low cost, advantage such as it is low to consume energy.The present invention has functions such as real-time monitoring through Zigbee and RFID technology, makes unmanned in less cost more and become possibility under the environment more efficiently.
The objective of the invention is to realize: based on the automatic driving vehicle travel control method of Zigbee and RFID through following technical scheme; It is made up of at least one vehicle subsystem, at least one platform subsystem and a Monitor And Control Subsystem; Wherein, Vehicle subsystem is mainly by the main control module, and module is set and driver module is formed through car borne gateway, RFID platform identification module, farecard card reading module, bus stop that transmission medium is connected with the main control module; The platform subsystem mainly is made up of rfid card, vehicle pager and Zigbee node device; The vehicle pager is connected with Zigbee node device through transmission medium; Zigbee node device and car borne gateway connect to form the Zigbee network through radiolink; Monitor And Control Subsystem is connected with vehicle subsystem through transmission medium, and it may further comprise the steps:
(1) standby: vehicle is parked on the road, and the request signal of platform is waited in standby;
(2) platform under the holding state is called out: when some platforms sent request signal, car borne gateway received and handles the platform solicited message, and vehicle launch leaves for the platform that request signal sends;
(3) automatic tracking: discern route in the vehicle ' way automatically;
(4) platform in going is on the way called out: if there are other platforms to send request signal, car borne gateway receives also handles the platform solicited message, draws the station platform information that need stop successively in the vehicle ' process;
(5) arrive the purpose platform: when RFID platform identification module recognize arrive the purpose platform after, stop, waiting Passengen is got on the bus; The platform of swiping the card behind the passenger loading and selecting to go, after not having card using information, the automatic startup left for the purpose platform that the next one has request after vehicle was waited for certain hour (waiting for 10 seconds like vehicle); Repeating step (4); Until the purpose platform that does not have request, then get back to step (1), vehicle is in holding state.
Automatic driving vehicle travel control method based on Zigbee and RFID; It also comprises an obstacle treatment step; Described obstacle is handled and is comprised following substep: the real-time monitoring vehicle operation conditions of host computer; When vehicle meets accident emergency condition, through upper computer software vehicle is forced control, the control vehicle is carried out the operation that stops, starting, retreat, turns left, turns right.
Described car borne gateway reception is also handled the platform request packet and drawn together following substep: when platform sent request signal, car borne gateway received platform solicited message and storage, meanwhile, the information that receives was fed back to main control module, host computer;
Described automatic identification circuit comprises following substep: in the vehicle ' way, photoelectric sensor is scanned, according to scanning result, the main control module turns left, turns right, directly walks, stops to control vehicle;
Described RFID platform identification comprises following substep:
(1) initialization Card Reader chip RC522;
(2) in the vehicle ' process, RFID platform identification module reads rfid card information, until reading rfid card information;
(3) judge that the rfid card information read is whether number corresponding with platform, if not, then continue to go, if the waiting Passengen that then stops is got on the bus, and feeds back to host computer;
(4) after the passenger swiped the card, vehicle continued to go, and sought and the corresponding rfid card information of next purpose platform;
Described host computer feedback comprises following substep: host computer receives arrive at a station signal, vehicle of request signal, vehicle that platform sends and drives towards next platform signal; Host computer shows and handles the signal that receives that the control vehicle is carried out the operation that stops, starting, retreat, turns left, turns right.
The invention has the beneficial effects as follows: the present invention provides a kind of automatic driving vehicle travel control method based on Zigbee and RFID; The wireless internet network that employing is the basis with Zigbee and RFID etc.; Make up the automatic driving vehicle driving system; People call out public transport as by elevator, have made things convenient for people's trip, have more embodied environmental protection and efficient energy-saving.The single-pipe tower mobile base station of using classic method to make up a 30m needs 200,000 yuan, and the present invention uses the Zigbee building network, have with low cost, advantage such as it is low to consume energy.Ripe technical grade transmitter module actual measurement can reach more than the 700m, is enough to tackle large-scale garden.The CC2430 module Zigbee gateway that carries on the vehicle can receive the solicited message that each platform sends, and the RFID card reader of lift-launch can be discerned station platform information, and the wireless module and the upper computer software of lift-launch communicate, and accomplishes functions such as monitoring in real time.The present invention is through Zigbee and RFID technology, makes unmanned in less cost more and become possibility under the environment more efficiently.
Description of drawings
Fig. 1 is an application distribution block diagram of the present invention;
Fig. 2 is a structured flowchart of the present invention;
Fig. 3 is a process flow diagram of the present invention;
Fig. 4 receives and handles platform solicited message process flow diagram for car borne gateway of the present invention;
Fig. 5 is the automatic identification circuit process flow diagram of the present invention;
Fig. 6 is RFID platform identification process figure of the present invention;
Fig. 7 is host computer process of feedback figure of the present invention;
Fig. 8 is a main control inside modules structural drawing of the present invention;
Fig. 9 is the module frame chart of M3 of the present invention;
Figure 10 is Zigbee cyberrelationship figure of the present invention;
Figure 11 is a rfid card structural representation of the present invention;
Figure 12 is a rfid system structural representation of the present invention;
Figure 13 is a RFID functions of card reader block diagram of the present invention;
Figure 14 is a tracking circuit diagram of the present invention;
Figure 15 is the external pin figure of L298N of the present invention;
Figure 16 is the input/output relation table of L298N of the present invention.
Embodiment
Below in conjunction with accompanying drawing the present invention is done further description, but protection scope of the present invention is not limited to the following stated.
Like Fig. 1, shown in Figure 2; Automatic driving vehicle travel control method based on Zigbee and RFID; Its system is made up of at least one vehicle subsystem, at least one platform subsystem and a Monitor And Control Subsystem; Wherein, vehicle subsystem is mainly by the main control module, and module is set and driver module is formed through car borne gateway, RFID platform identification module, farecard card reading module, bus stop that transmission medium is connected with the main control module; The platform subsystem mainly is made up of rfid card, vehicle pager and Zigbee node device; The vehicle pager is connected with Zigbee node device through transmission medium; Zigbee node device and car borne gateway connect to form the Zigbee network through radiolink, and Monitor And Control Subsystem is connected with vehicle subsystem through transmission medium.
As shown in Figure 3, based on the automatic driving vehicle travel control method of Zigbee and RFID, it may further comprise the steps:
(1) standby: vehicle is parked on the road, and the request signal of platform is waited in standby;
(2) platform under the holding state is called out: when some platforms sent request signal, car borne gateway received and handles the platform solicited message, and vehicle launch leaves for the platform that request signal sends;
(3) automatic tracking: discern route in the vehicle ' way automatically;
(4) platform in going is on the way called out: if there are other platforms to send request signal, car borne gateway receives also handles the platform solicited message, draws the station platform information that need stop successively in the vehicle ' process;
(5) arrive the purpose platform: when RFID platform identification module recognize arrive the purpose platform after, stop, waiting Passengen is got on the bus; The platform of swiping the card behind the passenger loading and selecting to go, after not having card using information, the automatic startup left for the purpose platform that the next one has request after vehicle was waited for certain hour (waiting for 10 seconds like vehicle); Repeating step (4); Until the purpose platform that does not have request, then get back to step (1), vehicle is in holding state.
Automatic driving vehicle travel control method based on Zigbee and RFID; It also comprises an obstacle treatment step; Described obstacle is handled and is comprised following substep: the real-time monitoring vehicle operation conditions of host computer; When vehicle meets accident emergency condition, through upper computer software vehicle is forced control, the control vehicle is carried out the operation that stops, starting, retreat, turns left, turns right.
As shown in Figure 4; Described car borne gateway receives and handles the platform request packet and draws together following substep: when platform sends request signal; Car borne gateway receives platform solicited message and storage, meanwhile, the information that receives is fed back to main control module, host computer.
As shown in Figure 5, photoelectric sensor from left to right is followed successively by: Q1, Q2, Q3, Q4, Q5, when vehicle passes through; To single-chip microcomputer feedback high level; Otherwise the feedback low level, described automatic identification circuit comprises following substep: in the vehicle ' way, photoelectric sensor is scanned; According to scanning result, the main control module turns left, turns right, directly walks, stops to control vehicle.
As shown in Figure 6; Method through simulation SPI writes read data to RC522, and the address of every rfid card is different, as long as can read different address information; We just can judge whether and the platform correspondence that described RFID platform identification comprises following substep:
(1) initialization Card Reader chip RC522;
(2) in the vehicle ' process, RFID platform identification module reads rfid card information, until reading rfid card information;
(3) judge that the rfid card information read is whether number corresponding with platform, if not, then continue to go, if the waiting Passengen that then stops is got on the bus, and feeds back to host computer;
(4) after the passenger swiped the card, vehicle continued to go, and sought and the corresponding rfid card information of next purpose platform.
As shown in Figure 7; Carry out radio communication through CC2430 between vehicle and the host computer; Host computer is also carried out the operation that stops, starting, retreat, turns left, turns right through CC2430 control vehicle; Described host computer feedback comprises following substep: host computer receives arrive at a station signal, vehicle of request signal, vehicle that platform sends and drives towards next platform signal, and host computer shows also handles the signal that receives, and the control vehicle is carried out the operation that stops, starting, retreat, turns left, turns right.
As shown in Figure 8, the main control module adopts STM32F103vc, 32 MCU, and chip internal has rich in natural resources, and dominant frequency can reach 72MHz, and precision can reach 13.8ns.8 LED and button are arranged on the primary module, and wherein, 8 LED are used to show call case, host computer calling of conduct situation, the platform of vehicle etc., and button is used to select the platform that will go.As shown in Figure 9; The main control module is based on the ARM-cortexM3 kernel; Cortex-M3 is a low power processor, has characteristics such as a number is few, interruption delay is short, debugging cost is low, is to design for the degree of depth Embedded Application that requires quick interrupt response ability.This processor adopting ARMv7-M framework, simultaneously, M3 also can move ucos-II operating system, realizes demands such as multithreading, high real-time.
Shown in figure 10, the present invention sets up network earlier through gateway, and node adds network again; Thereby form the Zigbee network, concrete is: the present invention adopts CC2430 to make up the Zigbee network, and wireless module divides gateway and node (platform); Gateway is fixed on the car body, receives the information of platform in real time.When the people called out car, node was responsible for the solicited message of outbound platform.Gateway module and processor pass through serial communication.The present invention adopts the ZStack-1.4.3-1.2.1 protocol stack to realize networking, gateway, a plurality of node.Use the button trigger event, gateway receives the information that different nodes send, thereby judges the platform (node) that produces trigger event, feeds back in the main control module again, and the control motor drives towards the destination.If have any platform request of sending (signal), gateway all will feed back in the main control module, the main control module is with its storage and drive towards platform successively in going on the way.The CC2430 that the present invention adopts is the SOC(system on a chip) that is used for realizing embedded Zigbee application that Chipcon company releases.It supports 2.4GHz IEEE 802.15.4/Zigbee agreement.CC2430 is a real System on Chip/SoC (SoC) CMOS solution.This solution can improve performance and satisfy with Zigbee is the requirement of the 2.4GHz ISM wave band application on basis to low cost, low-power consumption.It combines high-performance 2.4GHz DSSS (DSSS) RF transceiver and small and exquisite 8051 controllers efficiently of technical grade.Zigbee radio frequency (RF) front end, internal memory and microcontroller on single chip, have been integrated.It uses 18 MCU (8051); RAM with 32/64/128 KB flash memory able to programme and 8KB also comprises park mode timer, electrify restoration circuit (Power On Reset), power-fail detection circuit (Brown Out Detection) and 21 programmable I/O pins of analog-digital converter (ADC), several timer (Timer), AES128 coprocessor, WatchDog Timer (Watchdog Timer), 32 kHz crystal oscillators.
Like Figure 11, Figure 12, shown in Figure 13, the RFID card reader module does not contact communication frequency 13.56MHz based on MFRC522, communication distance 5cm.Card reader places at the bottom of the car, and the card of RFID is fixed on the other track of platform.Card reader just can read card image easily like this.MFRC522 has utilized advanced modulation and demodulation notion, fully-integrated under 13.56MHz all types of passive contactless communication modes and agreement.Support the multilayer application of ISO14443A.Communicating by letter of the more high transfer rate of support ISO14443 212kbit/s and 424kbit/s.Support MIFAREClassic to encrypt; The HPI of supporting is-SPI interface-I of 10Mbit/s
2C interface, the speed of quick mode are 400kbit/s, and the speed of fast mode is 3400kbit/s-serial UART, and in the present invention, we adopt the SPI interface;
Brief introduction about REID: RF identification (Radio Frequency Identification; RFID) technology is a kind of noncontact automatic identification technology, utilizes radiofrequency signal to pass through space coupling (inductance or EM coupling) and realizes contactless information transmission and reach identifying purpose through the information of transmitting.The remarkable advantage of REID is untouchable, therefore need not manual intervention when accomplishing identification work, can realize discerning robotization and not fragile; High-speed moving object can be discerned and a plurality of RF tags can be discerned simultaneously, swift and convenient to operate; RF tag is not afraid of rugged environments such as oil stain, contamination by dust.Current, it is radio-frequency identification card that REID is used at home the most widely;
The explanation of radio-frequency identification card: radio-frequency identification card (be called for short radio-frequency card, rfid card) also is known as non-contact IC card, and (Contactless Smart Card CSS) or contactless IC card, non-contact card, contactless card, is born in early 1990s.Owing to successfully combined REID and IC-card technology, solved passive (no battery in the card) and a difficult problem of exempting to contact, rfid card has magnetic card and the incomparable advantage of Contact Type Ic Card.One of which comes out and just causes extensive concern immediately, and is applied with surprising rapidity;
The RFID card is made up of IC chip, induction antenna among the present invention, is sealed in the standard PVC card no exposed parts fully;
The structure of radio-frequency recognition system and principle: the most basic rfid system is made up of three parts, and is as follows:
1. electronic tag (Tag, or claim RF tag, transponder): form by chip and internal antenna.Preserving the electronic data of certain format in the chip, as the sign property information of article to be identified, is the real data carrier of radio-frequency recognition system.Its internal antenna be used for and radio-frequency antenna between communicate;
2. reader: read or the equipment of read/write electronic labeling information; Main task is that the control radio-frequency module reads signal to the label emission; And receive replying of label; Object id information to label is decoded, and the object identity of label reads information, and other related information transmission on the related label of object id information is arrived main frame for processing;
3. antenna: emission, the receiving trap of transmission data between label and the reader;
The principle of work of RFID: after electronic tag gets into antenna magnetic field; If receive the special radiofrequency signal that reader sends; The energy that just can rely on induction current to obtain sends out the product information (passive label) that is stored in the chip; Perhaps initiatively send the signal (active label) of a certain frequency, after reader reads information and decoding, deliver to CIS and carry out the relevant data processing.
Shown in figure 14, based on the tracking circuit of 5 photoelectric sensors, be example with H4:
(1) do not detect black line, then H4 is luminous reflexes to the H4 receiving end to blank sheet of paper light, the conducting of H4 receiving end, and conducting is T1 ground connection=0 then;
(2) detect black line, then H4 is luminous all is absorbed to black line light, and the H4 receiving end is not received any signal, because not conducting of H4 (ending), then T1=VCC.
The driver module of change speed motor:
(1) motor: motor adopts DC speed-reducing, and the DC speed-reducing rotating torque is big, and volume is little, and is in light weight, and assembling is simple, and is easy to use.Because its inside provides original power by high-speed motor, drive speed change (deceleration) gear set, can produce big torsion.Can select reduction gear ratio for use is the direct current generator of 1:74, and the rotating speed of deceleration rear motor is 100r/min.If wheel diameter is 6cm, then the maximal rate of dolly can reach V=2 π rv=2*3.14*0.03*100/60=0.314m/s, can satisfy the requirement of system preferably;
(2) drive: driver module adopts special chip L298N as motor drive ic, and L298N is a full-bridge chip for driving with high-voltage large current, and its response frequency is high, and a slice L298N can control two direct current generators respectively.Figure 15 is the external pin figure of L298N; Figure 16 is the input/output relation table of L298N; 5,7,10,12 4 pins of L298N are received on the control chip STM32F103vc, through just can realize the PWM VSC of two direct current generators to the programming of control chip.
Claims (1)
1. based on the automatic driving vehicle travel control method of Zigbee and RFID; It is made up of at least one vehicle subsystem, at least one platform subsystem and a Monitor And Control Subsystem; Wherein, Vehicle subsystem is mainly by the main control module, and module is set and driver module is formed through car borne gateway, RFID platform identification module, farecard card reading module, bus stop that transmission medium is connected with the main control module; The platform subsystem mainly is made up of rfid card, vehicle pager and Zigbee node device; The vehicle pager is connected with Zigbee node device through transmission medium; Zigbee node device and car borne gateway connect to form the Zigbee network through radiolink; Monitor And Control Subsystem is connected with vehicle subsystem through transmission medium, and it is characterized in that: it may further comprise the steps:
(1) standby: vehicle is parked on the road, and the request signal of platform is waited in standby;
(2) platform under the holding state is called out: when some platforms sent request signal, car borne gateway received and handles the platform solicited message, and vehicle launch leaves for the platform that request signal sends;
(3) automatic tracking: discern route in the vehicle ' way automatically;
(4) platform in going is on the way called out: if there are other platforms to send request signal, car borne gateway receives also handles the platform solicited message, draws the station platform information that need stop successively in the vehicle ' process;
(5) arrive the purpose platform: when RFID platform identification module recognize arrive the purpose platform after, stop, waiting Passengen is got on the bus; The platform of swiping the card behind the passenger loading and selecting to go, after not having card using information, the automatic startup left for the purpose platform that the next one has request after vehicle was waited for certain hour; Repeating step (4); Until the purpose platform that does not have request, then get back to step (1), vehicle is in holding state;
It also comprises an obstacle treatment step; Described obstacle is handled and is comprised following substep: the real-time monitoring vehicle operation conditions of host computer; When vehicle meets accident emergency condition; Through upper computer software vehicle is forced control, the control vehicle is carried out the operation that stops, starting, retreat, turns left, turns right;
Described car borne gateway reception is also handled the platform request packet and drawn together following substep: when platform sent request signal, car borne gateway received platform solicited message and storage, meanwhile, the information that receives was fed back to main control module, host computer;
Described automatic identification circuit comprises following substep: in the vehicle ' way, photoelectric sensor is scanned, according to scanning result, the main control module turns left, turns right, directly walks, stops to control vehicle;
Described RFID platform identification comprises following substep:
(1) initialization Card Reader chip RC522;
(2) in the vehicle ' process, RFID platform identification module reads rfid card information, until reading rfid card information;
(3) judge that the rfid card information read is whether number corresponding with platform, if not, then continue to go, if the waiting Passengen that then stops is got on the bus, and feeds back to host computer;
(4) after the passenger swiped the card, vehicle continued to go, and sought and the corresponding rfid card information of next purpose platform;
Described host computer feedback comprises following substep: host computer receives arrive at a station signal, vehicle of request signal, vehicle that platform sends and drives towards next platform signal; Host computer shows and handles the signal that receives that the control vehicle is carried out the operation that stops, starting, retreat, turns left, turns right.
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