CN102682620B - The perception of container hargour travel condition of vehicle and positioning system and method - Google Patents
The perception of container hargour travel condition of vehicle and positioning system and method Download PDFInfo
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- 230000008447 perception Effects 0.000 title claims abstract description 50
- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000012544 monitoring process Methods 0.000 claims abstract description 34
- 230000008569 process Effects 0.000 claims abstract description 15
- 239000002131 composite material Substances 0.000 claims description 59
- 238000004891 communication Methods 0.000 claims description 41
- 230000005540 biological transmission Effects 0.000 claims description 6
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- 238000012423 maintenance Methods 0.000 abstract description 4
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0297—Fleet control by controlling means in a control room
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
Abstract
The present invention relates to the perception of a kind of container hargour travel condition of vehicle and positioning system and method, present invention employs the compound sensor network comprising RFID, do not need GPS module and complicated wireless terminal device are installed on card collection vehicle, heat transfer agent can be sent to TPS process by wireless network by it, also can utilize radio sensing network that the dispatch command of TPS is sent to specific card collection vehicle in visual mode, can realize easily carrying out dynamic sensing and monitoring to card collection vehicles all in the district of port and loading condition thereof.The container hargour travel condition of vehicle perception that the present invention relates to and positioning system are compared with the existing Vehicle positioning system based on GPS technology, there is structure simple, with low cost, easy to install, accurate positioning, be easy to the advantages such as maintenance, simultaneously not by the impact of weather conditions, effectively can solve the problem that container hargour card collection vehicle running status is monitored in real time.
Description
Technical field
The present invention relates to a kind of state aware and positioning system and method, particularly relate to one and have employed RFID compound sensor, radio frequency location and the technology such as wireless network, can realize carrying out the container hargour travel condition of vehicle perception of automatic dynamic sensing and orientation management and positioning system and method to the whole card collection vehicle of container hargour, vehicle-mounted container or handling machinery etc.
Background technology
In container hargour, the plant equipment that special container truck (hereinafter referred to as truck) is flexible operation in Container Yard, quantity is maximum, working condition is complicated, therefore pier facilities to be made rationally to work efficiently, first must solve the problem of truck Dynamic Recognition and scheduling.
Container hargour Container Transport comprises import operation and outlet operation two flow processs, and these two logistics operation flow processs all be unable to do without truck and loading mechanization.At present, some large container ports adopt the technology such as GPS and wireless telecommunications to achieve Dynamic Recognition to truck and loading mechanization in the district of port and management and running.Based on GPS and wireless telecommunications yard trailer scheduling system (TPS) widely use the efficiency that improve truck, but because external card collection vehicle can not install compatible GPS module and wireless telecommunication system, therefore, be difficult to adopt similar method to carry out dynamic sensing and management and running to outside card collection vehicle, in addition, adopting the TPS system of GPS technology also to also exist affects the problems such as comparatively large, volume is large, cost is high, system cloud gray model maintenance inconvenience by weather and circumstance of occlusion.
Summary of the invention
For the problems referred to above, fundamental purpose of the present invention is to provide one to have employed RFID compound sensor, the technology such as radio frequency location and wireless network, cost is low, easy to maintenance, can realize the whole card collection vehicle of container hargour, vehicle-mounted container or handling machinery etc. carry out automatic dynamic sensing and orientation management, can avoid adopting simple wireless sensor network positioning technology to need to rely on the shortcoming of complicated location algorithm simultaneously, also overcome the perception of container hargour travel condition of vehicle and the positioning system of carrying out the various limitations existed in vehicle perception based on GPS and wireless communication technique simultaneously.
The present invention solves above-mentioned technical matters by following technical proposals: the perception of a kind of container hargour travel condition of vehicle and positioning system, described system comprises inner truck, RFID composite sensing node, outside truck, intelligent radio node, communication link, vehicle monitoring and dispatching server, the container ship that container is housed is positioned on seashore, bank bridge is provided with between container ship and sea, inner truck is arranged on bank bridge, outside truck is established at sea and in the RFID composite sensing node region that can cover, to leave the port road junction, to enter a port road junction, field bridge, intelligent radio node, communication link, vehicle monitoring and dispatching server, road junction of leaving the port is the outlet that outside truck leaves container hargour, road junction of entering a port is the entrance that outside truck enters container hargour, intelligent radio node, communication link and vehicle monitoring and dispatching server are all positioned on seashore.
In a particular embodiment of the present invention, described RFID composite sensing node comprises RFID reader, RFID antenna, wagon detector, radiofrequency launcher and radio-frequency antenna, RFID composite sensing node is placed in directly over port road crossing, complete the perceptual positioning of vehicle, adjacent multiple RFID composite sensing nodes neighbor node each other, in node communication radius, the wireless communication signal of other node of relaying.
In a particular embodiment of the present invention, described RFID composite sensing node, according to the concrete needs of vehicle monitoring and location, can be installed on part or all of point of crossing, the stockyard of described system.
In a particular embodiment of the present invention, described intelligent radio node is a kind of wireless communication node, described intelligent radio node comprises wireless receiver, radio frequency decode device, data processor, data transmitter and communication interface, described intelligent radio node collects the information converging each RFID composite sensing node transmission and come, these information are carried out convergence to analyze, be then sent to vehicle monitoring and dispatching server by communication link and process.
In a particular embodiment of the present invention, described communication link is network communication mode, and described communication link is wired or wireless link, completes data transmission.
In a particular embodiment of the present invention, described vehicle monitoring and dispatching server is one or more computer system, run vehicle perception, location, monitor scheduler, it is connected with intelligent radio node by communication link, the vehicle perception information that can transmit intelligent radio node processes calculating in real time, obtain the running status of the rolling stock in sensing region, and then provide foundation to port vehicle traffic control.
Utilize a method for the perception of container hargour travel condition of vehicle and positioning system perception and location, described method comprises the steps:
(1), multiple RFID composite sensing node is distributed in the intersection of container mouth operating area with the grid form of a determining deviation, define the vehicle sensing region that covers container terminal system place, each RFID composite sensing node all has the position independently numbered and determine;
(2) the omnidirectional's RFID antenna of, in multiple RFID composite sensing node is used for detecting vehicle-mounted container rfid card information under given conditions, four directed RFID antenna with absolute address numbering aim at direction, four tracks respectively, for detecting the rfid card information identifying vehicle frontal on each track, then position calculating; Wagon detector, for judging that certain direction is sailed the vehicle come and whether entered this node, then opens the rfid card information that omnidirectional's RFID antenna reads vehicle-mounted container; After the information of all RFID antenna and wagon detector perception is all modulated by radiofrequency launcher, intelligent radio node is sent to through radio-frequency antenna, and then be sent to vehicle monitoring and dispatching server through communication link and process, each RFID composite sensing node both can the operation conditions of the outside card collection vehicle of perceptual positioning, also can the operation conditions of the inner card collection vehicle of perceptual positioning; The multiple RFID sensing nodes forming travel condition of vehicle perception and positioning system are configured in container wharf with grid form, and in the district of port, all grid nodes of sensing network all carry out unique number, to carry out vehicle location perception and location;
In a particular embodiment of the present invention, control center's locator meams is adopted to carry out vehicle real-time perception and location, namely the truck information detected is sent to vehicle monitoring and dispatching server by intelligent radio node and communication link by each RFID composite sensing node, carry out vehicle location calculating by vehicle monitoring and dispatching server is unified, and draw vehicle dynamic map.
In a particular embodiment of the present invention, the perceptual positioning method of travel condition of vehicle is as follows: when certain truck truck track is run in the district of port, passive RFID tags before card collection vehicle will towards some RFID composite sensing nodes, the reader of this composite sensing node sends consecutive tracking signal to the RFID label tag of this truck, mistiming according to transmitting with Received signal strength changes, or utilizes the changed power receiving rfid card signal to judge the distance of this truck and this node; These Distance positioning algorithms will be compiled into software program, and on vehicle monitoring and dispatching server moving calculation; If the RFID signal of this truck disappears, illustrate that this truck travel direction changes, then other RFID composite sensing node will detect the ruuning situation of this truck; If this truck and RFID composite sensing nodal distance are closely, and perceived by the wagon detector of RFID composite sensing node, illustrate that this truck arrives the position at this node place, and other direction will be driven towards, now, the omnidirectional RFID antenna of RFID composite sensing node is opened, will read this truck carry the information of the active RFID card on container, then by intelligent radio node and communication link, the container information that this truck carries is issued vehicle monitoring and dispatching server.
Positive progressive effect of the present invention is: container hargour travel condition of vehicle provided by the invention perception and positioning system have the following advantages: the container hargour travel condition of vehicle perception that the present invention relates to and positioning system have employed the compound sensor network comprising RFID, do not need GPS module and complicated wireless terminal device are installed on card collection vehicle, heat transfer agent can be sent to TPS process by wireless network by it, also can utilize radio sensing network that the dispatch command of TPS is sent to specific card collection vehicle in visual mode, can realize easily carrying out dynamic sensing and monitoring to card collection vehicles all in the district of port and loading condition thereof.
Accompanying drawing explanation
Fig. 1 is container hargour card collection vehicle running status perception of the present invention and positioning system schematic diagram.
Fig. 2 is RFID coupled antenna sensing node of the present invention composition schematic diagram.
Fig. 3 is travel condition of vehicle wireless-aware network topological diagram of the present invention.
Embodiment
Present pre-ferred embodiments is provided, to describe technical scheme of the present invention in detail below in conjunction with accompanying drawing.
Fig. 1 is container hargour card collection vehicle running status perception of the present invention and positioning system schematic diagram.As shown in Figure 1: the perception of container hargour travel condition of vehicle and positioning system by comprising the compound sensor node of RFID sensor, intelligent radio node, communication link and vehicle monitoring and dispatching server etc. form.Accompanying drawing 1 is the running status perception of container hargour card collection vehicle and positioning system schematic diagram, and wherein, 1 is seashore, 2 is cargo-container ship, and 3 is container, and 4 is inner truck, 5 is bank bridge, and 6 is RFID composite sensing node, and 7 is truck track, 8 is vehicle heading, and 9 is outside truck, and 10 is road junction of leaving the port, 11 is road junction of entering a port, and 12 is field bridge, and 13 is intelligent radio node, 14 is communication link, and 15 is vehicle monitoring and dispatching server.
The composition function of components of system as directed unit is described as follows:
RFID composite sensing node 6: the autonomous information Perception device of the one be made up of RFID reader, RFID antenna, wagon detector, radiofrequency launcher and radio-frequency antenna.It is placed in directly over port road crossing, completes the perceptual positioning of vehicle.Adjacent multiple RFID composite sensing nodes neighbor node each other, namely in node communication radius, the wireless communication signal of other node of relaying.
Road junction 10 of leaving the port is outlets that outside card collection vehicle leaves container hargour.The leave the port position at road junction of different container hargours is different, but is all made up of some truck tracks, every root truck track is all provided with the information of vehicles pick-up unit based on RFID.
Road junction 11 of entering a port is entrances that outside card collection vehicle enters container hargour.The enter a port position at road junction of different container hargours is different, but is all made up of some truck tracks, every root truck track is all provided with the information of vehicles pick-up unit based on RFID.
Field bridge 12 refers to Container Yard overhead crane, is a kind of mobile operating equipment.It is placed in Container Yard (as shown in Figure 1), and each Container Yard can configure some field bridge devices as required, for the container crane in stockyard is transported to truck, or by the relevant position of the container stacking on truck in stockyard.
Intelligent radio node 13: be a kind of wireless communication node, is made up of parts such as wireless receiver, radio frequency decode device, data processor, data transmitter and communication interfaces.It collects the information converging each RFID composite sensing node transmission and come, and these information is carried out convergence and analyzes, be then sent to vehicle monitoring and dispatching server by wireless link and process.
Communication link 14: be certain network communication mode, can select wired or wireless link, completes data transmission.
Vehicle monitoring and dispatching server 15: be one or more computer system, run vehicle perception, location, monitor scheduler, it is connected with intelligent radio node by communication link, the vehicle perception information that can transmit intelligent radio node processes calculating in real time, obtain the running status of the rolling stock in sensing region, and then provide foundation to port vehicle traffic control.
Multiple RFID composite sensing node is distributed in the intersection (as shown in Figure 1) of container mouth operating area with the grid form of a determining deviation, defines the vehicle sensing region that covers container terminal system place.Each RFID composite sensing node all has the position independently numbered and determine.The composition structure of each RFID composite sensing node as shown in Figure 2, wherein, omnidirectional's RFID antenna is used for detecting vehicle-mounted container rfid card information under given conditions, four directed RFID antenna with absolute address numbering aim at direction, four tracks respectively, for detecting the rfid card information identifying vehicle frontal on each track, then position calculating; Wagon detector, for judging that certain direction is sailed the vehicle come and whether entered this node, then opens the rfid card information (if when having vehicle-mounted container) that omnidirectional's RFID antenna reads vehicle-mounted container; The information of all RFID antenna and wagon detector perception is sent to intelligent radio node 13 through radio-frequency antenna after all being modulated by radiofrequency launcher, and then is sent to vehicle monitoring and dispatching server 15 through communication link 14 and processes.Each RFID composite sensing node both can the operation conditions of the outside card collection vehicle of perceptual positioning, also can the operation conditions of the inner card collection vehicle of perceptual positioning.
The multiple RFID sensing nodes forming travel condition of vehicle perception and positioning system (as shown in Figure 1) are configured in container wharf with grid form.Fig. 3 is the vehicle-state wireless-aware network topological diagram based on RFID wireless senser.Wherein, solid dot positional representation has laid RFID composite sensing node, and hollow dots positional representation does not lay RFID composite sensing node.In the district of port, all grid nodes of sensing network all carry out unique number, to carry out vehicle location perception and location.
Native system adopts control center's locator meams to carry out vehicle real-time perception and location, namely the truck information detected is sent to vehicle monitoring and dispatching server 15 by intelligent radio node and communication link by each RFID composite sensing node, carry out vehicle location calculating by server 15 is unified, and draw vehicle dynamic map.
The perceptual positioning method of travel condition of vehicle is as follows: when certain truck truck track 7 is run in the district of port, passive RFID tags before card collection vehicle will towards some RFID composite sensing nodes, the reader of this composite sensing node sends consecutive tracking signal to the RFID label tag of this truck, to change (TOA method) with the mistiming of Received signal strength according to transmitting, or utilize the changed power (RSSI method) receiving rfid card signal to judge the distance of this truck and this node.These Distance positioning algorithms will be compiled into software program, and on vehicle monitoring and dispatching server 15 moving calculation.If the RFID signal of this truck disappears, illustrate that this truck travel direction changes, then other RFID composite sensing node will detect the ruuning situation of this truck; If this truck and RFID composite sensing nodal distance are closely, and perceived by the wagon detector of RFID composite sensing node, illustrate that this truck arrives the position at this node place, and other direction will be driven towards, now, the omnidirectional RFID antenna of RFID composite sensing node is opened, will read this truck carry the information of the active RFID card on container, then by intelligent radio node 13 and communication link 14, the container information that this truck carries is issued vehicle monitoring and dispatching server 15.
The container hargour travel condition of vehicle perception that the present invention relates to and positioning system (see accompanying drawing 1,3), its specific works process is as follows:
Because the perceptual positioning method of card collection vehicle in sensing net region is similar, therefore, be only illustrated for the perceptual positioning process in sensitive zones one section of interval during vehicle operating.Such as, when certain card collection vehicle (inner truck 4 or outside truck 9) is from node N21 to node N22 direction running (as shown in Figure 3), now RFID composite sensing node N22 will detect the passive RFID tags of this front part of vehicle, so to its sequential filming location radiofrequency signal, and record the time of the signal power variations returned or the radiofrequency signal returned, these information is sent to vehicle monitoring and dispatching server 15 in real time by intelligent radio node 13 (as Fig. 1) simultaneously, TOA or RSSI algorithm is adopted to carry out vehicle location calculating, thus obtain the information such as real-time speed and position of this vehicle.When this vehicle drives to RFID composite sensing node N22, the wagon detector of N22 will must arrive by this vehicle of perception, simultaneously by the container information by omnidirectional's this card collection vehicle of RFID antenna identification, if obtain the active RFID card information of container, then this information is sent to vehicle monitoring and dispatching server and carries out record management, otherwise, illustrate that this card collection vehicle may not have loading container, or active rfid card do not installed by container.
When this card collection vehicle crosses node N22 continuation to node N23 direction running, N22 can not detect the RFID information of this truck, and now RFID composite sensing node N24 will detect the information of this truck and adopt method same as described above to carry out perception and the location Calculation of vehicle.Vehicle in whole like this sensitive zones can both be perceived with location, thus realize the real-time monitoring of container hargour travel condition of vehicle.
In actual applications, quantity and the arrangement of the RFID composite sensing node in the vehicle perception that the present invention relates to and positioning system can be selected according to actual conditions, such as, a sensing node can be installed on each grid node, also can arrange node according to mode shown in Fig. 3.Each RFID composite sensing node needs accurate calibration before layout, to ensure that perception is consistent.In addition, because in whole sensing region, vehicle is more, and vehicle heading is different, and in order to ensure the accuracy of vehicle RFID information perception, each RFID reader requires to have anti-collision.Precision due to outdoor wireless senser can be subject to the impact of weather, therefore, needs with the data of benchmark sensing node for standard corrects sensing location Calculation, to improve the accuracy of vehicle perceptual positioning when system uses at every turn.
Present invention employs the compound sensor network comprising RFID, do not need GPS module and complicated wireless terminal device are installed on card collection vehicle, heat transfer agent can be sent to TPS process by wireless network by it, also can utilize radio sensing network that the dispatch command of TPS is sent to specific card collection vehicle in visual mode, can realize easily carrying out dynamic sensing and monitoring to card collection vehicles all in the district of port and loading condition thereof.The container hargour travel condition of vehicle perception that the present invention relates to and positioning system are compared with the existing Vehicle positioning system based on GPS technology, there is structure simple, with low cost, easy to install, accurate positioning, be easy to the advantages such as maintenance, simultaneously not by the impact of weather conditions, effectively can solve the problem that container hargour card collection vehicle running status is monitored in real time.
More than show and describe ultimate principle of the present invention and principal character and advantage of the present invention.The technician of the industry should understand; the present invention is not restricted to the described embodiments; what describe in above-described embodiment and instructions just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications; these changes and improvements all fall in the claimed scope of the invention, and application claims protection domain is defined by appending claims and equivalent thereof.
Claims (9)
1. container hargour travel condition of vehicle perception and positioning system, it is characterized in that: described system comprises inner truck (4), RFID composite sensing node (6), outside truck (9), intelligent radio node (13), communication link (14), vehicle monitoring and dispatching server (15), the container ship (2) that container (3) are housed is positioned on seashore (1), bank bridge (5) is provided with between container ship (2) and sea, inner truck (4) is sling by bank bridge (5), outside truck is in container hargour operating area and in the region that covers of RFID composite sensing node (6), described system also comprises road junction of leaving the port (10), to enter a port road junction (11), field bridge (12), road junction (10) of leaving the port is the outlet that outside truck leaves container hargour, road junction (11) of entering a port is the entrance that outside truck enters container hargour.
2. container hargour travel condition of vehicle according to claim 1 perception and positioning system, it is characterized in that: described RFID composite sensing node (6) comprises RFID reader, RFID antenna, wagon detector, radiofrequency launcher and radio-frequency antenna, RFID composite sensing node (6) is placed in directly over port road crossing, complete the perceptual positioning of vehicle, adjacent multiple RFID composite sensing nodes neighbor node each other, in node communication radius, the wireless communication signal of other node of relaying.
3. container hargour travel condition of vehicle according to claim 2 perception and positioning system, it is characterized in that: described RFID composite sensing node (6), according to the concrete needs of vehicle monitoring and location, part or all of point of crossing, the stockyard of described system is installed.
4. container hargour travel condition of vehicle according to claim 1 perception and positioning system, it is characterized in that: described intelligent radio node (13) is a kind of wireless communication node, described intelligent radio node (13) comprises wireless receiver, radio frequency decode device, data processor, data transmitter and communication interface, the collection of described intelligent radio node (13) converges the information that the transmission of each RFID composite sensing node (6) is come, these information are carried out convergence to analyze, then be sent to vehicle monitoring and dispatching server (15) by communication link (14) to process.
5. container hargour travel condition of vehicle according to claim 1 perception and positioning system, it is characterized in that: described communication link (14) is network communication mode, described communication link (14) is wired or wireless link, completes data transmission.
6. container hargour travel condition of vehicle according to claim 1 perception and positioning system, it is characterized in that: described vehicle monitoring and dispatching server (15) is one or more computer system, run vehicle perception, location, monitor scheduler, it is connected with intelligent radio node (13) by communication link (14), in real time calculating is processed to the vehicle perception information that intelligent radio node (13) transmits, obtain the running status of the rolling stock in sensing region, and then provide foundation to port vehicle traffic control.
7. the container hargour travel condition of vehicle perception utilizing one of claim 1-6 described and a method for positioning system perception and location, is characterized in that: described method comprises the steps:
(1), multiple RFID composite sensing node (6) is distributed in the intersection of container mouth operating area with the grid form of a determining deviation, define the vehicle sensing region that covers container terminal system place, each RFID composite sensing node (6) all has the position independently numbered and determine;
(2) the omnidirectional's RFID antenna of, in multiple RFID composite sensing node (6) is used for detecting vehicle-mounted container rfid card information under given conditions, four directed RFID antenna with absolute address numbering aim at direction, four tracks respectively, for detecting the rfid card information identifying vehicle frontal on each track, then position calculating; Wagon detector, for judging that certain direction is sailed the vehicle come and whether entered this node, then opens the rfid card information that omnidirectional's RFID antenna reads vehicle-mounted container; After the information of all RFID antenna and wagon detector perception is all modulated by radiofrequency launcher, intelligent radio node (13) is sent to through radio-frequency antenna, and then be sent to vehicle monitoring and dispatching server (15) through communication link (14) and process, each RFID composite sensing node both can the operation conditions of the outside card collection vehicle of perceptual positioning, also can the operation conditions of the inner card collection vehicle of perceptual positioning; The multiple RFID composite sensing nodes (6) forming travel condition of vehicle perception and positioning system are configured in container wharf with grid form, in the district of port, all grid nodes of sensing network all carry out unique number, to carry out vehicle location perception and location.
8. method according to claim 7, it is characterized in that: adopt control center's locator meams to carry out vehicle real-time perception and location, namely the truck information detected is sent to vehicle monitoring and dispatching server (15) by intelligent radio node and communication link by each RFID composite sensing node, carry out vehicle location calculating by vehicle monitoring and dispatching server (15) is unified, and draw vehicle dynamic map.
9. method according to claim 7, is characterized in that: the perceptual positioning method of travel condition of vehicle is as follows:
When certain truck truck track (7) is run in the district of port, passive RFID tags before card collection vehicle will towards some RFID composite sensing nodes, the reader of this composite sensing node sends consecutive tracking signal to the RFID label tag of this truck, mistiming according to transmitting with Received signal strength changes, or utilizes the changed power receiving rfid card signal to judge the distance of this truck and this node; These Distance positioning algorithms will be compiled into software program, and at the upper moving calculation of vehicle monitoring and dispatching server (15); If the RFID signal of this truck disappears, illustrate that this truck travel direction changes, then other RFID composite sensing node will detect the ruuning situation of this truck; If this truck and RFID composite sensing nodal distance are closely, and perceived by the wagon detector of RFID composite sensing node, illustrate that this truck arrives the position at this node place, and other direction will be driven towards, now, omnidirectional's RFID antenna of RFID composite sensing node is opened, will read this truck carry the information of the active RFID card on container, then by intelligent radio node (13) and communication link (14), the container information that this truck carries is issued vehicle monitoring and dispatching server (15).
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