CN103454641B - Locating monitoring method based on RFID - Google Patents
Locating monitoring method based on RFID Download PDFInfo
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- CN103454641B CN103454641B CN201310153108.XA CN201310153108A CN103454641B CN 103454641 B CN103454641 B CN 103454641B CN 201310153108 A CN201310153108 A CN 201310153108A CN 103454641 B CN103454641 B CN 103454641B
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Abstract
The invention discloses a locating monitoring method based on RFID. A locating module, a Zigbee route node module, a Zigbee coordinator and an upper computer monitoring module are included. The locating module uses the ultrasonic technology and the RFID technology for sensing the position of a target body and uses the Zigbee wireless ad hoc network technology for transmitting the collected target body position information to the Zigbee coordinator which sends the information to the upper computer monitoring module through the CAN bus technology, and finally real-time monitoring and controlling on the target body position information are achieved. The locating technology based on RFID has the advantages of being high in accuracy, strong in anti-jamming capability, low in cost, flexible in arrangement and the like, and the technology is suitable for locating different target bodies in different places.
Description
Technical field
the present invention relates to wireless location method for supervising, be specially and be a kind ofly applicable to that positioning precision is high, wireless transmission and need to objective body real-time dynamic monitoring occasion based on RFID wireless location method for supervising.
Background technology
locating and monitoring system based on RFID is positioned objective body by RFID technique and ultrasonic technology, and the information of location is utilized Zigbee Wireless Ad Hoc Networks and CAN according to certain data frame format
Technical transmission to Monitor Computer Control System, host computer by the information received resolved and on interface the positional information of Real time dynamic display objective body.Down-hole locomotive is a typical application occasion of native system.Due to locomotive have that structure is relatively simple, low cost of manufacture, the feature such as easy to maintenance, down-hole locomotive is made to be the important technological equipment of underground coal mine transport production, but be limited by the impact of the bad environments such as down-hole light is dim, dust is many, manual work severe operational environment, the serious sight line affecting locomotive driving personnel.The means that prior art ensures lack, accurately can not locate locomotive position, ground locomotive spot dispatch personnel can not understand the position at locomotive place in real time dynamically, make surface personnel can not well and engineer link up timely inspection machine vehicle travelling state.Therefore in driving locomotive process, if the error situations such as engineer is slightly absent minded, slow in reacting, observe and decide occur, then be easy to occur locomotive accident, the lighter's locomotive falls rail, severe one causes casualties, even cause the generation that mine disaster event occurs, locomotive accident has a strong impact on the production operational paradigm of downhole coal mine.Locomotive location technology significantly can reduce the generation of locomotive accident, significantly promotes mining production efficiency, effectively serves the national strategy demand of great industrial accident prevention and the utilization of mineral resources Efficient Development.Research and to realize locomotive precise positioning under mine be the generation essential measure reducing locomotive accident.
Summary of the invention
The object of this invention is to provide a kind of based on RFID positioning and monitoring method, to realize monitoring with real-time the accurate location of objective body.
In order to achieve the above object, the technical solution adopted in the present invention is:
Based on the positioning and monitoring method of RFID, it is characterized in that: comprise locating module, Zigbee routing node module, Zigbee telegon and ipc monitor module, described locating module is by Zigbee terminal node module, ultrasonic sensor, RFID reader and RFID label tag composition, locating module utilizes ultrasonic technology and RFID REID to position objective body, and target location message is gone out by Zigbee terminal node module wireless transmission, described locating module, Zigbee routing node module, Zigbee networking technology is utilized to carry out Message Transmission between Zigbee telegon, monitoring module realizes communicating by CAN technology with host computer by described Zigbee telegon,
Concrete methods of realizing comprises following content:
(1) locating module is fixedly mounted on the side of two objective body right opposites, the vertical height on locating module and ground is m, according to the installation requirement of locating module, each objective body installs a locating module, described RFID label tag is fixedly mounted near objective body travel track, every two radio-frequency (RF) tag are spaced apart n, and the identification range of described RFID reader is q;
(2) locating module utilizes RFID reader to read RFID label tag ID, ultrasonic sensor utilizes ultrasonic reflections principle to detect the (distance between the objective body=time of return * velocity of sound/2 to the distance between objective body, the velocity of sound is 340m/s), by radio-frequency technique and ultrasonic technology, precise positioning is carried out to objective body;
(3) objective body moves with the speed of d meter per second, RFID reader reads the RFID label tag existed near in objective body traveling process, when neighbouring only have a RFID label tag time, RFID reader reads the information of this RFID label tag, when neighbouring have multiple RFID label tag time, RFID reader utilizes the whole label of multiple labels anti-collision technology identification, and the distance information of reading and ultrasound wave calculated is sent by Zigbee terminal node module;
(4) Zigbee routing node receives the information that Zigbee terminal node module sends, and the information received is forwarded to Zigbee telegon, the message received forwards by Zigbee telegon, is transmitted to ipc monitor module by CAN technology;
(5) ipc monitor module resolves the message received, when only comprising a RFID label tag ID in the message received, coordinate message in host computer calling data storehouse corresponding to this RFID label tag, coordinate message is presented on terminal interface, when comprising multiple RFID label tag ID message in the message received, the coordinate message that each RFID label tag in host computer calling data storehouse is corresponding, and utilize the method for average to calculate the coordinate of objective body, and the result of calculating is presented at host computer interface, so far, the location to objective body and monitoring is completed.
The described positioning and monitoring method based on RFID, is characterized in that: described RFID reader adopts 1SO1443 agreement and designs, and described RFID label tag ID has global uniqueness, and namely the ID of each RFID label tag is all not identical.
The described positioning and monitoring method based on RFID, it is characterized in that: described locating module belongs to mobile node, need to be fixedly mounted on the objective body of needs location, described Zigbee routing node module and Zigbee telegon are all fixedly mounted on specific locus.
The described positioning and monitoring method based on RFID, is characterized in that: the form that the Zigbee terminal node module of described locating module sends data is: tag number+excusing from death pitch of waves from.
The present invention utilizes RFID technique, and combines Zigbee ad hoc network and ultrasonic technology is accurately located objective body, and by the positional information of objective body, real-time shows in Monitor Computer Control System.
Compared with existing several location technology, the location technology of the present invention's research has the following advantages:
The present invention has the advantages such as positioning precision is high, error is little, cost is low, antijamming capability is strong, is applicable to the location to different target body under various occasion; Each stuck-module flexible arrangement adopted in system, easy to maintenance, overhaul facility; Each components and parts antijamming capability that system module uses is strong, energy consumption is low, purchasing price is low, the life-span is long; System can be real-time monitoring record object body position information are carried out to objective body, monitor staff utilizes query aim body that upper computer software can be very convenient in the positional information of different time sections, and target location information completely, prevents fortuitous event from occurring.
Embodiment
as shown in Figure 1.The present invention includes locating module 1, Zigbee routing node module 2, Zigbee telegon 3 and ipc monitor module 4.
Locating module 1 is fixedly mounted on to be needed on the objective body of locating and monitoring, comprises Zigbee terminal node module and radio-frequency recognition system RFID module composition, comprises multiple locating module in system.The Zigbee terminal module one that Zigbee terminal node module comprises single-chip microcomputer one that model is STC12C5632, model is CC2430, model are the ultrasonic sensor of M312609; RFID module is made up of RFID reader and RFID label tag, and RFID reader comprises processor MSP430 chip and TRF7960/61 radio frequency chip.Zigbee terminal module one adopts model to be the radio frequency chip of CC2430, CC2430 radio frequency chip adopts the chip architecture of CC2420, be integrated with RF wireless set and the security coprocessor of 2.4 GHz meeting IEEE802.15.4 standard, there is excellent wireless receiving sensitivity and powerful antijamming capability, Zigbee terminal module one is connected with single-chip microcomputer one by UART serial ports, and Main Function is that the location message of locomotive is radioed to Zigbee routing node module two, the ultrasonic sensor operating voltage of M312609 model is 5V, working current is less than 20mA, detection range is 1-mm, positioning precision reaches 0.2cm, sensor is connected with single-chip microcomputer by I/O mouth, ultrasound wave is utilized to locate needs two sensors, an i.e. transmission sensor and a receiving sensor, when emission sensor outwardly sends square wave, receiving end is set to high level, when there being square-wave signal to return, the level of receiving end is set to low level by high level, therefore the time continued by record receiving sensor high level calculates the distance (distance=high level time * velocity of sound/2 of two objective bodies, the velocity of sound is 340m/s).The processor that RFID reader adopts is the MSP430 chip with 16 bit data processing poweies, reduced instruction structural design, the radio frequency chip adopted is TRF7960/61, this chip is the fully-integrated 13.56 MHz radio frequency identification AFE (analog front end) of many standards and data framing reading system, integrated ISO1443 protocol processes, has reader anticollision circuit design.The communication radio frequency frequency of RFID reader and RFID label tag is 13.56MHz, the reading/writing distance of RFID reader is 3-4m, the ID of RFID label tag has global uniqueness, and it is fixed and is placed in each position in space, and rfid system is connected with single-chip microcomputer one by UART serial ports.
Zigbee routing node module 2 needs fixed installation, and Zigbee routing node module is made up of the Zigbee module two of STC12C5632 single-chip microcomputer two, CC2430, and Zigbee module two is connected with single-chip microcomputer two by UATR serial ports.In systems in which, routing node mainly contains the effect of two aspects, forwarding data between telegon Zigbee module two and terminal node Zigbee module one on the one hand, detect whether to have new terminal node Zigbee module one request to add network on the other hand, and judge whether to meet the requirements, if met, allow node to add network, and give peer distribution address.
Zigbee telegon 3 comprises the Zigbee module three of STM32W108 single-chip microcomputer three and CC2430, and Zigbee module three is connected with single-chip microcomputer three by UART serial ports.STM32W108 single-chip microcomputer is integrated with the transceiver of 2.4GHz and IEEE802.15.4 compatibility, and 32 bit data processing poweies, have the feature of high-performance, low-power consumption.Zigbee telegon be the core of system, what it was responsible for sets up network, carries out the effects such as resistance allocation manager to the routing node in network.Zigbee telegon to be set up with host computer by CAN and is communicated.
Ipc monitor module 4 comprises PC, and the CAN2.0 bus module be connected with PC.CAN2.0 module transmits data by CAN controller SAJ2000 between PC and Zigbee module three; PC can not only be resolved and real-time dynamic display the target location received, and can also send instruction by CAN controller to the Zigbee module in network.
Fig. 2 is RFID many tag recognition schematic diagram.Communication frequency in system between RFID reader and RFID label tag is 13.56MHz, the decipherment distance of RFID reader is 3-4m, ISO1443 agreement is observed in communication between RFID reader and RFID label tag, and ISO1443 agreement adopts Frame Slotted Aloha algorithm to solve multi-label collision.RFID reader ceaselessly sends query statement towards periphery, receives the id information of the RFID label tag transmission self of instruction to reader.When only having a RFID label tag response READER COMMAND, the RFID label tag id information received is sent to single-chip microcomputer one by RFID reader, RFID reader instruction is responded when there being multiple RFID label tag, when the message that many labels return self is simultaneously to RFID reader, then there is multi-label collision phenomenon, RFID reader starts multi-label anti-collision algorithm, RFID reader is to the RFID label tag Random assignment time slot participating in taking inventory, when the time slot of RFID label tag is identical with the time slot that RFID reader is inquired about, RFID label tag just returns self information to RFID reader, if this time slot still collides, then RFID reader sends and skips this time slot instruction, and again time slot is distributed within the next round cycle, according to the RFID label tag in this way RFID reader identification query context, and the whole RFID label tag ID identified are sent to single-chip microcomputer one.
Fig. 3 is the workflow diagram of system.The workflow step of system is as follows:
(1) network set up by Zigbee telegon, and the application of Zigbee routing node module adds network, if the condition of Zigbee routing node meets, then Zigbee telegon agrees to that the application of Zigbee routing node adds, if not then refusing.The application of Zigbee terminal node module adds network, and Zigbee routing node module judges whether Zigbee terminal node module satisfies the demands, and if it is grants an application, and gives peer distribution address, if not then refusing.
(2) whether rfid system has RFID label tag near detecting, if had, forwards step (3) to, if not, jumps to step (1).
(3) RFID reader detects RFID label tag, and send query statement to RFID label tag, the RFID label tag receiving instruction returns the ID message of self to RFID reader.If only have RFID label tag return messages, RFID reader to single-chip microcomputer one, forwards the transmission of messages that receives to step (5); If there are multiple RFID label tag return messages simultaneously, forward step (4) to
(4) RFID reader starts Frame Slotted Aloha multi-label anti-collision algorithm solution tag-collision problem.RFID label tag Stochastic choice time slot, if the time slot of RFID label tag selection is identical with the inquiry time slot of RFID reader also return FRID label information to RFID reader; If there is multiple RFID label tag to return ID message in same time slot simultaneously, then time slot collision occurs, RFID reader sends and skips time slot instruction, continues to take inventory the RFID label tag in next time slot, and reanalyse time slot in next cycle.The RFID label tag ID message of reception is transmitted to single-chip microcomputer one by RFID reader.
(5) ultrasonic sensor utilizes the distance of wave reflection principle detection of a target body and objects in front, and the range message of calculating is sent to RFID label tag.
(6) single-chip microcomputer one receives the data message of RFID reader and ultrasonic sensor transmission, and utilize Zigbee module one to send to Zigbee module two according to the data layout of tag number+distance, module two is to the data retransmission received to Zigbee module three, and Zigbee module three utilizes CAN that message is sent to host computer.
(7) host computer is resolved the message received, and judge whether to receive multiple RFID label tag number, if receive only the data of a RFID label tag number, then system directly inquires about the coordinate information that this RFID label tag stores from database, forwards step (8) to; If receive multiple RFID label tag message, system inquires about the coordinate information corresponding to multiple RFID label tag from database, and utilizes the method for average to calculate objective body coordinate, forwards step (8) to.
(8) the coordinate result of the objective body of parsing is presented on PC interface by master system.
Embodiment 1: down-hole locomotive locating and monitoring
Be distributed in the coordinator node initializtion protocol stack of down-hole, and set up network, be fixedly installed in the routing node initializtion protocol stack of down-hole, find network, and send application to telegon and add network demand, telegon is according to the condition of routing node, and whether judgement allows routing node to add, if agreed to, gives routing node allocation address.Terminal node initializtion protocol, sends to routing node and adds network request, and routing node determines whether allow to add according to the signal intensity of terminal node, if allowed, gives complete cross section module assignment address.So far, Zigbee MANET completes.
Locating module is arranged on the locomotive of down-hole, and label is fixed near motorcycle track.RFID reader on locomotive and label communication, and the label ID received is sent to single-chip microcomputer one, the ultrasonic sensor on locomotive detects the distance of this locomotive and front track locomotive, and by the Distance Transmission of calculating to single-chip microcomputer one.The data that single-chip microcomputer receives for a pair send to Zigbee module two according to certain data layout by Zigbee module one, Zigbee module two is by the data retransmission that receives to Zigbee module three, and Zigbee module three sends to Monitor Computer Control System by Can bus.The information analysis that Monitor Computer Control System utilizes connection to receive, and the positional information after resolving is shown on PC.Thus complete the location of down-hole locomotive and monitor in real time.
Accompanying drawing explanation
Fig. 1 is system architecture overall construction drawing of the present invention.
Fig. 2 is the present invention's good RFID many tag recognition schematic diagram.
Fig. 3 is workflow diagram of the present invention.
Claims (4)
1. based on the positioning and monitoring method of RFID, it is characterized in that: comprise locating module, Zigbee routing node module, Zigbee telegon and ipc monitor module, described locating module is by Zigbee terminal node module, ultrasonic sensor, RFID reader and RFID label tag composition, locating module utilizes ultrasonic technology and RFID REID to position objective body, and target location message is gone out by Zigbee terminal node module wireless transmission, described locating module, Zigbee routing node module, Zigbee networking technology is utilized to carry out Message Transmission between Zigbee telegon, described Zigbee telegon realizes communicating by CAN technology with the monitoring module of host computer,
Concrete methods of realizing comprises following content:
(1) locating module is fixedly mounted on the side of two objective body right opposites, the vertical height on locating module and ground is m, according to the installation requirement of locating module, each objective body installs a locating module, described RFID label tag is fixedly mounted near objective body travel track, every two radio-frequency (RF) tag are spaced apart n, and the identification range of described RFID reader is q;
(2) locating module utilizes RFID reader to read RFID label tag ID, ultrasonic sensor utilizes ultrasonic reflections principle to detect the distance between objective body, the computing method of the distance between objective body are: the distance between the objective body=time of return * velocity of sound/2, the velocity of sound is 340m/s, carries out precise positioning by radio-frequency technique and ultrasonic technology to objective body;
(3) objective body moves with the speed of d meter per second, RFID reader reads the RFID label tag existed near in objective body traveling process, when neighbouring only have a RFID label tag time, RFID reader reads the information of this RFID label tag, when neighbouring have multiple RFID label tag time, RFID reader utilizes the whole label of multiple labels anti-collision technology identification, and the distance information of reading and ultrasound wave calculated is sent by Zigbee terminal node module;
(4) Zigbee routing node receives the information that Zigbee terminal node module sends, and the information received is forwarded to Zigbee telegon, the message received forwards by Zigbee telegon, is transmitted to ipc monitor module by CAN technology;
(5) ipc monitor module resolves the message received, when only comprising a RFID label tag ID in the message received, coordinate message in host computer calling data storehouse corresponding to this RFID label tag, coordinate message is presented in host computer interface, when comprising multiple RFID label tag ID message in the message received, the coordinate message that each RFID label tag in host computer calling data storehouse is corresponding, and utilize the method for average to calculate the coordinate of objective body, and the result of calculating is presented at host computer interface, so far, the location to objective body and monitoring is completed.
2. the positioning and monitoring method based on RFID according to claim 1, is characterized in that: described RFID reader adopts 1SO1443 agreement and designs, and described RFID label tag ID has global uniqueness, and namely the ID of each RFID label tag is all not identical.
3. the positioning and monitoring method based on RFID according to claim 1, it is characterized in that: described locating module belongs to mobile node, need to be fixedly mounted on the objective body of needs location, described Zigbee routing node module and Zigbee telegon are all fixedly mounted on specific locus.
4. the positioning and monitoring method based on RFID according to claim 1, is characterized in that: the form that the Zigbee terminal node module of described locating module sends data is: tag number+excusing from death pitch of waves from.
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105282697A (en) * | 2014-07-09 | 2016-01-27 | 上海鑫森淼网络工程有限公司 | Low-frequency wireless positioning system |
| 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 |
| CN106778399A (en) * | 2016-12-10 | 2017-05-31 | 成举炳 | Track equipment RFID location system and its control method |
| CN107872810A (en) * | 2017-11-16 | 2018-04-03 | 广东创达自动化装备有限公司 | A kind of ZigBee intelligent networkings method |
| 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 |
| CN111899393A (en) * | 2020-08-13 | 2020-11-06 | 赵东 | Wisdom station management system |
| CN113759281A (en) * | 2021-09-09 | 2021-12-07 | 四川省东宇信息技术有限责任公司 | Ground identification monitoring system based on RFID |
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| CN101369944A (en) * | 2008-10-10 | 2009-02-18 | 哈尔滨工业大学 | Mine safety wireless location system and its laying method based on ZigBee and RFID |
| KR20110047603A (en) * | 2009-10-30 | 2011-05-09 | 주식회사 나인티시스템 | Real time locating system and method thereof |
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