CN103792511A - Stereoscopic positioning system inside container based on wireless sensing network and method of stereoscopic positioning system - Google Patents

Abstract

The invention discloses a stereoscopic positioning system inside a container based on a wireless sensing network and a method of the stereoscopic positioning system. The stereoscopic positioning system comprises a positioning main device, at least two rout devices and a plurality of SPOT node devices, wherein an antenna of the positioning main device extends into the container, the route devices are installed in preset positions inside the container, the SPOT node devices are installed on goods inside the container respectively, and the positioning main device, the route devices and the SPOT node devices are connected through the wireless sensing network. The stereoscopic positioning system inside the container based on the wireless sensing network and the method of the stereoscopic positioning system can carry out accurate positioning and indication on particular space positions of the goods inside the container, are high in positioning accuracy, and are favorable for further improving the logistic efficiency.

Description

Stereotactic system and method thereof in a kind of container based on wireless sense network

Technical field

The present invention relates to a kind of wireless indoor positioning system, relate in particular to stereotactic system in a kind of container based on wireless sense network, also relate to the solid locating method that this stereotactic system adopts, belong to wireless location technology field simultaneously.

Background technology

The fundamental purpose of modern logistics is to improve logistic efficiency, reduce logistics cost, meet customer need, and more and more present informationization, the development trend such as networking, robotization, intellectuality, standardization, wherein informationization is the core of modern logistics.From certain angle, modern logistics are exactly the informationization of traditional logistics, adopt infotech to be optimized integration to traditional logistics business, reach the object that reduces costs, improves service level.

Container Transport is the important component part of modern logistics.It as one fast, safety, means of transportation cheaply, in global shipping, play a very important role.At present, in Container Transport, generally adopt the mode of GPS and GPRS combination, realize container location by GPS, then locating information is sent to monitoring server by GPRS network, thereby realize the function that container position is positioned.But, for being distributed to the dry bulk cargo thing of internal container diverse location, in prior art, can not carry out the accurately solution of location indication to the particular location of internal container goods, be unfavorable for the further raising of logistic efficiency.

ZigBee is a kind of sensor network technology based on IEEE802.15.4 agreement, is mainly used in apart from carrying out data transmission between various electronic equipments short, low in energy consumption and that transfer rate is not high.This sensor network technology is particularly suitable for typically there is periodic data, the application scenario of intermittent data and low reaction time data transmission, has also obtained certain application in wireless indoor positioning field.The people such as such as Bai Xuhua, in paper " design of the indoor locating system based on ZigBee-network and realization " (being published in " Institutes Of Technology Of Tianjin's journal " 02 phase in 2012), have designed a kind of wireless indoor positioning system based on ZigBee radio sensing network.This system at hardware take the CC2530 of Texas Instruments SOC (system on a chip) as core, software is based on the Z-Stack of Texas Instruments protocol stack, range finding is demarcated with complete positioning flow and combined, calculate the distance of node to be positioned to reference mode by measuring received signal strength, then utilize triangle centroid algorithm to position, determine node coordinate to be positioned.In addition, Yan Bingbing is in paper " the indoor locating system design based on ZigBee wireless network " (being published in " micro computer and application " 16 phases in 2011), analyse in depth existing indoor positioning technology and feature thereof, describe hardware composition and the location algorithm of the indoor positioning test platform based on ZigBee wireless network in detail, provide the gordian technique of wireless network positioning pattern monitoring software, and carried out object location experimental study take travelling car as carrier.

Be in the Chinese utility model patent of CN203219494U at Granted publication number, disclose a kind of articles from the storeroom positioning system based on ZigBee-network, comprise one group of ZigBee mobile terminal, each ZigBee mobile terminal is communicated by letter with corresponding ZigBee routing module.ZigBee routing module is equidistantly spaced, each ZigBee routing module is communicated by letter with network coordinator, and network coordinator is also communicated by letter with read write line by network, and read write line connects scanning antenna, network coordinator is by network and server communication, and server connects computing machine.Computing machine carries out computing for the storage information in server, calculates the particular location of objective body, and the electronization of complete articles from the storeroom warehouse-in, move storehouse, make an inventory, outbound is comprehensive and omnidistance is followed the tracks of.

Summary of the invention

For the existing deficiency of prior art, primary technical matters to be solved by this invention is to provide stereotactic system in a kind of container based on wireless sense network.Utilize this system to carry out the indication of accurate location to the particular location of internal container goods.

Another technical matters to be solved by this invention is to provide the solid locating method that in above-mentioned container, stereotactic system adopts.

For realizing above-mentioned goal of the invention, the present invention adopts following technical scheme:

A stereotactic system in container based on wireless sense network, comprises location main equipment, at least two routing devices and multiple SPOT node device; Wherein,

The antenna of described location main equipment stretches into internal container, and described routing device is arranged on the precalculated position of internal container, and each described SPOT node device is arranged on respectively on the goods of internal container;

Described location main equipment, described routing device and each described SPOT node device are realized and being connected by wireless sense network;

Described SPOT node device timing receives the information from described location main equipment and the transmission of described routing device, determine the distance between described SPOT node device and described routing device and described location main equipment according to the signal intensity of receipt message, and calculate the spatial positional information of described SPOT node device in conjunction with the position relationship of known described routing device and described location main equipment, be sent to described location main equipment and preserve.

Wherein more preferably, two described routing devices are arranged on respectively any two corner positions of internal container.

Wherein more preferably, described location main equipment is arranged on the precalculated position of container outside, comprises wireless sense network module, satellite positioning module and wireless network module.

Wherein more preferably, described wireless sense network is Zigbee network or RFID network.

A solid locating method in container based on wireless sense network, in the container based on above-mentioned, stereotactic system is realized, and comprises the steps:

The antenna of location main equipment is stretched into internal container, and two routing devices are arranged on respectively to the precalculated position of internal container;

The SPOT node device timing being arranged on internal container goods receives the information from described location main equipment and the transmission of described routing device, determines the distance between described SPOT node device and described routing device and described location main equipment according to the signal intensity of receipt message;

Set up mathematical model according to described routing device and the position relationship of described location main equipment and the size of container, calculate thus the distance of described SPOT node device to each face of container;

Determine the locus of described SPOT node device to the distance of each face of container according to described SPOT node device.

Wherein more preferably, described distance is calculated by following formula:

d＝10^((ABS(RSSI)－A)/(10×n))

Wherein, d is distance, the signal intensity that RSSI is receipt message, and A is the signal intensity apart from 1 meter of of sender, n is signal propagation constant.

Wherein more preferably, the span that the span of A is 45～49, n is 3.25～4.5.

In container provided by the present invention, stereotactic system and method thereof can be carried out the indication of accurate location to the concrete locus of internal container goods, and positioning precision is high, is conducive to further improve logistic efficiency.Utilize the present invention, staff can also long-rangely know whether goods is lost, and the abnormal situation such as mobile in location whether.

Accompanying drawing explanation

Fig. 1 is the network architecture schematic diagram of stereotactic system in container provided by the present invention;

Fig. 2 is the schematic diagram that the particular location of internal container goods is positioned.

Embodiment

Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.

As shown in Figure 1, the invention provides stereotactic system in a kind of container based on wireless sense network.This system at least comprises: location main equipment, at least two routing devices (route A and route B) and multiple SPOT node device.Wherein, two routing devices are arranged on the precalculated position (being preferably two corner positions) of internal container, and each SPOT node device is fixedly mounted on the different goods of internal container; Location main equipment, two routing devices are realized and being connected by the wireless sense network such as Zigbee or RFID with each SPOT node device.The timing of SPOT node device receives self-align main equipment and two information that routing device sends, determine SPOT node device and two routing devices and locate the distance between main equipment according to the signal intensity of receipt message, and calculate the spatial positional information of SPOT node device in conjunction with the position relationship of known two routing devices and location main equipment, be sent to location main equipment and preserve.Concrete composition to stereotactic system in this container and principle of work are launched detailed specific description below.

In the present invention, location main equipment is arranged on the precalculated position of container outside, comprises wireless sense network module and satellite positioning module.Wherein, wireless sense network module is preferably Zigbee module or RFID module, and satellite positioning module is preferably GPS module or Big Dipper module.In addition, in the main equipment of location, also comprise wireless network module.Data in the main equipment of location can transfer in other equipment by wireless network module.This wireless network module is preferably GPRS module, can be also 3G or the 4G module etc. that possesses similar functions.

SPOT node device is the Small Wireless Devices based on Java of Sun Labs exploitation, and each SPOT node device comprises an eSPOT plate and eDemoBoard plate.ESPOT plate is the mainboard of SPOT node device, the ARM920T chip of being produced by an Atmel company is core, peripheral hardware is controlled by ATMega88v8bit AVR single-chip microcomputer, mainly provide that (this module also can be substituted by RFID module based on IEEE802.15.4ZigBee module, such as existing SpotON system etc.), support miniUSB to download, communicate by letter and the function such as charging.In the present invention, the each goods (or parcel) being placed in container carries SPOT node device, and each SPOT node device has Zigbee module.

In one embodiment of the invention, two routing devices are separately positioned on any two drift angle places of internal container.In each routing device, include wireless sense network module (being preferably Zigbee module).Because Zigbee module has very excellent MANET function, above-mentioned location main equipment, routing device and each SPOT node device are easy to form Zigbee network, to realize data interaction.

In addition, in this container, in stereotactic system, can also comprise server.Server is connected with location main equipment by network, for receiving the positional information of the SPOT node device in also display set vanning.

In embodiment hereinafter described, mainly as an example of Zigbee networking example, the course of work of stereotactic system in this container is elaborated.But this part technology contents is also same being suitable for for other wireless sense network networking modes such as RFID, does not just understand specifically at this.

In this container, in stereotactic system, the drift angle place of internal container is provided with two routing device-route A and route B.Be arranged on the goods (or parcel) of stacking in container with the SPOT node device of Zigbee module.Location main equipment is arranged on container outside.Route A, route B and location main equipment shift to an earlier date all synchronous good time, add micro radio Sensor Network by Zigbee agreement.Consider that container shell is made of metal, and has certain shielding action to electromagnetic signal.In the time using in this container stereotactic system, preferably the antenna of location main equipment is stretched into internal container.Like this at internal container, route A, route B and location main equipment timed sending broadcast message (in this broadcast message, contain current device No. ID), be arranged on SPOT node device on the goods of internal container and receive respectively the broadcast that route A, route B and location main equipment send, the signal intensity of the broadcast sending according to route A, route B and location main equipment calculates place goods with route A, route B and locates the distance between main equipment.Because the length and width height of container is predetermined, the position of corresponding route A, route B and location main equipment is also predetermined.SPOT node device on goods can go out according to corresponding calculated with mathematical model the position of oneself.

The process that how SPOT node device is calculated to own position is below elaborated.

In one embodiment of the invention, SPOT node device calculates the distance between goods and route A, route B and location main equipment according to the signal intensity (RSSI) of the broadcast receiving.

Ranging technology based on RSSI be utilize radio signal to increase with distance and regularly the principle of decay carry out distance between measured node.Signal intensity (RSSI) and distance between transformational relation as the formula (1):

RSSI（d）＝－(10n×lgd＋A) （1）

Wherein, n represents signal propagation constant, is also propagation coefficient; D represents the distance with sender; A represents apart from the signal intensity at 1 meter of of sender.The impact that the height of distance accuracy is subject to n and the actual value size of A is larger.A is an empirical parameter, can obtain by the RSSI value at 1 meter of of measuring distance sender.N increases the parameter successively decreasing, the concrete environment of Size-dependent of n for describing signal intensity with distance.In order to obtain optimum n value, can first place all reference modes, then attempt finding the n value of applicable this specific environment by different n_index values.About further illustrating of above-mentioned formula, can consult the people's such as Xu Shiwu the people's such as paper " the location algorithm research based on RSSI range finding in ZigBee technology " (being published in " single-chip microcomputer and embedded system application " the 1st phase in 2012) and Zhang Jianwu paper " the RSSI range finding research based on ZigBee " (being published in " sensing technology journal " the 2nd phase in 2009).

After being converted, formula (1) draws distance, specific as follows:

d＝10^((ABS(RSSI)－A)/(10×n)) （2）

Wherein, A is the signal intensity at 1 meter of.Because coefficient of relationship A, the n of signal intensity and distance directly affects the precision of measurement, therefore need repeatedly to measure the signal intensity of different distance, to determine the value of A, n, guarantee the precision of measuring.In the present invention, repeatedly test through inventor, the span of determining A is 45～49, the span of n is 3.25～4.5.In the time of A=48, n=4, measurement result is the most accurate.

The Zigbee signal intensity that SPOT node device is received is expressed as: SPOT node device is RSSIa to the signal intensity of route A, is RSSIb to the signal intensity of route B, is RSSIm to the signal intensity of location main equipment.Next, signal intensity substitution formula (2) by SPOT node device to route A, route B, location main equipment, can obtain the distance of SPOT node device to route A, route B, location main equipment, be expressed as the corresponding RSSIa of DISa(), the corresponding RSSIb of DISb(), the corresponding RSSIm of DISm().

Then, can calculate according to the algorithm of determining a point coordinate in space the particular location of goods (or parcel).Circular is as follows:

As shown in Figure 2, set up corresponding mathematical model.Wherein, A point is route A, and B point is route B, and C point is location main equipment, and D point is SPOT node device position.The SPOT node device being calculated by formula (1) and formula (2) represents with the line segment in the mathematical model of foundation to the distance of each route A, route B, location main equipment, DISa with DA represent, DISb DB represents, DISm represents with DC.

Because the length and width height in container is in advance known, therefore A, B, C point are determined.D point is to A, B, C point distance known (being calculated by signal intensity), and therefore, in tetrahedron DABC, 6 the long DA of rib, DB, DC, AB, AC and BC are known, be DH1 perpendicular to plane ABC in H1 point.

Use Euler's formula ask tetrahedron cubature formula following (if 6 ribs of tetrahedron long for p, q, n, r, m, r):

$V^2=\frac{1}{36}\left|\begin{array}{ccc}{p}^2& \frac{p^2+q^2-n^2}{2}& \frac{p^2+r^2-m^2}{2}\\ \frac{p^2+q^2-n^2}{2}& q^2& \frac{q^2+r^2-l^2}{2}\\ \frac{q^2+r^2-m^2}{2}& \frac{q^2+r^2-l^2}{2}& r^2\end{array}\right|---\left(3\right)$

Can obtain V according to formula (3) _dABC.

Due to the cubature formula of triangular pyramid as the formula (4):

V=1/3 × floorage × height (4)

Therefore triangle S _aBCcan obtain DH1:

DH1＝3V/S _ABC （5）

Shown in Figure 2, due to H1W perpendicular to AY in W, H1H2 ' perpendicular to AB in H2 ', DH3 perpendicular to planar S MYA in H3, H3H3 ' is perpendicular to AS in H3 ', and DH2 in H2, forms inscribe rectangular parallelepiped by a H2, H2 ', A, H3 ', D, H1, W and H3 perpendicular to plane ABTS.

Because DH1 calculates and learns, a demand goes out AW, H1W, just can know D point coordinate.

Concrete computing method are as follows:

In triangle BDH1, DH1 is perpendicular to BH1, known BD, DH1 length:

$\mathrm{<figure-callout\; id="1"\; label="BH"\; filenames="HDA0000466331400000012.png"\; state="\{\{state\}\}">BH</figure-callout>}1=\sqrt{{\mathrm{DB}}^2-{\mathrm{<figure-callout\; id="1"\; label="DH"\; filenames="HDA0000466331400000012.png"\; state="\{\{state\}\}">DH</figure-callout>}1}^2}$

In triangle ADH1, ∠ AH1D is right angle:

$\mathrm{<figure-callout\; id="1"\; label="AH"\; filenames="HDA0000466331400000012.png"\; state="\{\{state\}\}">AH</figure-callout>}1=\sqrt{{\mathrm{AD}}^2-{\mathrm{<figure-callout\; id="1"\; label="DH"\; filenames="HDA0000466331400000012.png"\; state="\{\{state\}\}">DH</figure-callout>}1}^2}$

In BAH1, known three limit BA, BH1, AH1 length:

$\&angle;\mathrm{<figure-callout\; id="1"\; label="BAH"\; filenames="HDA0000466331400000012.png"\; state="\{\{state\}\}">BAH</figure-callout>}1=\arccos \frac{{\mathrm{AB}}^2+{\mathrm{<figure-callout\; id="1"\; label="AH"\; filenames="HDA0000466331400000012.png"\; state="\{\{state\}\}">AH</figure-callout>}1}^2-{\mathrm{<figure-callout\; id="1"\; label="BH"\; filenames="HDA0000466331400000012.png"\; state="\{\{state\}\}">BH</figure-callout>}1}^2}{2*\mathrm{AB}*\mathrm{<figure-callout\; id="1"\; label="AH"\; filenames="HDA0000466331400000012.png"\; state="\{\{state\}\}">AH</figure-callout>}1}$

$\&angle;\mathrm{<figure-callout\; id="1"\; label="WAH"\; filenames="HDA0000466331400000012.png"\; state="\{\{state\}\}">WAH</figure-callout>}1=\frac{\mathrm{\&pi;}}{2}-\&angle;\mathrm{<figure-callout\; id="1"\; label="BAH"\; filenames="HDA0000466331400000012.png"\; state="\{\{state\}\}">BAH</figure-callout>}1$

In right-angle triangle AWH1, ∠ AWH1 is right angle, known AH1 length, and ∠ WAH1 size:

AW＝AH1*cos∠WAH1

H1W＝AH1*sin∠WAH1

DH1, H1W, AW are the D o'clock distance to three faces.Supposing to arrange a certain summit is initial point, can express D point coordinate (system represents by XYZ coordinate).So far the goods (or parcel) that, carries SPOT node device calculates and learns at the particular location of internal container.

In one embodiment of the invention, the timing of SPOT node device is sent to location main equipment by the positional information of oneself by Zigbee network, and location main equipment is collected the positional information of each SPOT node device save.In the time of the main equipment connection server of location, the positional information of each SPOT node device of internal container can be sent to server.

Because the goods height that internal container is stacked is different, traditional plane positioning technology does not often reach requirement in positioning precision, thereby has affected the efficiency of logistics.In container provided by the present invention, stereotactic system and method thereof can be carried out the indication of accurate location to the concrete locus of internal container goods, and positioning precision is high, is conducive to further improve logistic efficiency.

In addition, the intensity of the signal specific that the present invention receives according to SPOT node device realizes the space orientation to internal container goods, server can determine that whether each goods in container is in inside according to the positional information of SPOT node device, and each goods is at the particular location of internal container.Like this, staff can long-rangely know whether goods is lost, and the abnormal situation such as mobile in location whether.

Above stereotactic system and method thereof in the container based on wireless sense network provided by the present invention are had been described in detail.For one of ordinary skill in the art, any apparent change of under the prerequisite that does not deviate from connotation of the present invention, it being done, all will form infringement of patent right of the present invention, will bear corresponding legal liabilities.

Claims (9)

1. a stereotactic system in the container based on wireless sense network, is characterized in that comprising location main equipment, at least two routing devices and multiple SPOT node device; Wherein,

The antenna of described location main equipment stretches into internal container, and described routing device is arranged on the precalculated position of internal container, and each described SPOT node device is arranged on respectively on the goods of internal container;

Described location main equipment, described routing device and each described SPOT node device are realized and being connected by wireless sense network;

Described SPOT node device timing receives the information from described location main equipment and the transmission of described routing device, determine the distance between described SPOT node device and described routing device and described location main equipment according to the signal intensity of receipt message, and calculate the spatial positional information of described SPOT node device in conjunction with the position relationship of known described routing device and described location main equipment, be sent to described location main equipment and preserve.

2. stereotactic system in container as claimed in claim 1, is characterized in that:

Two described routing devices are arranged on respectively any two corner positions of internal container.

3. stereotactic system in container as claimed in claim 1, is characterized in that:

Described location main equipment is arranged on the precalculated position of container outside, comprises wireless sense network module, satellite positioning module and wireless network module.

4. stereotactic system in container as claimed in claim 1, characterized by further comprising server, and described server is connected with described location main equipment by network, for receiving and show the positional information of described SPOT node device.

5. stereotactic system in the container as described in any one in claim 1～4, is characterized in that:

Described wireless sense network is Zigbee network or RFID network.

6. a solid locating method in the container based on wireless sense network, realizes based on stereotactic system in container claimed in claim 1, it is characterized in that comprising the steps:

The antenna of location main equipment is stretched into internal container, and routing device is arranged on to the precalculated position of internal container;

The SPOT node device timing being arranged on internal container goods receives the information from described location main equipment and the transmission of described routing device, determines the distance between described SPOT node device and described routing device and described location main equipment according to the signal intensity of receipt message;

Set up mathematical model according to described routing device and the position relationship of described location main equipment and the size of container, calculate thus the distance of described SPOT node device to each face of container;

Determine the locus of described SPOT node device to the distance of each face of container according to described SPOT node device.

7. solid locating method in container as claimed in claim 6, is characterized in that:

Described routing device has two, is arranged on respectively any two corner positions of internal container.

8. solid locating method in container as claimed in claim 6, is characterized in that described distance calculates by following formula:

d＝10^((ABS(RSSI)－A)/(10×n))

Wherein, d is distance, the signal intensity that RSSI is receipt message, and A is the signal intensity apart from 1 meter of of sender, n is signal propagation constant.

9. solid locating method in container as claimed in claim 8, is characterized in that:

The span of A is that the span of 45～49, n is 3.25～4.5.

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