CN107040888B - Ship identity automatic identification and law enforcement inspection system and method based on radio frequency - Google Patents
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Abstract
Description
技术领域Technical field
本发明涉及船舶监管技术领域，特指一种基于射频的船舶身份自动识别与执法巡检系统及方法。The invention relates to the technical field of ship supervision, and specifically refers to a radio frequency-based automatic ship identity identification and law enforcement inspection system and method.
背景技术Background technique
船舶管理系统是在一定水域内用以保证航行船舶安全和效率的管理系统，随着水运事业的发展，船舶交通量不断增加,为使船舶能顺畅通航于有限水域或拥挤水域，如港口，还有江河、海峡，各海运国家逐渐建立起岸船之间合作的船舶交通管理系统，现有的船舶管理系统还存在一下缺陷：The ship management system is a management system used to ensure the safety and efficiency of sailing ships in certain waters. With the development of water transportation, ship traffic continues to increase. In order to enable ships to navigate smoothly in limited waters or crowded waters, such as ports, ship management systems are also used to ensure the safety and efficiency of sailing ships. There are rivers and straits, and each maritime country has gradually established a ship traffic management system for cooperation between shore and ships. The existing ship management system still has the following shortcomings:
1、执法部门人为巡检，费时费力；1. Manual inspections by law enforcement departments are time-consuming and labor-intensive;
2、没有利用互联网技术，大数据平台实现线上巡检；2. Internet technology is not used, and the big data platform implements online inspections;
3、巡检数据不可追溯。3. Inspection data cannot be traced.
为了提高船舶巡检的工作效率，本发明人对此进行深入研究，提出一种基于射频的船舶身份自动识别与执法巡检系统，本案由此产生。In order to improve the work efficiency of ship inspections, the inventor conducted in-depth research on this and proposed a radio frequency-based automatic ship identity identification and law enforcement inspection system, from which this case arose.
发明内容Contents of the invention
本发明的目的在于提供一种基于射频的船舶身份自动识别与执法巡检系统及方法，结合局域网与广域网，实现双通道巡检通讯与无线网络数据上报的独立化，巡检数据统一存储管理可追溯，有效提高执法效率。The purpose of the present invention is to provide a radio frequency-based automatic identification of ship identity and law enforcement inspection system and method, which combines the local area network and the wide area network to realize the independence of dual-channel inspection communication and wireless network data reporting, and enable unified storage and management of inspection data. Traceability can effectively improve law enforcement efficiency.
为了实现上述目的，本发明的技术方案如下：In order to achieve the above objects, the technical solutions of the present invention are as follows:
基于射频的船舶身份自动识别与执法巡检系统，包括执法船终端机、作业船终端和后台服务器；Radio frequency-based automatic ship identity identification and law enforcement inspection system, including law enforcement ship terminals, work ship terminals and back-end servers;
所述执法船终端包括CPU及分别与CPU连接的定位模块、移动通讯模块、电子海图设备和两个433MHz射频通讯模块；The law enforcement ship terminal includes a CPU and a positioning module, a mobile communication module, an electronic chart device and two 433MHz radio frequency communication modules respectively connected to the CPU;
所述作业船终端包括CPU及分别与CPU连接的定位模块、数据存储模块、和两个433MHz射频通讯模块；The operation ship terminal includes a CPU, a positioning module, a data storage module, and two 433MHz radio frequency communication modules respectively connected to the CPU;
所述执法船终端与作业船终端的定位模块分别用于获取各自船舶的定位数据，所述执法船终端的两个433MHz射频通讯模块与作业船终端的两个433MHz射频通讯模块相互之间可按照双通道通讯协议进行局域通讯；所述执法船终端的移动通讯模块通过无线网络与后台服务器建立连接；所述作业船的存储模块用于暂存其定位数据；所述后台服务器存储有船舶和执法数据，执法船终端与各作业船终端均存储有各自唯一识别的ID编码；所述执法船中的电子海图设备用于在海图上实时显示作业船终端和执法船终端定位数据。The positioning modules of the law enforcement ship terminal and the operation ship terminal are respectively used to obtain the positioning data of the respective ships. The two 433MHz radio frequency communication modules of the law enforcement ship terminal and the two 433MHz radio frequency communication modules of the operation ship terminal can interact with each other according to The dual-channel communication protocol performs local communication; the mobile communication module of the law enforcement ship terminal establishes a connection with the back-end server through the wireless network; the storage module of the operation ship is used to temporarily store its positioning data; the back-end server stores the ship and For law enforcement data, the law enforcement ship terminal and each operation ship terminal store their own unique ID codes; the electronic chart equipment in the law enforcement ship is used to display the positioning data of the operation ship terminal and the law enforcement ship terminal on the chart in real time.
所述电子海图设备为一台工业级平板电脑。The electronic chart equipment is an industrial-grade tablet computer.
所述执法船终端的移动通讯模块为GPRS移动通讯模块。The mobile communication module of the law enforcement ship terminal is a GPRS mobile communication module.
所述执法船终端与作业船终端的定位模块均采用BDS/GPS双模定位模块。The positioning modules of the law enforcement ship terminal and the operation ship terminal both adopt BDS/GPS dual-mode positioning modules.
基于射频的船舶身份自动识别与执法巡检方法，包括上述的执法船终端与作业船终端在周期T内，采用双通道协议并按照该协议规定的时序进行局域通讯，该时序含通讯的最小间隔时间t，周期T分为时间t1、t2、t3、t4，所述执法船终端的一个433MHz射频通讯模块作为执法船发送模块负责信息广播、另一个433MHz射频通讯模块作为执法船接收模块负责信息接收；所述作业船终端的一个433MHz射频通讯模块作为作业船发送模块负责信息广播、另一个433MHz射频通讯模块作为作业船接收模块负责信息接收，该方法具体包括以下步骤：The radio frequency-based automatic ship identity identification and law enforcement inspection method includes the above-mentioned law enforcement ship terminal and operation ship terminal using a dual-channel protocol to conduct local communication in accordance with the timing specified by the protocol within the period T. This timing includes the minimum communication time Interval time t, period T is divided into time t 1 , t 2 , t 3 , t 4 , one 433MHz radio frequency communication module of the law enforcement ship terminal serves as the law enforcement ship sending module and is responsible for information broadcast, and the other 433MHz radio frequency communication module serves as the law enforcement ship The receiving module is responsible for information reception; one 433MHz radio frequency communication module of the work ship terminal is responsible for information broadcasting as the work ship sending module, and the other 433MHz radio frequency communication module is responsible for information reception as the work ship receiving module. The method specifically includes the following steps:
步骤一、从通讯的起始时刻开始，在规定的时间t1内每隔时间t执法船终端广播一次查询指令，t＜t1，执法船终端的发送模块将该查询指令广播出去，执法船通讯范围内的作业船终端从起始时刻开始接收广播信息；若作业船的接收模块接收到执法船终端的广播信息，则等待时间t1后作业船终端发送模块发送器ID编码给执法船终端并休眠至t1时间结束时刻，此时执法船终端的接收模块接收来自作业船中的ID编码，若作业船的接收模块未接收广播信息，则继续保持接收状态；Step 1. Starting from the starting time of communication, within the specified time t 1 , the law enforcement ship terminal broadcasts a query command every time t, t < t 1 , the sending module of the law enforcement ship terminal broadcasts the query command, and the law enforcement ship The operation ship terminal within the communication range begins to receive broadcast information from the starting time; if the operation ship's receiving module receives the broadcast information from the law enforcement ship terminal, the operation ship terminal sends the module transmitter ID code to the law enforcement ship terminal after waiting time t 1 And sleep until the end of time t 1. At this time, the receiving module of the law enforcement ship terminal receives the ID code from the work ship. If the receiving module of the work ship does not receive the broadcast information, it will continue to maintain the receiving state;
步骤二、从规定时间t1结束后的某一时刻开始，执法船终端发送模块在规定的时间t2内每隔时间t’轮询向各作业船终端发送采集指令，向每条作业船发送的次数为n1，各作业船终端中的接收模块接收到采集指令后依次向执法船终端发送巡检信息；执法船终端收到作业船中的巡检信息后向作业船终端发送确认信息，作业船终端收到确认信息后休眠；Step 2: Starting from a certain moment after the end of the specified time t 1 , the law enforcement ship terminal sending module polls and sends collection instructions to each operation ship terminal every time t' within the specified time t 2 , and sends the collection instructions to each operation ship. The number of times is n 1. After receiving the collection instructions, the receiving module in each operation ship terminal sends inspection information to the law enforcement ship terminal in sequence; after receiving the inspection information in the operation ship, the law enforcement ship terminal sends confirmation information to the operation ship terminal. The work vessel terminal goes to sleep after receiving the confirmation message;
步骤三、从规定时间t2结束后的某一时刻开始，在规定的时间t3内每隔时间t执法船终端广播一次查询指令，t＜t3，执法船终端的发送模块将该查询指令广播出去，执法船通讯范围内的作业船终端从起始时刻开始接收广播信息；若作业船的接收模块接收到执法船终端的广播信息，则等待时间t3后作业船终端发送模块发送器ID编码给执法船终端并休眠至t3时间结束时刻，此时执法船终端的接收模块接收来自作业船中的ID编码，若作业船的接收模块未接收广播信息，则继续保持接收状态；Step 3: Starting from a certain moment after the end of the specified time t 2 , within the specified time t 3 , the law enforcement ship terminal broadcasts a query command every time t, t < t 3 , and the sending module of the law enforcement ship terminal transmits the query command Broadcast out, the operation ship terminal within the communication range of the law enforcement ship starts to receive the broadcast information from the starting time; if the operation ship's receiving module receives the broadcast information from the law enforcement ship terminal, the operation ship terminal sends the module transmitter ID after waiting time t 3 The code is given to the law enforcement ship terminal and sleeps until the end of time t3 . At this time, the receiving module of the law enforcement ship terminal receives the ID code from the operation ship. If the receiving module of the operation ship does not receive the broadcast information, it will continue to maintain the receiving state;
步骤四、从规定时间t3结束后的某一时刻开始，执法船终端发送模块在规定的时间t4内每隔时间t’依次向各作业船终端发送采集指令，向每条作业船发送的次数为n2，各作业船中的接收模块接收到采集指令后依次向执法船终端发送巡检信息；执法船终端收到作业船中的巡检信息后向作业船终端发送确认信息，作业船终端收到确认信息后休眠至下一周期。Step 4: Starting from a certain moment after the end of the specified time t 3 , the law enforcement ship terminal sending module sends collection instructions to each operation ship terminal every time t' within the specified time t 4 , and sends the collection instructions to each operation ship. The number of times is n 2. After receiving the collection instructions, the receiving module in each operation ship sends inspection information to the law enforcement ship terminal in sequence; after receiving the inspection information in the operation ship, the law enforcement ship terminal sends confirmation information to the operation ship terminal. After receiving the confirmation message, the terminal sleeps until the next cycle.
T＝1min,t＝200ms，t1＝4s、t2＝26s、t3＝4s、t4＝26s、n1＝n2＝85，t’＝300ms。T=1min, t=200ms, t1 =4s, t2 =26s, t3 =4s, t4 =26s, n1 = n2 =85, t'=300ms.
采用上述方案后，本发明的有益效果有：After adopting the above solution, the beneficial effects of the present invention include:
一、利用433MHz射频通讯模块使执法船终端和作业船终端之间建立双通道协议的局域通讯，执法船可快速对其局域范围内的所以作业船进行执法巡检、巡检执法效率极高，降低了执法难度。1. The 433MHz radio frequency communication module is used to establish dual-channel protocol local communication between the law enforcement ship terminal and the operation ship terminal. The law enforcement ship can quickly conduct law enforcement inspections on all operation ships within its local area, and the inspection and law enforcement are extremely efficient. High, which reduces the difficulty of law enforcement.
二、通过作业船终端获取作业船定位数据，执法船可的有效判断渔船是否合法捕捞，加强作业船舶合法性，且通过电子海图设备实现准确定位和监控。2. By obtaining the positioning data of the operating vessel through the operating vessel terminal, the law enforcement vessel can effectively determine whether the fishing vessel is fishing legally, strengthen the legality of the operating vessel, and achieve accurate positioning and monitoring through electronic chart equipment.
三、作业船和执法船的数据可在后头服务器进行永久保存，对执法船和渔船的巡检信息可查询。3. The data of operating vessels and law enforcement vessels can be permanently saved in the back server, and the inspection information of law enforcement vessels and fishing vessels can be queried.
四、通过构建局域网和接入广域网可进行远程监督执法，不受时空限制查询执法情况。4. By constructing a local area network and accessing a wide area network, remote supervision and law enforcement can be carried out, and the law enforcement status can be inquired without time and space restrictions.
以下结合附图和具体实施方式对本发明做进一步说明。The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.
附图说明Description of drawings
图1是本发明基于射频的船舶身份自动识别与执法巡检系统结构示意图；Figure 1 is a schematic structural diagram of the radio frequency-based automatic ship identity identification and law enforcement inspection system of the present invention;
图2是本发明基于射频的船舶身份自动识别与执法巡检方法流程图。Figure 2 is a flow chart of the radio frequency-based automatic ship identity identification and law enforcement inspection method of the present invention.
具体实施方式Detailed ways
如图1所示本发明揭示的基于射频的船舶身份自动识别与执法巡检系统，包括执法船终端机、作业船终端和后台服务器；As shown in Figure 1, the radio frequency-based automatic ship identity identification and law enforcement inspection system disclosed by the present invention includes a law enforcement ship terminal, a work ship terminal and a backend server;
执法船终端包括CPU及分别与CPU连接的定位模块、移动通讯模块、电子海图设备和两个433MHz射频通讯模块；The law enforcement ship terminal includes a CPU and a positioning module connected to the CPU, a mobile communication module, an electronic chart device and two 433MHz radio frequency communication modules;
作业船终端包括CPU及分别与CPU连接的定位模块、数据存储模块、和两个433MHz射频通讯模块；电子海图设备采用一台工业级平板电脑；执法船终端的移动通讯模块为GPRS移动通讯模块；执法船终端与作业船终端的定位模块均采用BDS/GPS双模定位模块；The operation ship terminal includes a CPU and a positioning module, a data storage module, and two 433MHz radio frequency communication modules respectively connected to the CPU; the electronic chart equipment uses an industrial-grade tablet computer; the mobile communication module of the law enforcement ship terminal is a GPRS mobile communication module ;The positioning modules of the law enforcement ship terminal and the operation ship terminal both use BDS/GPS dual-mode positioning modules;
执法船终端与作业船终端的定位模块分别用于获取各自船舶的定位数据，执法船终端的两个433MHz射频通讯模块与作业船终端的两个433MHz射频通讯模块相互之间可按照双通道通讯协议进行局域通讯；所述执法船终端的移动通讯模块通过无线网络与后台服务器建立连接；所述作业船的存储模块用于暂存其定位数据；所述后台服务器存储有船舶和执法数据，执法船终端与各作业船终端均存储有各自唯一识别的ID编码；所述执法船中的电子海图设备用于在海图上实时显示作业船终端和执法船终端定位数据。The positioning modules of the law enforcement ship terminal and the operation ship terminal are used to obtain the positioning data of their respective ships. The two 433MHz radio frequency communication modules of the law enforcement ship terminal and the two 433MHz radio frequency communication modules of the operation ship terminal can communicate with each other according to the dual-channel communication protocol. Perform local area communication; the mobile communication module of the law enforcement ship terminal establishes a connection with the back-end server through the wireless network; the storage module of the operation ship is used to temporarily store its positioning data; the back-end server stores ship and law enforcement data, and law enforcement The ship terminal and each operation ship terminal each store their own unique ID code; the electronic chart device in the law enforcement ship is used to display the positioning data of the operation ship terminal and the law enforcement ship terminal on the chart in real time.
如图2所示，本发明还揭示了一种基于射频的船舶身份自动识别与执法巡检方法，包括上述的执法船终端与作业船终端在周期T内，采用双通道协议并按照该协议规定的时序进行局域通讯，该时序含通讯的最小间隔时间t，周期T分为时间t1、t2、t3、t4，所述执法船终端的一个433MHz射频通讯模块作为执法船发送模块负责信息广播、另一个433MHz射频通讯模块作为执法船接收模块负责信息接收；所述作业船终端的一个433MHz射频通讯模块作为作业船发送模块负责信息广播、另一个433MHz射频通讯模块作为作业船接收模块负责信息接收，该方法具体包括以下步骤：As shown in Figure 2, the present invention also discloses a radio frequency-based automatic ship identity identification and law enforcement inspection method, including the above-mentioned law enforcement ship terminal and operation ship terminal within the period T, using a dual-channel protocol and in accordance with the provisions of the protocol Local area communication is carried out in a timing sequence that includes the minimum communication interval time t. The period T is divided into times t 1 , t 2 , t 3 , and t 4 . A 433MHz radio frequency communication module at the terminal of the law enforcement ship serves as the law enforcement ship sending module. Responsible for information broadcast, another 433MHz radio frequency communication module is responsible for information reception as a law enforcement ship receiving module; a 433MHz radio frequency communication module of the operation ship terminal is responsible for information broadcast as a work ship sending module, and the other 433MHz radio frequency communication module is used as a work ship receiving module Responsible for receiving information, this method specifically includes the following steps:
步骤一、从通讯的起始时刻开始，在规定的时间t1内每隔时间t执法船终端广播一次查询指令，t＜t1，执法船终端的发送模块将该查询指令广播出去，执法船通讯范围内的作业船终端从起始时刻开始接收广播信息；若作业船的接收模块接收到执法船终端的广播信息，则等待时间t1后作业船终端发送模块发送器ID编码给执法船终端并休眠至t1时间结束时刻，此时执法船终端的接收模块接收来自作业船中的ID编码，若作业船的接收模块未接收广播信息，则继续保持接收状态；Step 1. Starting from the starting time of communication, within the specified time t 1 , the law enforcement ship terminal broadcasts a query command every time t, t < t 1 , the sending module of the law enforcement ship terminal broadcasts the query command, and the law enforcement ship The operation ship terminal within the communication range begins to receive broadcast information from the starting time; if the operation ship's receiving module receives the broadcast information from the law enforcement ship terminal, the operation ship terminal sends the module transmitter ID code to the law enforcement ship terminal after waiting time t 1 And sleep until the end of time t 1. At this time, the receiving module of the law enforcement ship terminal receives the ID code from the work ship. If the receiving module of the work ship does not receive the broadcast information, it will continue to maintain the receiving state;
步骤二、从规定时间t1结束后的某一时刻开始，执法船终端发送模块在规定的时间t2内每隔时间t’轮询向各作业船终端发送采集指令，向每条作业船发送的次数为n1，各作业船终端中的接收模块接收到采集指令后依次向执法船终端发送巡检信息；执法船终端收到作业船中的巡检信息后向作业船终端发送确认信息，作业船终端收到确认信息后休眠；Step 2: Starting from a certain moment after the end of the specified time t 1 , the law enforcement ship terminal sending module polls and sends collection instructions to each operation ship terminal every time t' within the specified time t 2 , and sends the collection instructions to each operation ship. The number of times is n 1. After receiving the collection instructions, the receiving module in each operation ship terminal sends inspection information to the law enforcement ship terminal in sequence; after receiving the inspection information in the operation ship, the law enforcement ship terminal sends confirmation information to the operation ship terminal. The work vessel terminal goes to sleep after receiving the confirmation message;
步骤三、从规定时间t2结束后的某一时刻开始，在规定的时间t3内每隔时间t执法船终端广播一次查询指令，t＜t3，执法船终端的发送模块将该查询指令广播出去，执法船通讯范围内的作业船终端从起始时刻开始接收广播信息；若作业船的接收模块接收到执法船终端的广播信息，则等待时间t3后作业船终端发送模块发送器ID编码给执法船终端并休眠至t3时间结束时刻，此时执法船终端的接收模块接收来自作业船中的ID编码，若作业船的接收模块未接收广播信息，则继续保持接收状态；Step 3: Starting from a certain moment after the end of the specified time t 2 , within the specified time t 3 , the law enforcement ship terminal broadcasts a query command every time t, t < t 3 , and the sending module of the law enforcement ship terminal transmits the query command Broadcast out, the operation ship terminal within the communication range of the law enforcement ship starts to receive the broadcast information from the starting time; if the operation ship's receiving module receives the broadcast information from the law enforcement ship terminal, the operation ship terminal sends the module transmitter ID after waiting time t 3 The code is given to the law enforcement ship terminal and sleeps until the end of time t3 . At this time, the receiving module of the law enforcement ship terminal receives the ID code from the operation ship. If the receiving module of the operation ship does not receive the broadcast information, it will continue to maintain the receiving state;
步骤四、从规定时间t3结束后的某一时刻开始，执法船终端发送模块在规定的时间t4内每隔时间t’依次向各作业船终端发送采集指令，向每条作业船发送的次数为n2，各作业船中的接收模块接收到采集指令后依次向执法船终端发送巡检信息；执法船终端收到作业船中的巡检信息后向作业船终端发送确认信息，作业船终端收到确认信息后休眠至下一周期。Step 4: Starting from a certain moment after the end of the specified time t 3 , the law enforcement ship terminal sending module sends collection instructions to each operation ship terminal every time t' within the specified time t 4 , and sends the collection instructions to each operation ship. The number of times is n 2. After receiving the collection instructions, the receiving module in each operation ship sends inspection information to the law enforcement ship terminal in sequence; after receiving the inspection information in the operation ship, the law enforcement ship terminal sends confirmation information to the operation ship terminal. After receiving the confirmation message, the terminal sleeps until the next cycle.
本发明执法船终端与作业船终端均含有两个433MHz射频通讯模块，通过该通讯模块采用双通道协议通讯进行局域通信，双通道协议实现是基于硬件和一定参数设定的基础上实现的，通讯时间间隔最小单位t(200ms),即两条信息发送间隔需要在200ms以上才可以避免两条信息的碰撞错误；执法船和作业船必须通过北斗授时系统统一授时；时间间隔单位在200ms下，双通道协议433MHz射频通讯模块必须满足以下条件：Both the law enforcement ship terminal and the operation ship terminal of the present invention contain two 433MHz radio frequency communication modules. Dual-channel protocol communication is used for local area communication through the communication module. The dual-channel protocol implementation is based on hardware and certain parameter settings. The minimum unit of communication time interval is t (200ms), that is, the interval between sending two messages needs to be more than 200ms to avoid collision errors between the two messages; law enforcement ships and operation ships must be timed uniformly through the Beidou timing system; the time interval unit is 200ms. The dual-channel protocol 433MHz radio frequency communication module must meet the following conditions:
信号带宽设置取值：500KHZSignal bandwidth setting value: 500KHZ
前置FEC纠码率取值：CR 4/5Pre-FEC code correction rate value: CR 4/5
扩频因子取值：9Spreading factor value: 9
信道设置取值：4Channel setting value: 4
发射功率取值：20dBmTransmit power value: 20dBm
串口波特率取值：38400Serial port baud rate value: 38400
以下为一执法船巡检实例，作业船为渔船，双通道协议的下行是指执法船终端向作业船终端发送信息，上行是指作业船终端向执法船终端发送信息，上行与下行信息分别通过433MHz射频通讯模块的不同通讯通道进行传输；执法周期时间T为1分钟，协议各时区段任务明细如表1：The following is an example of an inspection of a law enforcement vessel. The operating vessel is a fishing vessel. The downlink of the dual-channel protocol means that the terminal of the law enforcement vessel sends information to the terminal of the operating vessel, and the upstream means that the terminal of the operating vessel sends information to the terminal of the law enforcement vessel. The uplink and downlink information pass through Transmission is carried out through different communication channels of the 433MHz radio frequency communication module; the law enforcement cycle time T is 1 minute, and the task details of each time zone of the agreement are as shown in Table 1:
双通道通讯协议是基于执法船终端与作业船终端分别带有两个433MHz射频通讯模块，在下行时，执法船终端的发送模块开启广播发送模式，作业船终端的接收模块与其建立通讯通道；在上行时，作业船终端的发送模块开启，执法船终端的接收模块与其建立通讯通道，从而进行双通道通讯，这种通讯规则中上行与下行分别采用不同的通讯通道，可完全避免两条信息产生碰撞错误及其导致的误检，而且上行与下行信息传输可同时进行，巡检效率高。The dual-channel communication protocol is based on the law enforcement ship terminal and the operation ship terminal each having two 433MHz radio frequency communication modules. When going downlink, the transmitting module of the law enforcement ship terminal turns on the broadcast transmission mode, and the receiving module of the operation ship terminal establishes a communication channel with it; When uplinking, the sending module of the work boat terminal is turned on, and the receiving module of the law enforcement boat terminal establishes a communication channel with it to perform dual-channel communication. In this communication rule, different communication channels are used for uplink and downlink, which can completely avoid the generation of two messages. Collision errors and resulting misdetections are eliminated, and uplink and downlink information transmission can be carried out simultaneously, making inspection efficient.
上述实施例和图式并非限定本发明的产品形态和式样，任何所属技术领域的普通技术人员对其所做的适当变化或修饰，皆应视为不脱离本发明的专利范畴。The above-mentioned embodiments and drawings do not limit the product form and style of the present invention. Any appropriate changes or modifications made by those of ordinary skill in the art shall be regarded as not departing from the patent scope of the present invention.
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