CN109598165A - A kind of railcar positioning system and method based on the bis- readers of high-frequency RF ID - Google Patents
A kind of railcar positioning system and method based on the bis- readers of high-frequency RF ID Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/10009—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves
- G06K7/10366—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves the interrogation device being adapted for miscellaneous applications
- G06K7/10415—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves the interrogation device being adapted for miscellaneous applications the interrogation device being fixed in its position, such as an access control device for reading wireless access cards, or a wireless ATM
- G06K7/10425—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves the interrogation device being adapted for miscellaneous applications the interrogation device being fixed in its position, such as an access control device for reading wireless access cards, or a wireless ATM the interrogation device being arranged for interrogation of record carriers passing by the interrogation device
- G06K7/10435—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves the interrogation device being adapted for miscellaneous applications the interrogation device being fixed in its position, such as an access control device for reading wireless access cards, or a wireless ATM the interrogation device being arranged for interrogation of record carriers passing by the interrogation device the interrogation device being positioned close to a conveyor belt or the like on which moving record carriers are passing
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
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Abstract
The invention discloses a kind of railcar positioning system and method based on the bis- readers of high-frequency RF ID, including guide rail platform, the guide rail platform is fixed on corresponding mounting surface by supporting mechanism, running track is fixed at the top of the guide rail platform, the running track is equipped with railcar, the railcar includes loading mechanism and head mechanism, the loading actuator base is equipped with the first reader, the head mechanism is equipped with the second reader, the top two sides of the guide rail platform are respectively arranged with several left rail positioning labels and right rail positioning label, first reader and the second reader are respectively positioned on the top of the left rail positioning label and right rail positioning label.The present invention can have higher positioning accuracy to railcar, environmental disturbances can be effectively reduced, the serious forgiveness of raising system, simultaneity factor can carry out failure Preliminary detection when being influenced by weather, environment and emergency case to reader/tag, and have lower cost.
Description
Technical field
It is more particularly to a kind of to read based on high-frequency RF ID is bis- the present invention relates to a kind of track placer and method
Read the railcar positioning system and method for device.
Background technique
It is well known that RFID technique is also known as Radio Frequency Identification Technology, it is a kind of communication technology, can be identified by radio signals
Specific objective simultaneously reads and writes related data, includes reader and label in system, and label belongs to a kind of transponder, and each label has
Unique electronic code, is attached on object and identifies target object, and reader is made of antenna, coupling element and chip, it
It is a kind of equipment that label information can be read, basic functional principle are as follows: after the tag enters the magnetic field, receive penetrating for reader sending
Frequency signal sends out the product information being stored in label chip by induced current energy obtained, and reader reads letter
After ceasing and decoding, so that it may send to Central Information System and carry out related data processing, RFID technique is widely used in library, door
Access control system, food safety are traced to the source.
In Orbital Transport Systems, RFID technique can be also used, railcar device is positioned, but determining on the market at present
There is biggish vacancies for position method and positioning device, and in the Orbital Transport Systems of hillside orchard, orchard worker has picked on mountain
Fruit needs the fruit that will have been picked to be placed in the compartment of mountain top railcar, by the warehouse under rail transport to mountain, in this way
Manpower can be effectively reduced to transport, but block the shadow transmitted to signal due to having branches and leaves inside the environment of hillside orchard
It rings, if speed is too fast, will lead to reader and have little time to identify label, data are not read, and vehicle is just opened over, is read in this way
Efficiency and accuracy are also low, and label fixed point location precision is limited, if increasing number of labels, cost is also greatly increased, due to positioning
Purpose be that the control system of control vehicle track running for convenience carries out subsequent processing data, judges data, than if any row
When the burst barrier such as people's process or domestic animal, emergency stop is needed, then railcar when driving to setting position, needs to carry out
Brake operating controls perception of the control system of trolley to car body position this when, needs higher precision, headstock cannot touch
For positioning device to barrier, and on the market in the case where there is environmental disturbances, the accuracy of data can not judge that reader goes out
Existing failure or tag damage, system background can not also be learnt.
Therefore, a kind of RFID positioning device and method suitable for hillside orchard is designed, is that those skilled in the art need
It solves the problems, such as.
Summary of the invention
In view of this, the present invention provides a kind of railcar positioning system and method based on the bis- readers of high-frequency RF ID.
To achieve the goals above, the present invention adopts the following technical scheme:
In a first aspect, the present invention provides a kind of railcar positioning systems based on the bis- readers of high-frequency RF ID, including lead
Rail platform, wherein
The guide rail platform is fixed on corresponding mounting surface by supporting mechanism, is fixed with operation rail at the top of the guide rail platform
Road, the running track are equipped with railcar, and the railcar includes loading mechanism and head mechanism, and the loading mechanism passes through
Bindiny mechanism connects the head mechanism, and the loading actuator base is equipped with the first reader, and the head mechanism is equipped with
Second reader, the top two sides of the guide rail platform are respectively arranged with several left rail positioning labels and right rail positioning label, described
First reader and the second reader are respectively positioned on the top of the left rail positioning label and right rail positioning label.
By using above-mentioned technical proposal, the present invention overcomes the defects of the prior art, provide a kind of based on high frequency
The railcar positioning system of the bis- readers of RFID can have higher positioning accuracy to railcar body, can effectively reduce
Environmental disturbances, improve the serious forgiveness of system, and simultaneity factor can be to positioning number when being influenced by weather, environment and emergency case
According to being judged, failure Preliminary detection is able to carry out to reader/tag, and there is lower cost.
Preferably, the supporting mechanism includes fixing piece, and the fixing piece has multiple and is respectively arranged at the guide rail platform
Two sides, through there is whorl brace rod, one end of the whorl brace rod connects the operation for the upper interior of the fixing piece
Track is provided with the adjustment knobs for fixing the whorl brace rod, the bottom of the fixing piece at the top of the fixing piece
Portion is provided with support column.
Above-mentioned supporting mechanism not only realizes the bottom support for guide rail platform, but also realizes guide rail platform and running track
Between be connected and fixed.
Preferably, it is correspondingly arranged between the support column of guide rail platform two sides and crossbeam is installed, the support column
Bottom be provided with firm banking.Crossbeam and firm banking structure ensure that the installation of guide rail platform consolidates effect.
Preferably, the loading mechanism includes the first anti-side focusing device for being coated on the running track outer surface, described
The bottom of first anti-side focusing device is equipped with first gear, is provided with tote box at the top of the first anti-side focusing device, described
The bottom other end of tote box is provided with the second anti-side focusing device, and the bottom of the second anti-side focusing device is equipped with the second tooth
Wheel, the running track bottom outer surface are provided with track rack gear, the first gear, second gear and the track rack gear phase
Engagement, the tote box connect the head mechanism by the bindiny mechanism close to the side of the described second anti-side focusing device,
The tote box bottom is equipped with the first reader.
Preferably, the head mechanism includes brake, and one end of the brake connects the bindiny mechanism, and in addition one
End is provided with worm gear mechanism, and the bottom of the worm gear mechanism is provided with transmission device, the side of the transmission device
Guide clamping wheel is installed, battery case is installed at the top of the guide clamping wheel, control is provided at the top of the battery case
Mechanism, the battery case are equipped with the second reader far from the side of worm gear mechanism.
Preferably, first reader and the second reader are electrically connected with the control mechanism.
Preferably, the working frequency of first reader and the second reader is 13.56MHz.
Preferably, the left rail positioning label and right rail positioning label are anti-metal class ceramics label, inside be all provided with
It is equipped with label data layer, the bottom of the label data layer is provided with Double-face adhesive glue-line.
Second aspect, the present invention provides a kind of railcar localization methods based on the bis- readers of high-frequency RF ID, including such as
Lower step:
(a) installs the first reader in the tote box bottom of railcar, and second is installed at the head mechanism of railcar and is read
Device is read, sets d for the distance between the first reader and the second reader；
(b) is laid with left rail positioning label at the top of running track and right rail positions label, between side positioning label
Distance is set as D；
(c) the first reader of and the second reader are when by the same positioning label, meeting generation time interval T, control
Processor in mechanism records time interval T, and by the spacing d between two readers and by same label
Time interval T, approximate calculation obtain the instantaneous velocity v of errant vehicle, its calculation formula is:
V=d/T；
(d) assumes that first label that reader is read is label A, and second label is label B, and third label is
Label C, if after the second reader reads label A, after time interval T, the first reader can also read label A, Zhi Houruo
It is t1 that railcar, which continues running time, and the processor on control mechanism records time t1；
(e) instantaneous velocity v of railcar when by label A is calculated through the above steps (c) in, can calculate
The position being currently in the headstock of railcar is to default d1 < (D+d), calculation formula herein at the front d1 apart from label A
Are as follows:
D1=d+v*t1；
If (f) when d1 > (D+d), illustrating that the first reader has read the subsequent label B of label A, then headstock and mark
Label the distance between B d2 is total to by the time t2 of instantaneous velocity v2 and railcar after label B of the railcar when the label B
It is same to determine, its calculation formula is:
D2=d+v2*t2；
(g) and so on, if when d1 > (2D+d), illustrating that the first reader has read the subsequent label C of label B,
Then the distance between headstock and label C d3 are by instantaneous velocity v3 of the railcar when the label C and railcar after label C
Time t3 is codetermined, its calculation formula is:
D3=d+v3*t3；
(h) can also be perceived its location information when railcar body is between two labels according to the above method.
Preferably, the size of the distance between first reader and the second reader d are railcar vehicle body total length
Half or so.
Preferably, with 3-4 times that the size of the distance between side positioning label D is the railcar vehicle body total length.
In a kind of above-mentioned railcar localization method based on the bis- readers of high-frequency RF ID, the spacing d between two readers
Smaller, the positioning accuracy of the railcar is higher, concrete principle are as follows:
After the second reader of headstock detects label A, after time T, the first reader of tote box bottom also by
This label detection, at this time can with approximate calculation errant vehicle pass through this label instantaneous velocity v, at this time the position of headstock be located at away from
At the position d from label A, when headstock moves on, but is not detected by label B also, i.e., railcar body is located at label A
When between label B, control mechanism processor be can recorde down since the first reader detects label A that time, later
The time t1 that railcar was walked, control system by calculate it can be concluded that headstock at present with label A distance d1, calculation formula
For d1=d+v*t1, then the position of headstock is at d1 in front of label A at this time, error at this time mostlys come from vehicle
Body passes through the speed v of label A, and the error of speed v is from the distance between the first reader, the second reader d, and d is smaller, then
Instantaneous velocity speed v current closer to railcar notices that speed v is actually railcar travel distance d phase at this label
Between average speed, if d much smaller than positioning label between interval D, positioning accuracy of the invention can much higher than label pinpoint
Positioning accuracy.
Compared with prior art, beneficial effects of the present invention are as follows:
The present invention can be surveyed by the data interaction of the two high frequency RFID readers of the first reader and the second reader
Instantaneous velocity when errant vehicle is by positioning label further calculates acquisition railcar on the basis of realizing fixed point location
In-orbit real time position, improve positioning accuracy；Positioning label with larger spacing can be covert reduction system be positioned to
This；The cooperation that the reader arranged side by side and double of label and right rail positioning label is positioned by left rail, effectively reduces environment
The influences of the factors to location data such as interference, substantially increase the serious forgiveness of system；In label data layer bottom, setting is two-sided
Sticking adhesive layer can repeat to replace；System can judge location data when being influenced by weather, environment and emergency case,
Failure Preliminary detection is able to carry out to reader/positioning label, reliability, the integrality of system greatly promote, convenient for making for a long time
With.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is the overall structure diagram of present system；
Fig. 2 is facilities schematic diagram of the present invention positioning label in running track；
Fig. 3 is the schematic diagram of positioning label in left and right on reader identification guide rail platform of the present invention；
Fig. 4 is positioning label double sided stick adhesive structural schematic diagram of the invention；
Fig. 5 is positioning label level structural schematic diagram of the invention；
Fig. 6 is reader internal structural schematic diagram of the invention；
Fig. 7 is positioning inside tags theory structure schematic diagram of the invention；
Fig. 8 is RFID identification location data transmission principle figure of the invention；
Fig. 9 is that reader spacing and positioning label put spacing contrast schematic diagram；
Figure 10 is positioning schematic diagram when railcar is located between two positioning labels (between label A and label B)；
Figure 11 is programming flowchart inside the control system of the invention；
In figure: 1, guide rail platform；2, running track；3, left rail positions label；4, right rail positions label；5, fixing piece；6, it props up
Dagger；7, firm banking；8, crossbeam；9, whorl brace rod；10, adjustment knobs；11, track rack gear；12, the first anti-side upside-down mounting
It sets；13, the second anti-side focusing device；14, first gear；15, second gear；16, tote box；17, bindiny mechanism；18, brake；
19, worm gear mechanism；20, transmission device；21, control mechanism；22, battery case；23, guide clamping wheel；24, it second reads
Device；25, the first reader；26, label data layer；27, Double-face adhesive glue-line.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Wherein identical label all refers to identical component in attached drawing.
In addition, if the detailed description of known technology is then omitted it for showing the invention is characterized in that unnecessary.
It should be noted that word "front", "rear" used in the following description, "left", "right", "up" and "down" refer in attached drawing
Direction, word "inner" and "outside" refer respectively to the direction towards or away from geometric center of specific component.
Embodiment
As shown in figs. 1-11, the invention discloses a kind of railcar positioning system based on the bis- readers of high-frequency RF ID, packets
Include guide rail platform 1, wherein
Guide rail platform 1 is fixed on corresponding mounting surface by supporting mechanism, and running track 2 is fixed at the top of guide rail platform 1, fortune
Row track 2 is equipped with railcar, and railcar includes loading mechanism and head mechanism, and loading mechanism connects vehicle by bindiny mechanism 17
Head mechanism, loading actuator base are equipped with the first reader 25, and head mechanism is equipped with the second reader 24, the top of guide rail platform 1
Portion two sides are respectively arranged with several left rail positioning labels 3 and right rail positioning label 4, and the first reader 25 and the second reader 24 are
The top of label 3 and right rail positioning label 4 is positioned positioned at left rail.
In order to advanced optimize technical solution of the present invention, above-mentioned supporting mechanism includes fixing piece 5, fixing piece 5 have it is multiple and
The two sides of guide rail platform 1 are respectively arranged at, the upper interior of fixing piece 5, which runs through, whorl brace rod 9, one end of whorl brace rod 9
Running track 2 is connected, the top of fixing piece 5 is provided with the adjustment knobs 10 for fixed thread connecting rod 9, fixing piece 5
Bottom is provided with support column 6, is correspondingly arranged between the support column 6 of 1 two sides of guide rail platform and is equipped with crossbeam 8, the bottom of support column 6
It is additionally provided with firm banking 7.
In order to advanced optimize technical solution of the present invention, above-mentioned loading mechanism includes being coated on 2 outer surface of running track
First anti-side focusing device 12, the bottom of the first anti-side focusing device 12 are equipped with first gear 14, and top is provided with tote box 16, carry
The bottom other end of object case 16 is provided with the second anti-side focusing device 13, and the bottom of the second anti-side focusing device 13 is equipped with second gear
15,2 bottom outer surface of running track is provided with track rack gear 11, and first gear 14, second gear 15 and 11 phase of track rack gear are nibbled
It closes, tote box 16 connects head mechanism, 16 bottom of tote box by bindiny mechanism 17 close to the side of the second anti-side focusing device 13
First reader 25 is installed.
In order to advanced optimize technical solution of the present invention, above-mentioned head mechanism includes brake 18, one end of brake 18
Bindiny mechanism 17 is connected, other end is provided with worm gear mechanism 19, and the bottom of worm gear mechanism 19 is provided with transmission dress
20 are set, the side of transmission device 20 is equipped with guide clamping wheel 23, and the top of guide clamping wheel 23 is equipped with battery case 22, battery
The top of case 22 is provided with control mechanism 21, and battery case 22 is equipped with the second reader far from the side of worm gear mechanism 19
24。
In order to advanced optimize technical solution of the present invention, above-mentioned first reader 25 and the second reader 24 with control machine
Structure 21 is electrically connected, and the control system chip model that control mechanism 21 is selected is STM32F103.
In entire hillside orchard, some orbital segment roads are very rugged, and there are many branches and leaves, and emergency case is more, need the row that slows down
It sails, the positioning label in this section of distance can be marked in control mechanism 21, when railcar reaches preset orbital segment
Afterwards, two readers can read corresponding location information, and control mechanism 21 can control car body progress after obtaining location information
It runs slowly；Orbital segment also, road is very smooth, unpatrolled, then when railcar drives to this section of distance, two readings
When device reads the positioning label of corresponding position, control mechanism 21 obtains location information, will control car body at this time and slightly accelerate to go
It sails, improves conevying efficiency.
Accelerating region and deceleration area, which is arranged, can effectively improve the conevying efficiency of railcar；Meanwhile control system is obtaining
After the location information, the host computer that location information can be sent to orchard worker user by certain communication technology is (mobile whole
End), orchard worker user can obtain the in-orbit location information of railcar in real time, can carry out dynamically track to car body, improve
The reliability and safety of transportational process.
In order to advanced optimize technical solution of the present invention, the working frequency of above-mentioned first reader 25 and the second reader 24
It is 13.56MHz, is typical high frequency reader, compared to ultrahigh frequency readers, cost is lower, and is able to satisfy positioning completely
It is required that.
In order to advanced optimize technical solution of the present invention, above-mentioned left rail positioning label 3 and right rail positioning label 4 are anti-gold
Belong to class ceramics label, inside be provided with label data layer 26, the bottom of label data layer 26 is provided with Double-face adhesive glue-line 27.
Left rail positioning label 3 and right rail positioning label 4 are arranged on track according to interval D, and D takes 8 meters or so.Number of tags
It is that uniquely, artificial is written corresponding location information by reader according to the data in layer 26, from the off, first group left
Rail positioning label 3 and right rail positioning label 4 can be written into 001A and 001B respectively, indicate location information are as follows: apart from 0 meter of starting point
Place；Second group of left rail positioning label 3 and right rail positioning label 4 can be written into 002A and 002B respectively, indicate location information are as follows: away from
At from D=8 meters of starting point (assuming that 3 meters of vehicle overall length)；The left rail positioning label 3 of third group and right rail positioning label 4 can be written into respectively
003A and 003B, and so on, left rail positioning label 3 and right rail positioning label 4 are equivalent to terrestrial reference one by one, 8 meters are divided into,
Car body goes to corresponding position, so that it may read corresponding location information, while Double-face adhesive glue-line 27 possesses superpower viscosity,
Even to be pasted on the guide rail platform 1 of running track 2 (preferably by 1 meter), Double-face adhesive glue-line 27 can remove replacement, recycling, can
The in-orbit position adjustment of positioning label, each group of left rail are carried out according to the physical length of railcar or the specific requirements of orchard worker user
The interval for positioning label 3 and right rail positioning label 4 is adjustable, adapts to different vehicle commanders, system flexibility is stronger.Number 001A
The same position is all indicated with 001B, a reader reads the two labels, as long as reading any one, so that it may learn at this time
Location information, improve the serious forgiveness of system.
Compare references by two readers, if some reader due to weather, environment and some emergency cases etc.,
The data that label data that reader is read and another reader sense there is a situation where inconsistent, illustrate this reader
It is out of joint, the comparison reference of data is read by two readers, can be detected in system background, which reader goes out
Problem can more be such that entire positioning system completely, reliably runs, convenient for being used for a long time.
The invention also discloses a kind of railcar localization methods based on the bis- readers of high-frequency RF ID, the specific steps are as follows:
(a) installs the first reader 25 in 16 bottom of tote box of railcar, the installation the at the head mechanism of railcar
Two readers 24 set d (as shown in Figure 9) for the distance between the first reader 25 and the second reader 24, according to mountainous region
The vehicle commander of railcar is generally 2.5 meters or so, and the size of d is the half or so of vehicle body total length, i.e. d is 1-1.5 meters desirable；
(b) is laid with left rail positioning label 3 at the top of running track 2 and right rail positions label 4, with side positioning label it
Between distance be set as D (as shown in Figure 9), set 3-4 times of vehicle commander for D, i.e. D is 8 meters desirable；
(c) the first reader 25 and the second reader 24 are when by the same positioning label, meeting generation time interval T,
Processor on control mechanism 21 records time interval T, and by the spacing d between two readers and by same
The time interval T of label, approximate calculation obtain the instantaneous velocity v of errant vehicle, its calculation formula is:
V=d/T；
(d) assumes that first label that reader is read is label A (i.e. A in Fig. 9), and second label is label B
(i.e. B in Fig. 9), third label are label C, if after the second reader 24 reads label A, after time interval T, first
Reader 25 can also read label A, if it is t1 that railcar, which continues running time, later, the processor on control mechanism 21 is by the time
T1 is recorded；
(e) instantaneous velocity v of railcar when by label A is calculated through the above steps (c) in, can calculate
The position being currently in the headstock of railcar is to default d1 < (D+d), calculation formula herein at the front d1 apart from label A
For (as shown in Figure 10):
D1=d+v*t1；
If (f) when d1 > (D+d), it is subsequent to illustrate that the first reader 25 of 16 bottom of tote box has read label A
Label B, then instantaneous velocity v2 and railcar when the distance between headstock and label B d2 are passed through label B by railcar pass through mark
Time t2 after label B is codetermined, its calculation formula is:
D2=d+v2*t2；
(g) and so on, if when d1 > (2D+d), illustrating that the first reader 25 has read the subsequent label of label B
C, then the distance between headstock and label C d3 are by instantaneous velocity v3 of the railcar when the label C and railcar after label C
Time t3 codetermine, its calculation formula is:
D3=d+v3*t3；
(h) can also be perceived its location information when railcar body is between two labels according to the above method.
According to the space D between positioning label, can calculate railcar fixed point location precision is D=8 meters.According to the present invention
Method can also be perceived its location information when railcar body is between two positioning labels.For example, working as headstock second
After reader 24 detects certain label (if for label A), after time T, the first reader 25 of 16 bottom of tote box
It is detected by this label, the instantaneous velocity v of this label can be passed through with approximate calculation errant vehicle at this time, the position of headstock is located at this time
At the position d apart from label A, when headstock moves on, but is not detected by label B also, i.e., railcar body is located at mark
When signing between A and label B, control mechanism 21 be can recorde down since the first reader 25 detects label A that time, later
The time t1 that railcar was walked, control mechanism 21 is by calculating it can be concluded that headstock calculates public at present with label A distance d1
Formula is d1=d+v*t1, then the position of headstock is at d1 in front of label A at this time, error at this time is mostly come from
Car body passes through the speed v of label A, and the error of speed v is from the distance between the first, second reader d, and d is smaller, then speed
Instantaneous velocity v current closer to railcar notices that speed v is actually railcar during travel distance d at this label
Average speed, if d takes 1 meter, much smaller than the interval D between positioning label, therefore positioning accuracy of the invention can be much higher than label
Fixed point location precision.
The present invention also has the following beneficial effects: by using above-mentioned technical proposal
(1), double readers increase the robustness of system, reliability.
In the process of moving, mountain environment is complicated, and trees are numerous, and branch may be stuck in the vehicle bottom of railcar for railcar,
Reader is blocked, keeps the information transmitting of reader and tracks positioned label impacted, single reader is likely to occur reading not
The problem of to data；If adding a reader, can increase system appropriate reliability, have between two readers certain
Distance, it is lower that they are blocked the probability blocked by branch leaf simultaneously, therefore system can be made to have using two readers
Higher robustness and reliability.
(2), instantaneous velocity when vehicle track running can be obtained.
Two readers are placed on the different location (such as headstock and compartment in the middle part of) of railcar, railcar in the process of moving,
The time difference T for detecting the same label divided by two readers using two reader spacing d (d takes 1 meter or so), can obtain
Average speed v of the errant vehicle Jing Guo the distance, since the distance between two readers are much smaller than the length of whole track, therefore
This average speed v can approximation regard the currently running instantaneous velocity of railcar as, precision depends on the size of d.
(3), on the basis of realizing fixed point location, positioning accuracy is improved.
General railcar positioning accuracy in orbit depends on the distance between positioning label D, and distance D is bigger, precision
It is lower.But when real-time speed when calculating railcar and passing through label, according to railcar pass by after this label when
Between, calculate the distance d1=d+v*t1 that headstock is more than this label, the position of label is headstock at this time along with distance d1
Position, positioning accuracy at this time is mainly influenced by distance d between two readers and processor reads data, calculating data
Influence, therefore the position error is much smaller than positioning the distance between label D.
(4), positioning the distance between label D can suitably increase, and reduce cost.
The laying work of label is positioned in the track of orchard generally by being accomplished manually, if interval D is expanded to 3 meters, 8 by 1.5 meters
Rice, even more big, the label that can reduce more than half is laid with workload.According to the technique and scheme of the present invention, increase positioning label
The distance between D will not influence the positioning accuracy of the system, the precision of double reader positioning systems depends primarily on two readings
The distance between device d.Therefore, while improving positioning accuracy using double readers, increase tracks positioned label appropriate it
Between distance D, cost of labor can be effectively reduced.
(5), double reader positioning systems have fault detection capability.
Railcar in the process of moving, if branch is caught in vehicle bottom, blocks some reader or some reader by day
Gas, branches and leaves etc. influence and lead to not work normally, read less than data, then positioning system is by reading two readers
Data compare, and can find that there are failure, cisco unity malfunctions for the reader in time.User learns positioning system work shape
After state, it can control parking, place under repair to corresponding reader.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of railcar positioning system based on the bis- readers of high-frequency RF ID, including guide rail platform (1), which is characterized in that described
Guide rail platform (1) is fixed on corresponding mounting surface by supporting mechanism, is fixed with running track (2) at the top of the guide rail platform (1),
The running track (2) is equipped with railcar, and the railcar includes loading mechanism and head mechanism, and the loading mechanism passes through
Bindiny mechanism (17) connects the head mechanism, and the loading actuator base is equipped with the first reader (25), the headstock machine
Structure is equipped with the second reader (24), the top two sides of the guide rail platform (1) be respectively arranged with several left rails positioning label (3) and
Right rail positions label (4), first reader (25) and the second reader (24) be respectively positioned on the left rail position label (3) and
The top of right rail positioning label (4).
2. a kind of railcar positioning system based on the bis- readers of high-frequency RF ID according to claim 1, it is characterised in that:
The supporting mechanism includes fixing piece (5), and the fixing piece (5) has two sides that are multiple and being respectively arranged at the guide rail platform (1),
For the upper interior of the fixing piece (5) through having whorl brace rod (9), one end of the whorl brace rod (9) connects the fortune
Row track (2) is provided with the adjustment knobs (10) for fixing the whorl brace rod (9) at the top of the fixing piece (5),
The bottom of the fixing piece (5) is provided with support column (6).
3. a kind of railcar positioning system based on the bis- readers of high-frequency RF ID according to claim 1, it is characterised in that:
It is correspondingly arranged between the support column (6) of guide rail platform (1) two sides and is equipped with crossbeam (8), the bottom of the support column (6)
Portion is provided with firm banking (7).
4. a kind of railcar positioning system based on the bis- readers of high-frequency RF ID according to claim 1, it is characterised in that:
The loading mechanism is coated on the first anti-side focusing device (12) of the running track (2) outer surface, the first anti-side
The bottom of focusing device (12) is equipped with first gear (14), is provided with tote box at the top of the first anti-side focusing device (12)
(16), the bottom other end of the tote box (16) is provided with the second anti-side focusing device (13), the second anti-side focusing device
(13) bottom is equipped with second gear (15), and running track (2) bottom outer surface is provided with track rack gear (11), described
First gear (14), second gear (15) are meshed with the track rack gear (11), and the tote box (16) is close to described second
The side of anti-side focusing device (13) connects the head mechanism, tote box (16) the bottom peace by the bindiny mechanism (17)
Equipped with the first reader (25).
5. a kind of railcar positioning system based on the bis- readers of high-frequency RF ID according to claim 1 or 4, feature exist
In: the head mechanism includes brake (18), and one end of the brake (18) connects the bindiny mechanism (17), and in addition one
End is provided with worm gear mechanism (19), and the bottom of the worm gear mechanism (19) is provided with transmission device (20), the biography
The side of dynamic device (20) is equipped with guide clamping wheel (23), is equipped with battery case at the top of the guide clamping wheel (23)
(22), it is provided with control mechanism (21) at the top of the battery case (22), the battery case (22) is far from the worm and gear machine
The side of structure (19) is equipped with the second reader (24).
6. a kind of railcar positioning system based on the bis- readers of high-frequency RF ID according to claim 5, it is characterised in that:
First reader (25) and the second reader (24) are electrically connected with the control mechanism (21).
7. a kind of railcar positioning system based on the bis- readers of high-frequency RF ID according to claim 1, it is characterised in that:
The working frequency of first reader (25) and the second reader (24) is 13.56MHz.
8. a kind of railcar positioning system based on the bis- readers of high-frequency RF ID according to claim 1, it is characterised in that:
It is anti-metal class ceramics label that left rail positioning label (3) and right rail, which position label (4), inside be provided with number of tags
According to layer (26), the bottom of the label data layer (26) is provided with Double-face adhesive glue-line (27).
9. a kind of railcar localization method based on the bis- readers of high-frequency RF ID, which comprises the steps of:
(a) installs the first reader (25) in tote box (16) bottom of railcar, the installation the at the head mechanism of railcar
The distance between the first reader (25) and the second reader (24) are set d by two readers (24)；
(b) is laid with left rail positioning label (3) and right rail positioning label (4) at the top of running track (2), with side positioning label
The distance between be set as D；
(c) the first reader of (25) and the second reader (24) are when by the same positioning label, meeting generation time interval T,
Processor on control mechanism (21) records time interval T, and by the spacing d between two readers and by same
The time interval T of one label, approximate calculation obtain the instantaneous velocity v of errant vehicle, its calculation formula is:
V=d/T；
(d) assumes that first label that reader is read is label A, and second label is label B, and third label is label
C, if after the second reader (24) reads label A, after time interval T, the first reader (25) can also read label A, it
If it is t1 that railcar, which continues running time, afterwards, the processor on control mechanism (21) records time t1；
(e) instantaneous velocity v of railcar when by label A is calculated through the above steps (c) in, and rail can be calculated
The position that the headstock of road vehicle is currently in is to default d1 < (D+d) herein at the front d1 apart from label A, its calculation formula is:
D1=d+v*t1；
If (f) when d1 > (D+d), illustrating that the first reader (25) has read the subsequent label B of label A, then headstock and mark
Label the distance between B d2 is total to by the time t2 of instantaneous velocity v2 and railcar after label B of the railcar when the label B
It is same to determine, its calculation formula is:
D2=d+v2*t2；
(g) and so on, if when d1 > (2D+d), illustrating that the first reader (25) has read the subsequent label C of label B,
Then the distance between headstock and label C d3 are by instantaneous velocity v3 of the railcar when the label C and railcar after label C
Time t3 is codetermined, its calculation formula is:
D3=d+v3*t3；
(h) can also be perceived its location information when railcar body is between two labels according to the above method.
10. a kind of railcar localization method based on the bis- readers of high-frequency RF ID according to claim 9, feature exist
In: the spacing d between two readers is smaller, and the positioning accuracy of the railcar is higher.
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| CN201811482522.4A CN109598165B (en) | 2018-12-05 | 2018-12-05 | Rail car positioning system and method based on high-frequency RFID double readers |
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