CN109947007A - A kind of physical state monitoring method and system based on Multi-sensor Fusion - Google Patents
A kind of physical state monitoring method and system based on Multi-sensor Fusion Download PDFInfo
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- CN109947007A CN109947007A CN201811364019.9A CN201811364019A CN109947007A CN 109947007 A CN109947007 A CN 109947007A CN 201811364019 A CN201811364019 A CN 201811364019A CN 109947007 A CN109947007 A CN 109947007A
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Abstract
The invention discloses a kind of physical state monitoring method and system based on Multi-sensor Fusion, which includes several intelligent labels, and each intelligent label is made of label shell, microcontroller, sensor module, wireless communication module and power module；Label shell is installed on the surface of transport cargo；Microcontroller is responsible for the task scheduling of whole system；Sensor module is interconnected by sensor, realizes the sensor data acquisition and event Modeling Calculation of mass transportation environment, including vibration, is hit, toppled over, falling, sealing off, the events such as temperature and humidity imbalance；Sensing data, time tag and logout are sent to monitoring mobile terminal or long-range cloud server by wireless communication module；The present invention can effectively monitor producer goods transmitting, during logistics transportation cargo real-time status and logout information, when cargo is impaired can and alarm, realize and accurately, effectively monitor transporting safely for sensitive product.
Description
Technical field
The invention belongs to logistics technology more particularly to a kind of physical state monitoring methods based on Multi-sensor Fusion
And system.
Background technique
In logistics progress, large-scale valuable cargo may because of the toppling over of cargo handling process, collide, the top in transportational process
The factors such as teetering is dynamic generate damage.Most of existing shockproof label product of anticollision is all based on the non intelligent of physical detection at present
Mode realizes that conveying people can not obtain the abnormal travel position of cargo in real time, can not determine duty in time when cargo is damaged
It lets people.Meanwhile the maturation of semiconductor technology also reduces the cost of electronic sensor with development, so that sensor obtains increasingly
It is extensive to use.
Summary of the invention
In view of the above-mentioned deficiencies in the prior art, it is an object of the present invention to provide a kind of logistics shape based on Multi-sensor Fusion
State monitoring method and system.The system is using low-power consumption microcontroller (Microcontroller Unit, MCU) as at core
Unit is managed, the inspection of abnormal travel position is realized by acceleration transducer, gyroscope, Temperature Humidity Sensor and photosensitive sensor
It surveys, and module transfer monitoring information by wireless communication, to achieve the purpose that carry out effective monitoring to the express mail in transportational process,
The problem of helping logistics company analysis to be damaged cargo, improves conevying efficiency.
The purpose of the present invention is achieved through the following technical solutions: a kind of physical state based on Multi-sensor Fusion
Monitoring method, method includes the following steps:
Step 1: 4 intelligent labels being respectively adhered on large cargo packaging four sides of inner casing, installation site is in table
The medium position on the upper side in face, is respectively labeled as 1,2,3, No. 4；
Step 2: intelligent label carries acceleration transducer, gyroscope, temperature sensor, humidity sensor and light sensor
Device, by acceleration transducer detection perpendicular to ground direction (direction x), be parallel to ground direction (Direction), perpendicular to table
The acceleration in face (direction z) three directions, accelerationWherein axi,ayi,aziRespectively
The x of i-th of sensor,The acceleration value in the direction z；It detected by gyroscope perpendicular to ground direction (direction x), be parallel to ground
Face direction (Direction), perpendicular to the tilt angle in surface (direction z) three directions, tilt angle Wherein θxi,θyi,θziThe x of respectively i-th sensor,The rotation angle component in the direction z；Pass through temperature sensor
Detect environment temperatureAmbient humidity is detected by humidity sensorEnvironmental light intensity l is detected by photosensitive sensori；
Step 3: the detection cycle of sensor is setIt is by the data input length of sensor acquisitionData buffer storage
In, data cached progress median filtering or moving average filter are pre-processed；
Step 4: setting and topple over event threshold as θTHR, falling event threshold is athr1, collision accident threshold value is athr2, vibration
Event threshold is ath3And cthr, thermal ataxia event threshold isHumidity lacks of proper care event threshold as hthrh,hthrl, tear open
Envelope event threshold is lthr, the judgement of event is carried out according to the pretreated data of step 3, decision criteria is as follows:
WhenWhen, event is toppled in judgement；
WhenWhen, event is fallen in judgement；
WhenWhen, determine the event that collides；
WhenWhen, counter count increases one certainly, whenWhen, counter
Count is from subtracting one, as count > cthrWhen, determine that vibration event occurs；
WhenOrWhen, determine that thermal ataxia event occurs；
WhenOrWhen, determine that humidity imbalance event occurs；
WhenWhen, determine that opening event occurs.
A kind of physical state monitoring system based on Multi-sensor Fusion, the system include several intelligent labels, Mei Gezhi
Energy label is made of label shell, microcontroller, sensor module, wireless communication module and power module；
The label shell is the carrier of all electronic devices, is a dismountable label black box, is mountable to object
Flow the surface of package interior or cargo；
The microcontroller is connected with sensor module and wireless communication module, is responsible for the task of whole system
Scheduling, including data acquisition control, Sensor Data Record and transmission, event judgement etc.；
The sensor module is used to detect the transportation environment of cargo, including shock conditions, inclination conditions, impact events,
Temperature and humidity, light conditions etc.；
Sensing data and cargo state are sent to by the wireless communication module for being communicated with the external world
Other intelligent labels, mobile terminal or long-range cloud server；
The power module is connected with microcontroller, sensor module and wireless communication module, is whole system
Power supply.
Further, when the microcontroller uses low-power consumption MCU to ensure that the operating time of label can satisfy transport
Between requirement；MCU is shipment events modeling, the number such as vibration, inclination, temperature and humidity, illumination for being sent by receiving sensor module
According to carry out event judgement, including vibration, hit, topple over, falling, sealing off, temperature and humidity imbalance etc. events；MCU also will the subsidiary time
The data and logout of label are stored in internal ROM.
Further, the sensor module is interconnected by sensor, realizes that the data of mass transportation environment are adopted
Collection, and model and judge for shipment events；Sensor module detects cargo tilt angle using gyroscope, is passed using acceleration
Sensor detects the impact and shock conditions of cargo, using the temperature and humidity of Temperature Humidity Sensor detection cargo ambient enviroment, uses
Photosensitive period records environment illumination intensity condition.
Further, cargo transport conditional information is stored in the microcontroller, including acceleration and tilt threshold, warm and humid
Spend the information such as threshold value, illumination threshold value；When range of the traffic condition beyond the setting of these threshold values, MCU module by wireless communication
Warning message is sent to remote cloud server or monitoring mobile terminal.
Further, when remote cloud server or monitoring mobile terminal receive the warning message of intelligent label transmission
Afterwards, it is tested immediately by logistics system transmission and requests to allow conveying people to handle unusual condition in time to conveying people depending on cargo, improved
Conevying efficiency.
Further, the wireless communication module is using bluetooth and NB-IoT technology；The number of transportational process sensor acquisition
Accordingly and cargo state passes through Bluetooth transmission to mobile terminal is monitored, and is transmitted to remote cloud server by NB-IoT, together
When monitoring mobile terminal operating condition range can be sent by bluetooth and be set to MCU.
Further, consignee reads cargo state by customer mobile terminal before signing for cargo from intelligent label
Record and logout grasp the status information of cargo in the case where not needing to unpack；Customer mobile terminal can be with simultaneously
Long-range cloud server carries out the update and verification that every record is realized in communication.
Further, the power module is powered using disposable battery or rechargeable battery, and can ensure that low
The operating time of power consumption MCU；After the completion of transport task, long-range cloud server last time verifies and saves all data
And record, then intelligent label is authorized to understand internal data record, can be used again after replacing battery.
The invention has the advantages that the scope of application of the invention is to produce flow of material, handling, logistics transportation etc. in fact
When monitor, can effectively monitor producer goods transmitting, during logistics transportation cargo real-time status and logout information,
Cargo it is impaired when can and alarm, realize and accurately, effectively monitor transporting safely for sensitive product.
Detailed description of the invention
Fig. 1 is Intelligent logistics label construction figure；
Fig. 2 is the deployed position schematic diagram of Intelligent logistics label.
Specific embodiment
The specific embodiment of the invention is described in further detail with reference to the accompanying drawing.
As shown in Figure 1, a kind of physical state monitoring system based on Multi-sensor Fusion provided by the invention, it is by label
Shell 5, low-power consumption microcontroller 1, wireless communication module 3, sensor module 4 and power module 2 form；The label
Shell 5 is the carrier of the carrier of electronic device, is a dismountable label black box, be mountable to logistics packaging box inside or
The surface of person's cargo；The microcontroller 1 is connected with sensor module 4 and wireless communication module 3, is responsible for whole system
Task scheduling, including data acquisition control, Sensor Data Record and transmission, event judgement etc.；The sensor module 4
It is connect with MCU1, for detecting the transportation environment of cargo, including it is impact and shock conditions, inclination conditions, impact events, warm and humid
Degree, light conditions etc.；The wireless communication module 3 is connect with MCU1, for being communicated with the external world, by sensing data with
And cargo state is sent to monitoring mobile terminal 7 or long-range cloud server 6；It is the power module 2 and MCU1, wireless
Communication module 3 and sensor module 4 are connected, and power for whole system.
Microcontroller uses low-power consumption MCU1 to ensure that the operating time of label can satisfy the requirement of haulage time；MCU1
For shipment events modeling, the data such as vibration, inclination, temperature and humidity, illumination for being sent by receiving sensor module carry out event and sentence
It is disconnected, and the data of subsidiary time tag and logout are stored in internal ROM.
Sensor module 4 is interconnected by sensor, realizes the data acquisition of mass transportation environment, and for transporting
Event modeling and judgement.Sensor module 4 detects cargo tilt angle using gyroscope, detects cargo using acceleration transducer
Impact and shock conditions, using Temperature Humidity Sensor detection cargo ambient enviroment temperature and humidity, recorded using photosensitive period
Environment illumination intensity condition, specific steps are as follows:
Step 1: 4 intelligent labels being respectively adhered on large cargo packaging four sides of inner casing, installation site is in table
The medium position on the upper side in face, is respectively labeled as 1,2,3, No. 4；
Step 2: intelligent label carries acceleration transducer, gyroscope, temperature sensor, humidity sensor and light sensor
Device, by acceleration transducer detection perpendicular to ground direction (direction x), be parallel to ground direction (Direction), perpendicular to table
The acceleration in face (direction z) three directions, accelerationWherein axi,ayi,aziRespectively
The x of i-th of sensor,The acceleration value in the direction z；It detected by gyroscope perpendicular to ground direction (direction x), be parallel to
Ground direction (Direction), perpendicular to the tilt angle in surface (direction z) three directions, tilt angle Wherein θxi,θyi,θziThe x of respectively i-th sensor,The rotation angle component in the direction z；Pass through temperature sensing
Device detects environment temperatureAmbient humidity is detected by humidity sensorEnvironmental light intensity l is detected by photosensitive sensori；
Step 3: the detection cycle of sensor is setIt is by the data input length of sensor acquisitionData buffer storage
In, data cached progress median filtering or moving average filter are pre-processed；
Step 4: toppling over event threshold as θ by monitoring mobile terminal 7 and settingTHR, falling event threshold is athr1, collision
Event threshold is athr2, vibration event threshold value is ath3And cthr, thermal ataxia event threshold isHumidity imbalance event
Threshold value is hthrh,hthrl, opening event threshold is lthr, and through Bluetooth transmission into MCU1, according to the pretreated number of step 3
According to the judgement of the event of progress, decision criteria is as follows
WhenWhen, event is toppled in judgement；
WhenWhen, event is fallen in judgement；
WhenWhen, determine the event that collides；
WhenWhen, counter count increases one certainly, whenWhen, counter
Count is from subtracting one, as count > cthrWhen, determine that vibration event occurs；
WhenOrWhen, determine that thermal ataxia event occurs；
WhenOrWhen, determine that humidity imbalance event occurs；
WhenWhen, determine that opening event occurs.
Cargo transport conditional information, including acceleration and tilt threshold, Threshold of Temperature And Humidity, illumination are stored in microcontroller
The information such as threshold value；When range of the traffic condition beyond the setting of these threshold values, module takes MCU1 to long-distance cloud by wireless communication
Business device or monitoring mobile terminal 7 send warning message；
Wireless communication module 3 is using bluetooth and NB-IoT technology；The data and cargo shape of transportational process sensor acquisition
State information, to monitoring mobile terminal 7, is transmitted to remote cloud server 6 by NB-IoT, while monitoring movement by Bluetooth transmission
Terminal 7 can be set by bluetooth transmission operating condition range to MCU1.
After remote cloud server 6 or monitoring mobile terminal 7 receive the warning message of intelligent label transmission, pass through immediately
Logistics system transmission, which is tested, requests to allow conveying people to handle unusual condition in time to conveying people depending on cargo, improves conevying efficiency.
Consignee reads cargo state record and event before signing for cargo, through customer mobile terminal from intelligent label
Record grasps the status information of cargo in the case where not needing to unpack；Customer mobile terminal will also take with long-range cloud simultaneously
Business device 6 carries out the update and verification that every record is realized in communication.
Power module 2 is powered using disposable battery or rechargeable battery and can ensure that the work of low-power consumption MCU1
Duration.After the completion of transport task, long-range cloud server 6 verifies and saves for the last time all data and record, then
Authorization electronic tag understands internal data record, can use again after replacing battery.
In primary specific experiment, cargo size is set as 1m*1m*2m；Detection cycle is T=1ms；Buffer storage length L
=10；Topple over event threshold θTHRTake 30；Fall event threshold athr1Take 7m/s2；Collision accident threshold value athr2Take 5m/s2；Vibration
Event threshold ath3Take 2m/s2, cthrTake 10000；Thermal ataxia event threshold50 DEG C are taken,Take 0 DEG C；Humidity imbalance thing
Part threshold value is hthrhTake 60%, hthrlTake 20%；Seal off event threshold lthrTake 100Lux；The results show present invention have compared with
Good abnormal travel position detection accuracy.
A preferred embodiment of the invention is described in detail above.It for those skilled in the art, can be with
Description according to the present invention can make various other modifications and variation without creative labor, and all these variations are all answered
Within the protection scope being defined in the patent claims.
Claims (9)
1. a kind of physical state monitoring method based on Multi-sensor Fusion, which is characterized in that method includes the following steps:
Step 1: 4 intelligent labels being respectively adhered on large cargo packaging four sides of inner casing, installation site is in surface
Etc. position on the upper side, it is respectively labeled as 1,2,3, No. 4；
Step 2: intelligent label carries acceleration transducer, gyroscope, temperature sensor, humidity sensor and photosensitive sensor,
By acceleration transducer detection perpendicular to ground direction (direction x), be parallel to ground direction (Direction), perpendicular to surface (z
Direction) three directions acceleration, accelerationWherein axi,ayi,aziRespectively
The x of a sensor,The acceleration value in the direction z；It detected by gyroscope perpendicular to ground direction (direction x), be parallel to ground
Direction (Direction), perpendicular to the tilt angle in surface (direction z) three directions, tilt angle Wherein θxi,θyi,θziRespectivelyThe x of a sensor,The rotation angle component in the direction z；Pass through temperature sensor
Detect environment temperatureAmbient humidity is detected by humidity sensorEnvironmental light intensity is detected by photosensitive sensor
Step 3: the detection cycle of sensor is setIt is by the data input length of sensor acquisitionData buffer storage in, it is right
Data cached progress median filtering or moving average filter pretreatment；
Step 4: setting and topple over event threshold as θTHR, falling event threshold is athr1, collision accident threshold value is athr2, vibration event
Threshold value is ath3And cthr, thermal ataxia event threshold isHumidity lacks of proper care event threshold as hthrh,hthrl, seal off thing
Part threshold value isThe judgement of event is carried out according to the pretreated data of step 3, decision criteria is as follows:
WhenWhen, event is toppled in judgement；
WhenWhen, event is fallen in judgement；
WhenWhen, determine the event that collides；
WhenWhen, counter count increases one certainly, whenWhen, counter count
From subtracting one, as count > cthrWhen, determine that vibration event occurs；
WhenOrWhen, determine that thermal ataxia event occurs；
WhenOrWhen, determine that humidity imbalance event occurs；
WhenWhen, determine that opening event occurs.
2. a kind of physical state monitoring system based on Multi-sensor Fusion, which is characterized in that the system includes several intelligence marks
Label, each intelligent label is by label shell, microcontroller, sensor module, wireless communication module and power module group
At；
The label shell is the carrier of all electronic devices, is a dismountable label black box, is mountable to logistics packet
Inside the mounted box or surface of cargo；
The microcontroller is connected with sensor module and wireless communication module, is responsible for the task scheduling of whole system,
Judge including data acquisition control, Sensor Data Record and transmission, event etc.；
The sensor module is used to detect the transportation environment of cargo, including shock conditions, inclination conditions, impact events, warm and humid
Degree, light conditions etc.；
Sensing data and cargo state are sent to other for being communicated with the external world by the wireless communication module
Intelligent label, mobile terminal or long-range cloud server；
The power module is connected with microcontroller, sensor module and wireless communication module, supplies for whole system
Electricity.
3. a kind of physical state monitoring system based on Multi-sensor Fusion according to claim 2, it is characterised in that: institute
It states microcontroller and uses low-power consumption MCU to ensure that the operating time of label can satisfy the requirement of haulage time；MCU is transport thing
Part modeling, the data such as vibration, inclination, temperature and humidity, illumination for being sent by receiving sensor module carry out event judgement, including shake
Move, hit, toppling over, falling, sealing off, temperature and humidity imbalance etc. events；MCU also deposits the data of subsidiary time tag and logout
It is stored in internal ROM.
4. a kind of physical state monitoring system based on Multi-sensor Fusion according to claim 2 or 3, feature exist
In: the sensor module is interconnected by sensor, realizes the data acquisition of mass transportation environment, and for transporting thing
Part modeling and judgement；Sensor module detects cargo tilt angle using gyroscope, uses acceleration transducer detection cargo
Impact and shock conditions record ring using photosensitive period using the temperature and humidity of Temperature Humidity Sensor detection cargo ambient enviroment
Border intensity of illumination condition.
5. a kind of physical state monitoring system based on Multi-sensor Fusion according to claim 2 or 3, feature exist
In: cargo transport conditional information, including acceleration and tilt threshold, Threshold of Temperature And Humidity, illumination threshold are stored in the microcontroller
The information such as value；When range of the traffic condition beyond the setting of these threshold values, MCU by wireless communication module to remote cloud server
Or monitoring mobile terminal sends warning message.
6. a kind of physical state monitoring system based on Multi-sensor Fusion according to claim 5, it is characterised in that: when
After remote cloud server or monitoring mobile terminal receive the warning message of intelligent label transmission, sent out immediately by logistics system
It send to test and requests to allow conveying people to handle unusual condition in time to conveying people depending on cargo, improve conevying efficiency.
7. a kind of physical state monitoring system based on Multi-sensor Fusion according to claim 2 or 3, feature exist
In: the wireless communication module is using bluetooth and NB-IoT technology；The data and cargo state of transportational process sensor acquisition
Information is transmitted to remote cloud server by NB-IoT to mobile terminal is monitored by Bluetooth transmission, while monitoring mobile terminal
It can be set by bluetooth transmission operating condition range to MCU.
8. a kind of physical state monitoring system based on Multi-sensor Fusion according to claim 2 or 3, feature exist
In: consignee reads cargo state record and logout before signing for cargo, through customer mobile terminal from intelligent label,
The status information of cargo is grasped in the case where not needing to unpack；Simultaneously customer mobile terminal can with long-range cloud server into
The update and verification of every record are realized in row communication.
9. a kind of physical state monitoring system based on Multi-sensor Fusion according to claim 2 or 3, feature exist
When being powered in: the power module using disposable battery or rechargeable battery, and can ensure that the work of low-power consumption MCU
It is long；After the completion of transport task, long-range cloud server last time verifies and saves all data and record, then authorizes
Intelligent label understands internal data record, can use again after replacing battery.
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