CN202472939U - Unmanned vehicle moving controlling system based on Zigbee and radio frequency identification device (RFID) - Google Patents
Unmanned vehicle moving controlling system based on Zigbee and radio frequency identification device (RFID) Download PDFInfo
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- CN202472939U CN202472939U CN2012200563101U CN201220056310U CN202472939U CN 202472939 U CN202472939 U CN 202472939U CN 2012200563101 U CN2012200563101 U CN 2012200563101U CN 201220056310 U CN201220056310 U CN 201220056310U CN 202472939 U CN202472939 U CN 202472939U
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Abstract
The utility model discloses an unmanned vehicle moving controlling system based on Zigbee and radio frequency identification device (RFID). The unmanned vehicle moving controlling system based on Zigbee and RFID comprises at least one vehicle subsystem and at least one station subsystem. The vehicle subsystem mainly comprises a main control module, a vehicle-mounted gataway, an RFID station recognition module, a vehicle card reading module, a stop setting module and a driving module, wherein the vehicle-mounted gataway, the RFID station recognition module, the vehicle card reading module, the stop setting module and the driving module are connected with the main control module through transmission media. The station subsystem mainly comprises an RFID card, a vehicle interphone and a Zigbee node device, wherein the vehicle interphone is connected with the Zigbee node device through transmission media, and the Zigbee node device and the vehicle-mounted gataway are connected through wireless lines to form a Zigbee network. According to the unmanned vehicle moving controlling system based on Zigbee and RFID, a wireless network based on Zigbee and RFID is adopted, and therefore unmanned driving on the condition of lower cost and higher efficiency is possible.
Description
Technical field
The utility model relates to unmanned field; Particularly a kind of automatic driving vehicle drive-control system based on Zigbee and RFID; Employing is with the wireless internet network that Zigbee and RFID etc. is the basis, make unmanned less cost more with become possibility under the environment more efficiently.
Background technology
Be to solve problems such as urban traffic blocking, unmannedly be applied to more and more in the daily life, at present; In the campus, perhaps conventional artificial steering vehicle method is also adopted in place such as enterprise campus, sight spot district mostly, and people often can not in time know information of vehicles; Need on platform, wait blindly, as if situation such as vehicle break down in the driving way, people can not in time know; Can not in time change other circuit, thereby waste a large amount of Waiting times, make trip very inconvenient; The pilot steering vehicle has not only increased cost, and can not guarantee the process safe property of driving a vehicle, and can't avoid in the driving process driver not according to the generation of situation such as circuit driving, driver and passenger quarrel; The existing manual steering vehicle does not possess real-time monitoring and control; Administrative center can't know the car body situation in real time, when accident takes place, can't make the very first time and remedying; Also can't the clearly defining responsibilities people when carrying out responsibility investigation, the existing unmanned situation such as less cost and environment efficiently that are not suitable for.
The utility model content
The purpose of the utility model promptly is to overcome the deficiency of prior art; A kind of automatic driving vehicle drive-control system based on Zigbee and RFID is provided; The wireless internet network that employing is the basis with Zigbee and RFID etc. makes up the Unmanned Systems, and people call out public transport as by elevator; Make things convenient for people's trip, more embodied environmental protection and efficient energy-saving.If the single-pipe tower mobile base station of using classic method to make up a 30m needs 200,000 yuan, in the utility model, use the Zigbee building network, have with low cost, advantage such as it is low to consume energy.The utility model has functions such as real-time monitoring through Zigbee and RFID technology, makes unmanned in less cost more and become possibility under the environment more efficiently.
The purpose of the utility model is to realize through following technical scheme: based on the automatic driving vehicle drive-control system of Zigbee and RFID; It comprises at least one vehicle subsystem and at least one platform subsystem; Described vehicle subsystem mainly by main control module, car borne gateway, RFID platform identification module, farecard card reading module, module is set bus stop and driver module is formed, car borne gateway, RFID platform identification module, farecard card reading module, bus stop are provided with module and all are connected with the main control module through transmission medium with driver module; Described platform subsystem mainly is made up of rfid card, vehicle pager and Zigbee node device, and the vehicle pager is connected with Zigbee node device through transmission medium, and Zigbee node device and car borne gateway connect to form the Zigbee network through radiolink.
Based on the automatic driving vehicle drive-control system of Zigbee and RFID, it also comprises a Monitor And Control Subsystem, and Monitor And Control Subsystem is connected with vehicle subsystem through transmission medium, and described Monitor And Control Subsystem can long-rangely carry out emergent management to vehicle subsystem.
Described Zigbee network is based on CC2430; Described farecard card reading module is the IC-card card reading module.
The beneficial effect of the utility model is: the utility model provides a kind of automatic driving vehicle drive-control system based on Zigbee and RFID; The wireless internet network that employing is the basis with Zigbee and RFID etc.; Make up the automatic driving vehicle driving system; People call out public transport as by elevator, have made things convenient for people's trip, have more embodied environmental protection and efficient energy-saving.The single-pipe tower mobile base station of using classic method to make up a 30m needs 200,000 yuan, and the utility model uses the Zigbee building network, have with low cost, advantage such as it is low to consume energy.Ripe technical grade transmitter module actual measurement can reach more than the 700m, is enough to tackle large-scale garden.The CC2430 module Zigbee gateway that carries on the vehicle can receive the solicited message that each platform sends, and the RFID card reader of lift-launch can be discerned station platform information, and the wireless module and the upper computer software of lift-launch communicate, and accomplishes functions such as monitoring in real time.The utility model is through Zigbee and RFID technology, makes unmanned in less cost more and become possibility under the environment more efficiently.
Description of drawings
Fig. 1 is the application distribution block diagram of the utility model;
Fig. 2 is the structured flowchart of the utility model;
Fig. 3 is the utility model main control inside modules structural drawing;
Fig. 4 is the module frame chart of the utility model M3;
Fig. 5 is the utility model Zigbee cyberrelationship figure;
Fig. 6 is the utility model rfid card structural representation;
Fig. 7 is the utility model rfid system structural representation;
Fig. 8 is the utility model RFID functions of card reader block diagram;
Fig. 9 is the utility model tracking circuit diagram;
Figure 10 is the external pin figure of the utility model L298N;
Figure 11 is the input/output relation table of the utility model L298N.
Embodiment
Below in conjunction with accompanying drawing the utility model is done further description, but the protection domain of the utility model is not limited to the following stated.
Like Fig. 1, shown in Figure 2; Automatic driving vehicle drive-control system based on Zigbee and RFID; It comprises at least one vehicle subsystem and at least one platform subsystem; Described vehicle subsystem mainly by main control module, car borne gateway, RFID platform identification module, farecard card reading module, module is set bus stop and driver module is formed, car borne gateway, RFID platform identification module, farecard card reading module, bus stop are provided with module and all are connected with the main control module through transmission medium with driver module; Described platform subsystem mainly is made up of rfid card, vehicle pager and Zigbee node device, and the vehicle pager is connected with Zigbee node device through transmission medium, and Zigbee node device and car borne gateway connect to form the Zigbee network through radiolink.Described Zigbee network is based on CC2430; Described farecard card reading module is the IC-card card reading module.
Based on the automatic driving vehicle drive-control system of Zigbee and RFID, it also comprises a Monitor And Control Subsystem, and Monitor And Control Subsystem is connected with vehicle subsystem through transmission medium, and described Monitor And Control Subsystem can long-rangely carry out emergent management to vehicle subsystem.
As shown in Figure 3, the main control module adopts STM32F103vc, 32 MCU, and chip internal has rich in natural resources, and dominant frequency can reach 72MHz, and precision can reach 13.8ns.8 LED and button are arranged on the primary module, and wherein, 8 LED are used to show the conduct situation of vehicle, the call case of platform, the calling of host computer etc., and button is used to select the platform that will go.As shown in Figure 4; The main control module is based on the ARM-cortexM3 kernel; Cortex-M3 is a low power processor, has characteristics such as a number is few, interruption delay is short, debugging cost is low, is to design for the degree of depth Embedded Application that requires quick interrupt response ability.This processor adopting ARMv7-M framework, simultaneously, M3 also can move ucos-II operating system, realizes demands such as multithreading, high real-time.
As shown in Figure 5, the utility model adopts CC2430 to make up the Zigbee network, divides gateway and node (platform) wireless module, and gateway is fixed on the car body, receives the information of platform in real time.When the people called out car, node was responsible for the solicited message of outbound platform.Gateway module links through UART with processor, and gateway is set up network earlier, and node adds network again, forms the Zigbee network.The employed CC2430 of the utility model is the SOC(system on a chip) that is used for realizing embedded Zigbee application that Chipcon company releases.It supports 2.4GHz IEEE 802.15.4/Zigbee agreement.CC2430 is a real System on Chip/SoC (SoC) CMOS solution.This solution can improve performance and satisfy with Zigbee is that basic 2.4GHz ISM wave band is used to low cost the requirement of low-power consumption.It combines a high-performance 2.4GHz DSSS (DSSS) RF transceiver core and small and exquisite 8051 controllers efficiently of technical grade.Zigbee radio frequency (RF) front end, internal memory and microcontroller on single chip, have been integrated.It uses 18 MCU (8051); RAM with 32/64/128 KB flash memory able to programme and 8KB also comprises park mode timer, electrify restoration circuit (Power On Reset), power-fail detection circuit (Brown Out Detection) and 21 programmable I/O pins of analog-digital converter (ADC), several timer (Timer), AES128 coprocessor, WatchDog Timer (Watchdog Timer), 32 kHz crystal oscillators.
Like Fig. 6, Fig. 7, shown in Figure 8, the RFID card reader module does not contact communication frequency 13.56MHz based on MFRC522, communication distance 5cm.Card reader is positioned at the bottom of the car, and the card of RFID is fixed on the other track of platform.Card reader just can read card image easily like this.MFRC522 has utilized advanced modulation and demodulation notion, fully-integrated under 13.56MHz all types of passive contactless communication modes and agreement.Support the multilayer application of ISO14443A.Communicating by letter of the more high transfer rate of support ISO14443 212kbit/s and 424kbit/s.Support MIFAREClassic to encrypt; The HPI of supporting: SPI interface-I of-10Mbit/s
2C interface, the speed of quick mode are 400kbit/s, and the speed of fast mode is 3400kbit/s-serial UART, and we adopt the SPI interface;
Brief introduction about REID: RF identification (Radio Frequency Identification; RFID) technology is a kind of noncontact automatic identification technology, utilizes radiofrequency signal to pass through space coupling (inductance or EM coupling) and realizes contactless information transmission and reach identifying purpose through the information of transmitting.The remarkable advantage of REID is untouchable, therefore need not manual intervention when accomplishing identification work, can realize discerning robotization and not fragile; High-speed moving object can be discerned and a plurality of RF tags can be discerned simultaneously, swift and convenient to operate; RF tag is not afraid of rugged environments such as oil stain, contamination by dust.Current, it is radio-frequency identification card that REID is used at home the most widely;
The explanation of radio-frequency identification card: radio-frequency identification card (be called for short radio-frequency card, rfid card) also is known as non-contact IC card, and (Contactless Smart Card CSS) or contactless IC card, non-contact card, contactless card, is born in early 1990s.Owing to successfully combine REID and IC-card technology, solved passive (no battery in the card) and a difficult problem of exempting to contact, rfid card has magnetic card and the incomparable advantage of Contact Type Ic Card.One of which comes out and just causes extensive concern immediately, and is applied with surprising rapidity;
The RFID card is made up of IC chip, induction antenna, is sealed in the standard PVC card no exposed parts fully;
The structure of radio-frequency recognition system and principle: the most basic rfid system is made up of three parts, and is as follows:
1. electronic tag (Tag, or claim RF tag, transponder): form by chip and internal antenna.Preserving the electronic data of certain format in the chip, as the sign property information of article to be identified, is the real data carrier of radio-frequency recognition system.Internal antenna be used for and radio-frequency antenna between communicate;
2. reader: read or the equipment of read/write electronic labeling information; Main task is that the control radio-frequency module reads signal to the label emission; And receive replying of label; Object id information to label is decoded, and other related information transmission on the related label of object id information is arrived main frame for processing;
3. antenna: emission, the receiving trap of transmission data between label and the reader;
The principle of work of RFID: after electronic tag gets into antenna magnetic field; If receive the special radiofrequency signal that reader sends; The energy that just can rely on induction current to obtain sends out the product information (passive label) that is stored in the chip; Perhaps initiatively send the signal (active label) of a certain frequency, after reader reads information and decoding, deliver to CIS and carry out the relevant data processing.
As shown in Figure 9, based on the tracking circuit of 5 photoelectric sensors, be example with H4:
(1) do not detect black line, then H4 is luminous reflexes to the H4 receiving end to blank sheet of paper light, the conducting of H4 receiving end, and conducting is T1 ground connection=0 then;
(2) detect black line, then H4 is luminous all is absorbed to black line light, and the H4 receiving end is not received any signal, because not conducting of H4 (ending), then T1=VCC.
The driver module of change speed motor:
(1) motor: motor adopts DC speed-reducing, and the DC speed-reducing rotating torque is big, and volume is little, and is in light weight, and assembling is simple, and is easy to use.Because its inside provides original power by high-speed motor, drive speed change (deceleration) gear set, can produce big torsion.Can select reduction gear ratio for use is the direct current generator of 1:74, and the rotating speed of deceleration rear motor is 100r/min.If wheel diameter is 6cm, then the maximal rate of dolly can reach V=2 π rv=2*3.14*0.03*100/60=0.314m/s, can satisfy the requirement of system preferably;
(2) drive: driver module adopts special chip L298N as motor drive ic, and L298N is a full-bridge chip for driving with high-voltage large current, and its response frequency is high, and a slice L298N can control two direct current generators respectively.Figure 10 is the external pin figure of L298N; Figure 11 is the input/output relation table of L298N; 5,7,10,12 4 pins of L298N are received on the control chip STM32F103vc, through just can realize the PWM VSC of two direct current generators to the programming of control chip.
Claims (4)
1. based on the automatic driving vehicle drive-control system of Zigbee and RFID; It is characterized in that: it comprises at least one vehicle subsystem and at least one platform subsystem; Described vehicle subsystem mainly by main control module, car borne gateway, RFID platform identification module, farecard card reading module, module is set bus stop and driver module is formed, car borne gateway, RFID platform identification module, farecard card reading module, bus stop are provided with module and all are connected with the main control module through transmission medium with driver module; Described platform subsystem mainly is made up of rfid card, vehicle pager and Zigbee node device, and the vehicle pager is connected with Zigbee node device through transmission medium, and Zigbee node device and car borne gateway connect to form the Zigbee network through radiolink.
2. the automatic driving vehicle drive-control system based on Zigbee and RFID according to claim 1 is characterized in that: it also comprises a Monitor And Control Subsystem, and described Monitor And Control Subsystem is connected with vehicle subsystem through transmission medium.
3. the automatic driving vehicle drive-control system based on Zigbee and RFID according to claim 1 is characterized in that: described Zigbee network is based on CC2430.
4. the automatic driving vehicle drive-control system based on Zigbee and RFID according to claim 1 is characterized in that: described farecard card reading module is the IC-card card reading module.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200563101U CN202472939U (en) | 2012-02-21 | 2012-02-21 | Unmanned vehicle moving controlling system based on Zigbee and radio frequency identification device (RFID) |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012200563101U CN202472939U (en) | 2012-02-21 | 2012-02-21 | Unmanned vehicle moving controlling system based on Zigbee and radio frequency identification device (RFID) |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108529356A (en) * | 2018-04-27 | 2018-09-14 | 北京三快在线科技有限公司 | Method, apparatus, system and electronic equipment for controlling elevator |
| CN109564723A (en) * | 2016-08-26 | 2019-04-02 | 索尼公司 | Mobile member control apparatus, movable body control method and moving body |
| CN110203258A (en) * | 2019-05-29 | 2019-09-06 | 江苏飞梭智行设备有限公司 | A method of it improving vehicle and enters special area efficiency |
-
2012
- 2012-02-21 CN CN2012200563101U patent/CN202472939U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109564723A (en) * | 2016-08-26 | 2019-04-02 | 索尼公司 | Mobile member control apparatus, movable body control method and moving body |
| US11250708B2 (en) | 2016-08-26 | 2022-02-15 | Sony Corporation | Moving object control apparatus, moving object control method, and moving object |
| CN108529356A (en) * | 2018-04-27 | 2018-09-14 | 北京三快在线科技有限公司 | Method, apparatus, system and electronic equipment for controlling elevator |
| CN110203258A (en) * | 2019-05-29 | 2019-09-06 | 江苏飞梭智行设备有限公司 | A method of it improving vehicle and enters special area efficiency |
| CN110203258B (en) * | 2019-05-29 | 2021-06-11 | 江苏飞梭智行设备有限公司 | Method for improving efficiency of vehicle entering special area |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121003 Termination date: 20150221 |
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| EXPY | Termination of patent right or utility model |