CN101551454B - RFID indoors positioning system - Google Patents
RFID indoors positioning system Download PDFInfo
- Publication number
- CN101551454B CN101551454B CN2009100511805A CN200910051180A CN101551454B CN 101551454 B CN101551454 B CN 101551454B CN 2009100511805 A CN2009100511805 A CN 2009100511805A CN 200910051180 A CN200910051180 A CN 200910051180A CN 101551454 B CN101551454 B CN 101551454B
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- rfid
- rfid interrogator
- robot
- positioning
- label
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0295—Proximity-based methods, e.g. position inferred from reception of particular signals
- G01S5/02955—Proximity-based methods, e.g. position inferred from reception of particular signals by computing a weighted average of the positions of the signal transmitters
Abstract
The invention relates to a RFID indoors positioning system belonging to the telecommunication technology field. The working process of the system in the invention comprises: arranging the RFID labels,which is used as positioning reference points, on the robot motion plane according to regular triangle inlaying mode; using a single chip microcomputer to control four RFID reader-writer to read info rmation in the RFID labels; performing data processing, and positioning analysis provided in the invention to obtain the positioning information and positioning precision of the robot; computing and analyzing the theory position and positioning precision of the robot under constraints of different positioning information; evaluating the area made up by all the possible position of the equivalent positioning points under different conditions; and obtaining the theory position and the positioning precision of the robot according to the area. The scheme has the advantages of low cost, equipment generality, easily purchased, simple positioning principle and easily realized; is influenced by environment in low degree; is especially suitable for the indoors environment or poor light working environment, and has a wide application prospect.
Description
Technical field
What the present invention relates to is the positioning system in a kind of telecommunication technology field, particularly a kind of RFID (REID, Radio Frequency Identification) indoor locating system.
Background technology
RFID is a kind of automatic identification technology that begins to rise the nineties in 20th century, promptly carries out the noncontact bidirectional data communication by unlimited RF-wise target is discerned.The RFID technology need not direct contact, need not optical visible, need not manual intervention can finish the information input and handle, in addition along with development of technology, the raising of the read or write speed of rfid interrogator and processing signals ability, the RFID REID is applied to localization for Mobile Robot wide prospect.
Except that the RFID technology, also have the different technology of many kinds can be applied to the indoor wireless location, but they exist certain deficiency.Indoor wireless location technology commonly used mainly contains infrared technique, the location technology based on wireless local area, ultrasonic technology, vision localization technology.But above location technology all exists the cost height, shortcomings such as environmental requirement height.In addition, GPS (GPS) commonly used can not be used owing to be difficult to receive satellite-signal under indoor environment again, and therefore from the prior art, it is comparatively desirable to solve the indoor positioning problem with the RFID technology.
Find through retrieval prior art, Chinese invention patent (application number 200710058162.0) discloses a kind of RFID wireless location method based on phase difference ranging, this method ties up passive RF label at target to be measured place, with the antenna launching electromagnetic wave of at least two readers by separately, the electromagnetic wave of each self-emission is received by separately reader respectively again after by the reflection of described radio-frequency (RF) tag, determines that by measuring electromagnetic transmitter, phase that each reader launches and the phase differential between the receiving phase radio frequency transition respectively and the distance between each reader.But owing to there are a lot of disturbing factors in the common working environment.For example, need be blocked by the object that the wall in the environment repeatedly reflects or label is moved by the electromagnetic signal that read write line is accepted, the capital causes the deviation of phase place or read write line to read less than signal, thus the influence location, so this method is inapplicable and mobile robot's location.
Chinese invention patent (application number 200710303990.6) discloses a kind of underground garage positioning system based on the RFID technology, this positioning system reads with reference to the relevant information of RFID label, target RFID label and the power of radiofrequency signal by the RFID card reader, then by the contact of switch realization with PC.The location resolution module that is stored in the PC is analyzed the information that receives, and after the difference contrast of the strong and weak parameters of adjacent four position radiofrequency signals, whether the parking stall of determining the garage has parked vehicle.But because the speed limit of PC contact and process information, this locator meams can not solve the orientation problem of the autonomous robot that moves.And the price of the read write line of readable signal intensity is very expensive, considers that the cost problem also should not select for use.
Chinese invention patent (patent No. ZL 200501224623.1) discloses a kind of RFID Antenna Positioning matrix, in order to solve little and the contradiction that institute can't locate greatly with RFID label movement of objects area of RFID antenna area.The RFID antenna alignment is become the matrix plane of n*m, and when RFID label during near certain antenna element, this antenna can receive the label information of RFID, and in conjunction with card reader, matrix processor and display are realized the location to the RFID label.But this kind method is with a large amount of antennas, and a large amount of antennas are in operation and keep energising, and energy consumption is very big, and each card reader to connect the antenna number limited, need increase the number of reader to a certain extent, thereby implementation cost is excessive.
Summary of the invention
The objective of the invention is at deficiency of the prior art, a kind of RFID indoor locating system is proposed, the present invention takes short distance rfid interrogator and antenna arrangements in the robot chassis, arrange that on the ground in robot motion zone passive RFID tags is as position reference, read the location that information in the RFID label realizes the mobile robot by rfid interrogator, can realize that autonomous mobile robot positions and cost is relatively low again in indoor environment.
The present invention is achieved by the following technical solutions, the present invention includes rfid interrogator, rfid interrogator antenna, RFID label, data-signal processing module and location parsing module, wherein:
Rfid interrogator is arranged on the robot chassis, the present invention adopts four rfid interrogators, the shape of each rfid interrogator antenna is square, four rfid interrogator antennas are combined into a big square, big foursquare center is overlapped with center chassis, and the vertical range on adjustment and maintenance RFID reader antenna and ground is just within the read-write scope of rfid interrogator.The RFID label is as location reference point, and the mode of inlaying with a kind of equilateral triangle is paved with entire machine people plane of movement.The summit of equilateral triangle is the RFID label, and the length of side of equilateral triangle equals the big foursquare length of side that is combined into by four rfid interrogator antennas.Such rfid interrogator, rfid interrogator antenna and RFID label set-up mode can guarantee that robot all makes one at least in any position of its moving region, three RFID labels are dropped in the read-write scope of rfid interrogator antenna, and when reading a plurality of RFID label at the same time, any two labels can not appear in the read-write scope of same rfid interrogator reading and writing device antenna.
The data-signal processing module is by reading command, and control RFID reader sends radiofrequency signal, and receives the signal that the rfid interrogator antenna returns, and determines the position of robot.Data processing module comprises that industrial computer, USB change serial port module, single-chip microcomputer.Wherein, industrial computer sends reading command with certain cycle, changes serial port module and microcontroller communication by USB, the single-chip microcomputer fill order, and control RFID reader sends radiofrequency signal.If the RFID label is arranged in the reading range of rfid interrogator, the RFID label that is then excited sends the return signal of carrying locating information.The rfid interrogator antenna receives return signal, and information is returned to single-chip microcomputer.Single-chip microcomputer changes serial port module by USB again information is passed to industrial computer.Industrial computer is received information, and executive routine is determined the robot location.
The location parsing module: the requirement of the rfid interrogator antenna that the received RF signal receiver module sends and the arrangement mode of RFID label and RFID bearing accuracy, analyze, draw the theoretical position and the bearing accuracy of robot.The present invention adopts following location parsing to carry out data processing: at first, adopt plane, rfid interrogator antenna place as the motion reference plane, consider the motion of RFID label with respect to the RFID reader antenna, several classes that adjacent through discussion several labels are presented with respect to the RFID reader antenna not coordination shape draw and are decided to be analytic method.According to the difference of the number that drops on the label in the rfid interrogator, divide following four kinds of situations: 1) three adjacent in twos RFID labels drop on respectively in the read-write scope of three different rfid interrogators; 2) two adjacent RFID labels drop in adjacent two the rfid interrogator scope; 3) two adjacent RFID labels drop in two the rfid interrogator scope at diagonal angle; 4) a RFID label drops in the read-write scope of certain rfid interrogator.Then, drop on situation in the read write line read-write scope for three labels, with the center of gravity of its equilateral triangle that surrounds as equivalent anchor point, for two labels drop on situation in the read write line read-write scope with the mid point of two label lines as equivalent anchor point, for a label drop in the read write line read-write scope situation just with label self as equivalent anchor point.At last, under the constraint of above-mentioned four kinds of different location situations, with graphing method or program pass obtain equivalent anchor point the set of the position that might arrive, this set is a plane domain, the center of gravity that this is regional is as the theoretical position location of robot, with the ultimate range sign bearing accuracy of center of gravity to its plane domain border.
Compared with prior art, when the present invention adopts four rfid interrogators to position, under the arrangement of given read write line layout and label, compare with a read write line, it is more that certain several read write line is read the constraint condition that one group of label information will obey simultaneously, just reduce the possibility of position equivalence, can improve bearing accuracy, and the present invention can finish the accurate location to the mobile robot
Description of drawings
Fig. 1 is provided with figure for the RFID reader, and wherein I, II, III, IV are 4 readers;
Fig. 2 is a RFID label layout viewing;
Fig. 3 is flow chart of data processing figure;
Fig. 4 enters the positioning result figure in read-write when zone of rfid interrogator II, III, IV for certain 3 RFID label;
Fig. 5 enters the positioning result figure in read-write when zone of rfid interrogator III, IV for certain 2 RFID label;
Fig. 6 enters the positioning result figure in read-write when zone of rfid interrogator I, III for certain 2 RFID label;
Fig. 7 enters the positioning result figure in read-write when zone of rfid interrogator I for certain 1 RFID label.
Embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment has provided detailed embodiment and process being to implement under the prerequisite with the technical solution of the present invention, but protection scope of the present invention is not limited to following embodiment.
Present embodiment comprises and the present invention includes rfid interrogator, rfid interrogator antenna, RFID label, data-signal processing module and location parsing module.
Present embodiment is selected four short distance rfid interrogators for use, and maximum reading/writing distance is 5-7 centimetre.The rfid interrogator antenna length of side is 10cm, and the rfid interrogator antenna is combined into the big square that the length of side is 20cm.Upper right as shown in Figure 1 is rfid interrogator I, and upper left is rfid interrogator II, and the lower-left is rfid interrogator III, and the bottom right is rfid interrogator IV, forms four independently read-write zones.The RFID reader is placed on the robot chassis, keeps that big square center overlaps with the robot center chassis, RFID reader antenna ground height is just in the read-write scope of RFID reader.As shown in Figure 2, on the ground in robot motion space, arrange label with the pattern that equilateral triangle is inlayed.Label is placed at equilateral triangle summit place, and the distance between adjacent label is the length of side equal in length of the square area of the length of side of equilateral triangle and rfid interrogator, is 20cm.
Data processing module comprises that industrial computer, USB change serial port module, single-chip microcomputer.As Fig. 3, industrial computer sends reading command, changes serial port module and microcontroller communication by USB, and single-chip microcomputer fill order control RFID reader sends radiofrequency signal.If the RFID label is arranged in the reading range of rfid interrogator, the RFID label that is then excited sends the return signal of carrying locating information.Rfid interrogator receives return message, and information is returned to single-chip microcomputer.Single-chip microcomputer changes serial port module by USB again information is passed to industrial computer.Industrial computer is received information, and executive routine is determined the robot location.
Present embodiment be decided to be parsing module, adopt plane, rfid interrogator antenna place as the motion reference plane, several classes that adjacent through discussion several labels are presented with respect to the RFID reader antenna not coordination shape draw and are decided to be analytic method.
As shown in Figure 4, suppose that certain 3 RFID label enters the read-write zone of rfid interrogator II, rfid interrogator III, rfid interrogator IV.Square dot ■ is the RFID label among the figure, circular point ● be the center of gravity of the equilateral triangle that surrounds of three labels, promptly equivalent anchor point.The equilateral triangle that three labels surround moves under the constraint of location situation with respect to plane, rfid interrogator antenna place, with circular point ● be all possible positions set of equilateral triangle center of gravity, form shadow region among the figure.This shadow region center of gravity is the robot position location, and center of gravity can be used to characterize the bearing accuracy of robot to the ultimate range on border.
As shown in Figure 5, suppose that certain 2 RFID label enters the read-write zone of rfid interrogator III, IV.Square dot ■ is the RFID label among the figure, circular point ● be two label line mid points, promptly equivalent anchor point.The line segment of two label compositions moves under the constraint of location situation with respect to plane, read write line coil place, with circular point ● i.e. all possible positions stacks of two label line mid points form shadow region among figure.This shadow region center of gravity is the robot position location, and center of gravity can be used to characterize the bearing accuracy of robot to the ultimate range on border.
As shown in Figure 6, suppose that certain 2 RFID label enters the read-write zone of rfid interrogator I, III respectively.Square dot ■ is the RFID label among the figure, circular point ● be two label line mid points, promptly equivalent anchor point.The line segment of two label compositions moves under the constraint of location situation with respect to plane, read write line coil place, with circular point ● i.e. all possible positions stacks of two label line mid points form shadow region among figure.This shadow region center of gravity is the robot position location, and center of gravity can be used to characterize the bearing accuracy of robot to the ultimate range on border.
As shown in Figure 7, suppose the read-write zone that has certain 1 RFID label to enter rfid interrogator I.Square dot ■ is the RFID label among the figure, and under the situation of this location, this label promptly is equivalent anchor point.This label moves under the constraint of location situation with respect to plane, read write line coil place, and its all possible position stacks are formed shadow region among the figure.This shadow region center of gravity is the robot position location, and center of gravity can be used to characterize the bearing accuracy of robot to the ultimate range on border.
Can derive by symmetry and to draw in the same classification other positioning result.
Present embodiment with four rfid interrogators and antenna arrangements thereof in the robot chassis, the RFID reader is placed on the robot chassis, keep that big square center overlaps with the robot center chassis, RFID reader antenna ground height is just in the read-write scope of RFID reader, read the location that information in the RFID label realizes the mobile robot by rfid interrogator, can realize that autonomous mobile robot positions and cost is relatively low again in indoor environment.
Claims (2)
1. RFID indoor locating system is characterized in that: comprise rfid interrogator, rfid interrogator antenna, RFID label, data-signal processing module and location parsing module, wherein:
Rfid interrogator is arranged on the robot chassis, the rfid interrogator antenna be shaped as square, the RFID label is as location reference point, the mode of inlaying with equilateral triangle is paved with entire machine people plane of movement, rfid interrogator reads the information in the RFID label, and information is passed to the data-signal processing module;
The data-signal processing module is by reading command, and control RFID reader sends radiofrequency signal, and receives the signal that the rfid interrogator antenna returns, and determines the position of robot;
Rfid interrogator antenna and the arrangement mode of RFID label and the requirement of RFID bearing accuracy that location parsing module received RF signal receiver module sends are analyzed, and draw the theoretical position and the bearing accuracy of robot;
Described rfid interrogator number is four;
Described rfid interrogator number of antennas is four, is combined into a big square, and big foursquare center overlaps with center chassis, and the vertical range on adjustment and maintenance RFID reader antenna and ground is within the read-write scope of rfid interrogator;
Distance between the described RFID label is the length of side of equilateral triangle, and the length of side length of reading and writing the zone with the big square that four rfid interrogator antennas surround is consistent.
2. RFID indoor locating system according to claim 1, it is characterized in that, described data-signal processing module comprises that industrial computer, USB change serial port module, single-chip microcomputer, wherein: industrial computer sends reading command, change serial port module and microcontroller communication by USB, single-chip microcomputer fill order control RFID reader sends radiofrequency signal; If the RFID label is arranged in the reading range of rfid interrogator, the RFID label that is then excited sends the return signal of carrying locating information; Rfid interrogator returns to single-chip microcomputer with locating information, and single-chip microcomputer changes serial port module by USB again and passes to industrial computer, and industrial computer receives that the data executive routine determines the robot location.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2009100511805A CN101551454B (en) | 2009-05-14 | 2009-05-14 | RFID indoors positioning system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2009100511805A CN101551454B (en) | 2009-05-14 | 2009-05-14 | RFID indoors positioning system |
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| CN101551454A CN101551454A (en) | 2009-10-07 |
| CN101551454B true CN101551454B (en) | 2011-06-22 |
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- 2009-05-14 CN CN2009100511805A patent/CN101551454B/en not_active Expired - Fee Related
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| CN101551454A (en) | 2009-10-07 |
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