CN102890765B - RFID tag localization method and device - Google Patents
RFID tag localization method and device Download PDFInfo
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Abstract
The present invention relates to RFID tag localization method and device, wherein this RFID tag localization method comprises: use the antenna of RFID reader under current transmit power, read multiple label first pre-determined number; Record the number of times that each label is successfully read under the current transmit power of antenna; According to next emissive power of the minimum resolution determination antenna of the spacing of the current transmit power of antenna, the minimum response power of label and label; Using next emissive power of antenna of determining as the current transmit power of antenna, repeat above step the second pre-determined number; Calculate the summation of the number of times that each label is successfully read; And the summation of the number of times to be successfully read according to each label sorts to multiple label, determines each label putting in order relative to antenna.
Description
Technical field
The present invention relates to field of radio frequency identification, more specifically, relate to a kind of RFID tag localization method and device.
Background technology
Nowadays, the method by realizing the position of target object positions RFID (Radio Frequency Identification: radio-frequency (RF) identification) tag location seems more and more important in logistics and production line field.In addition, the method by locating RFID label tag determines that the position of the mobile object carrying RFID reader and the method in orientation are also widely used in robot controlling field.Utilize the RFID of ultrahigh frequency can distinguish label at a distance, can distinguish by this frequency range the passive label that distance reaches about 10m, this performance improves the possibility that RFID label tag is applied in logistics and production line greatly.Along with the widespread use of ultra-high frequency RFID technology, RFID reader can distinguish the multiple labels in its reading area simultaneously, but thing followed problem is, is but difficulty very when we need to find the label that one of them specifies.
So far there is multiple localization method to be developed, having realized the method for locating as utilized the signal characteristic such as RSS (receiving signalstrength: the intensity of Received signal strength), AOA (angle of arrival: the angle that signal arrives), TOA (time of arrival: the moment that signal arrives), TDOA (time difference of arrival: the mistiming that signal arrives).But these methods all exist the high disadvantage of cost, wherein the location precision of RSS method is low, and error even reaches several meters).
Patent documentation 1 proposes a kind of method that phase differential being launched electromagnetic wave transmitted wave that reader receives after RFID label tag reflection of different frequency by reader measures label and reader distance.The method needs to use specific reader, and the relative orientation of None-identified label and reader, can only the distance of identification label and reader.
A kind of device of locating appointment label is proposed in patent documentation 2, by increasing a LED matrix on the rfid labels, when the label that read write line needs searching one to specify, read write line is to this transmitting interrogation signals, and this label lights LED to show that it is the label that read write line will be found.
Patent documentation 2 for find specify label time be an extraordinary method really, but its method must increase a LED matrix on label, the LED matrix increased not only increases the manufacturing cost of label, and reduce the adaptive faculty of label to environment, this label will no longer be applicable to the working environment being not suitable for putting into LED, as in environment that is moist, that be easily hit.
[patent documentation 1]: Japanese patent application No. Patent 2008-308023, invents artificial little former Ying Hang etc., and denomination of invention is " Distnace determination device, method for measuring distance, reflecting body and communication system ".
[patent documentation 2]: U.S. Patent Application Publication US2009/0167495A1, invention people is Joshua R.Smith, Daniel Yeager, Ali Rahimi, denomination of invention is " Radiofrequency identification tags adapted for localization and stateindication ".
Summary of the invention
According to a first aspect of the invention, provide a kind of RFID tag localization method, comprising: use the antenna of RFID reader under current transmit power, read multiple label first pre-determined number; Record the number of times that each label is successfully read under the current transmit power of antenna; According to next emissive power of the minimum resolution determination antenna of the spacing of the current transmit power of antenna, the minimum response power of label and label; Using next emissive power of antenna of determining as the current transmit power of antenna, repeat above step the second pre-determined number; Calculate the summation of the number of times that each label is successfully read; And the summation of the number of times to be successfully read according to each label sorts to multiple label, determines each label putting in order relative to antenna.
According to a second aspect of the invention, provide a kind of RFID tag locating device, comprising: tag reader unit, be arranged to and use the antenna of RFID reader under current transmit power, read multiple label first pre-determined number; Tag read information record cell, is arranged to the number of times recording each label and be successfully read under the current transmit power of antenna; Emissive power adjustment unit, is arranged to next emissive power of the minimum resolution determination antenna of the current transmit power according to antenna, the minimum response power of label and the spacing of label; Repetitive controller unit, is arranged to the current transmit power of next emissive power of antenna as antenna, repeats above step the second pre-determined number; Sum unit, is arranged to the summation calculating the number of times that each label is successfully read; And tag sorting unit, the summation being arranged to the number of times be successfully read according to each label sorts to multiple label, determines each label putting in order relative to reader.
According to a third aspect of the invention we, providing a kind of method for determining the distance between RFID reader and label, comprising: the minimum response power determining label; The emissive power of the antenna of ascending change reader is until read label; And determine the distance between reader and label according to the emissive power of antenna and the minimum response power of label when reading label.
In addition, embodiments of the invention additionally provide the computer program for realizing said method.
In addition, embodiments of the invention additionally provide the computer program of at least computer-readable medium form, it record the computer program code for realizing said method.
By the present invention, can realize utilizing common universal RFID reader to compare accurate tag location.
In addition, in RFID tag localization method of the present invention, self-adaptative adjustment emissive power size, thus effectively improve locating speed, shorten positioning time.
By below in conjunction with the detailed description of accompanying drawing to most preferred embodiment of the present invention, these and other advantage of the present invention will be more obvious.
Accompanying drawing explanation
The present invention can be better understood by reference to hereinafter given by reference to the accompanying drawings detailed description, wherein employs same or analogous Reference numeral in all of the figs to represent identical or similar parts.Described accompanying drawing comprises in this manual together with detailed description below and forms a part for instructions, is used for illustrating the preferred embodiments of the present invention further and explaining principle and advantage of the present invention.In the accompanying drawings:
Fig. 1 shows the process flow diagram of the RFID tag localization method according to the embodiment of the present invention;
Fig. 2 is the schematic diagram to the measuring system that the minimum response power of label is measured;
Fig. 3 is label typical RFID signal of communication and sequential chart when normally communicating with reader;
Fig. 4 is the outdoor scene exemplary plot of the minimum response power measuring label in darkroom;
Fig. 5 is the outdoor scene exemplary plot of rifle and the gun rack that will position;
Fig. 6 is the parameter declaration figure of the minimum resolution of the spacing calculating label;
Fig. 7 shows the composition frame chart of the RFID tag locating device according to the embodiment of the present invention; And
Fig. 8 shows and can be used for implementing the schematic block diagram according to the computing machine of the method and apparatus of the embodiment of the present invention.
Embodiment
To be described one exemplary embodiment of the present invention by reference to the accompanying drawings hereinafter.For clarity and conciseness, all features of actual embodiment are not described in the description.But, should understand, must make a lot specific to the decision of embodiment in the process of any this practical embodiments of exploitation, to realize the objectives of developer, such as, meet those restrictive conditions relevant to system and business, and these restrictive conditions may change to some extent along with the difference of embodiment.In addition, although will also be appreciated that development is likely very complicated and time-consuming, concerning the those skilled in the art having benefited from present disclosure, this development is only routine task.
At this, also it should be noted is that, in order to avoid the present invention fuzzy because of unnecessary details, illustrate only in the accompanying drawings with according to the closely-related apparatus structure of the solution of the present invention and/or treatment step, and eliminate other details little with relation of the present invention.
Now conventional ultrahigh frequency RFID (radio-frequency (RF) identification) label has following feature: can be read at a distance, the distance that is read of passive RFID tags can up to 10m; The specification of RFID reader and label is various in style; The probability be read in the readable region of RFID reader is relevant with the relative distance of RFID reader to label; Once can read multiple label, and existing RFID label tag positioning system accurately cannot determine the position distribution of label when not changing the hardware configuration of RFID reader.
The present invention considers that RFID label tag reads the These characteristics of probability with distance change, determines each label putting in order relative to described reader according to the number of times summation that each label is successfully read under multiple different transmission power of reader.According in the RFID tag localization method of the embodiment of the present invention, have employed a kind of method of self-adaptative adjustment emissive power size, wherein the adjustment amount of emissive power is not fixing, but adaptive change, thus, can utilize common universal RFID reader while realizing more accurate tag location, also assures that the speed of location.
Below in conjunction with Fig. 1-10, RFID tag localization method according to the embodiment of the present invention and device are described.
Fig. 1 illustrates the process flow diagram of the RFID tag localization method according to the embodiment of the present invention.
First, in step s 102, use the antenna of RFID reader under current transmit power, read multiple label first pre-determined number.
Here, " label " refers to the object that will position it.Preferably, the arrangement mode of label is arrange by directions of rays from the center of antenna.This considers that ultra-high frequency RFID label has the probability that is read in the readable region of RFID reader and label with the relevant characteristic of the relative angle of the antenna of RFID reader, if be not by directions of rays arrangement, then can be realized by the position and angle adjusting antenna.Such arrangement mode can eliminate the impact of angle on the probability that label is read to a certain extent.
Then, in step S104, record the number of times that each label is successfully read under the current transmit power of antenna.
Then, in step s 106, according to next emissive power of the minimum resolution determination antenna of the spacing of the current transmit power of antenna, the minimum response power of label and label.
Preferably, next emissive power of antenna obtains as follows: calculate the adjustment amount being used for adjusting the current transmit power of antenna according to the minimum resolution of the spacing of the current transmit power of antenna, the minimum response power of label and label; And next emissive power of antenna is obtained with the current transmit power adjustment of the adjustment amount calculated to antenna.
According in the RFID tag localization method of the embodiment of the present invention, carry out self-adaptative adjustment to the emissive power size of reader antenna, that is, the adjustment amount of output power is adaptive change.In the following description, from smaller value, be increased to example gradually with the emissive power of antenna and be described, it will be understood by those skilled in the art that and the emissive power of antenna also can be made to reduce gradually from higher value.Under the computing application of adjustment amount free space, the principle of radio wave propagation, characteristic and experimental formula, be described as follows.
The computing formula of the loss of the known radio wave propagation under free space of those skilled in the art is as formula 1:
Los=32.44+20lg d (Km)+20lg f (MHz)--------------------formula 1
Wherein, Los is radio wave propagation loss, and unit is dB;
D is radio wave propagation distance, and unit is Km;
F is frequency of operation, and unit is MHz.
The propagation loss difference (Δ Los) of unit centimetre and the relation calculating formula of distance (d) are as formula 2:
Δ Los=20 (lg (d+1) (cm)-lg (d) (cm))--------------------formula 2
In the present invention, definition label can be the minimum response power of label with the lowest power received during reader proper communication, is expressed as: MindBm (unit dBm) at this.
The minimum response power of label can be measured by the exemplary measurement system in Fig. 2.
As shown in Figure 2, label is put in darkroom, near label, places the antenna (such as can adopt the NI-VISN-100 radio-frequency (RF) tag tester of VI Service Network Co., Ltd.) of RFID tester.Set the environment of traditional measurement minimum response power, by RFID tester antenna as much as possible near RFID label tag, then from the lowest transmit power of reader antenna, emissive power is increased gradually, until increase to the communication data as shown in Figure 3 that can observe on RFID tester and return from label.Fig. 3 is label typical RFID signal of communication and sequential when normally communicating with reader.Namely the emissive power of the reader antenna that the label position now recorded by RFID tester is received can be used as the minimum response power of such label.
Fig. 4 is the outdoor scene exemplary plot of the minimum response power measuring label in darkroom, and RFID label tag placed by middle white column, the post of both sides is placed the antenna of RFID tester, requires antenna in testing as much as possible near label.
In addition, in a preferred embodiment, the minimum response power of label can be estimated according to the computing formula of radio wave loss.
Suppose that the output power of reader is Power1 (dBm) when label is positioned at position (with reader distance L1 (cm)) that can be read by reader just.So
MindBm (dBm)=Power1 (dBm)-Δ Los------------------formula 3
Wherein, Δ Los reference formula 1 calculates, and because in formula 1, the unit of d is m, therefore substitutes into L1/100000.
Thus according to formula 3 above, the minimum response power of label can be obtained by following steps: keep the distance between reader and label to fix; The emissive power of ascending change antenna is until read label; And determine the minimum response power of label according to the emissive power of antenna and the distance between reader and label when reading label.
The minimum response power of label can also be obtained by following steps: antenna attempts reading tag with fixed transmission power; Distance between reader and label is changed until reader reads label by as far as near; And the minimum response power of label is determined according to the emissive power of Distance geometry antenna when reading described label between described reader and described label.
In the present invention, also the minor increment defined in the sequence label that will position between any two labels is the minimum resolution of the spacing of label, is expressed as: Mind (unit cm).
The minimum resolution of the spacing of label can be obtained by following several method:
1. minimum resolution can be inputted from inputting interface by user as known parameter, determines the minor increment between label by user.The minimum resolution of the spacing of label also can be prestored in positioning system by the application scenarios fixed for the distance between label, as a default parameter of system.As shown in Figure 5, be the outdoor scene exemplary plot being arranged in rifle and the gun rack that gun rack will position.Can see, the draw-in groove that gun rack is fired is equally distributed, therefore the distance between adjacent two rifles is fixing, thus the minimum resolution of the distance between adjacent two rifles as the spacing of label can be pre-stored within positioning system in this scenario.
2. in practice, the too label of dense distribution is difficult to distinguish, when the distance namely between label and label must be greater than certain minimum value, just can ensures that positioning system can accurately be located.The minimum value of this distance can be obtained by the distance constantly adjusted between label in laboratory.Therefore, using the minimum resolution of the minimum value of this distance as the spacing of the label of positioning system, and can be pre-stored within positioning system in the mode of default setting.
In a preferred embodiment of the invention, can by calculating the minimum resolution obtaining the spacing of label.The concrete grammar of the minimum resolution of the spacing calculating label is described referring to Fig. 6.
Relation between the emissive power of prior acquisition reader antenna and antenna footprint, and be saved in database.The antenna of reader is improved constantly emissive power from minimum emissive power, until read first label, note emissive power is now P1.Emissive power Px is improved constantly, until do not read the label of increase, note emissive power is now Pn.The number N x of the label read under being recorded in each output power Px.According to the Relation acquisition Lx of output power and coverage from database, calculate the relation D between number of tags between each emissive power and coverage difference
x=(L
x-L
1)/(N
x-N
1), get its minimum M in (D
x) as minimum resolution, wherein 1 < x < n.
We think that the emissive power of antenna decays to the minimum response power MindBm of label just when arriving the label farthest that can read, according to above-mentioned formula 1, we can calculate when the emissive power of reader antenna is P, and the label farthest that reader can read to the computing formula of the distance L of reader is:
L (cm)=10^ ((P-MindBm)-32.44-20lg f (MHz)/20+5)--------------formula 4
In the present invention, in order to improve the locating speed of label, the distance of the label farthest making the emissive power of reader antenna each recruitment that reader can be read increases the minimum resolution Mind of the spacing of label, that is, make reader just can read a label after increasing the emissive power of reader antenna more at every turn.
When the label farthest that can read according to the reader that the minimum response power MindBm of the emissive power P of antenna and label calculates according to formula 4 is L to the distance of reader, L is made to increase Mind, according to above-mentioned formula 2, the recruitment that can obtain antenna transmission power will increase is:
StepdB=20 (lg (L+Mind) (cm)-lg (L) (cm))--------------formula 5
It will be understood by those skilled in the art that and adopting under the mode that the emissive power of antenna is reduced gradually from higher value, when emissive power is P, the decrease that antenna transmission power will reduce is:
StepdB=20 (lg (L) (cm)-lg (L-Mind) (cm))--------------formula 6
Above-mentioned formula 4 is substituted into formula 5 obtain:
StepdB=20 (lg ((10^ ((P-MindBm)-32.44-20lg f (MHz)/20+5))+Mind) (cm)-((P-MindBm)-32.44-20lg f (MHz)/20+5) (cm))--------------formula 7
As can be seen from formula 7, the adjustment amount of emissive power is determined by the minimum response power MindBm of the minimum resolution Mind of the current transmit power P of reader, the spacing of label and label.Equally, adopting under the mode that the emissive power of antenna is reduced gradually from higher value, the adjustment amount of emissive power is also determined by the minimum response power MindBm of the minimum resolution Mind of the current transmit power P of reader, the spacing of label and label.
Along with the continuous adjustment of current transmit power, adjustment amount also changes thereupon.Thus achieve the self-adaptative adjustment of emissive power.
Then, in step 108, using next emissive power of antenna of determining as the current transmit power of antenna, above-mentioned steps 102-106 second pre-determined number is repeated.
Then, in step 110, the summation of the number of times that each label is successfully read is calculated.
Then, in step 112, the summation of the number of times be successfully read according to described each label sorts to described multiple label, determines each label putting in order relative to described reader.
For example, supposing that the Initial Trans of RFID reader antenna is P0, reading multiple label such as M time when keeping the emissive power of reader antenna to be P0.For label j, its number of times be successfully read under emissive power P0 is designated as X
j0. the minimum resolution Mind adjustment amount calculated for adjusting the current transmit power P0 of antenna according to the spacing of the current transmit power P0 of antenna, the minimum response power MindBm of label and label is StepdB1, then next emissive power PI=P0+StepdB1 of reader antenna.Using the current transmit power of P1 as reader antenna, repeat above step such as N time.Calculate the summation of the number of times that each label is successfully read respectively, the summation Xj=X of the number of times that such as label j is successfully read
j0+ X
j1+ ...+X
jN.Arranged from big to small by the successful reading times sum Xj of each label, namely obtain the putting in order from the near to the remote of label relative to reader, vice versa.
Preferably, after the summation of the number of times be successfully read according to each label sorts to multiple label, each label can also be calculated and read probability relative to the normalization of antenna; And read probability map by reading probabilistic query according to each label relative to the normalization of antenna, determine the distance of each label relative to antenna, wherein, read probability map record label and read probability and the label corresponding relation relative to the distance of antenna relative to the normalization of antenna.
Such as, the applicant describes the process being formed and read probability map in the Chinese patent application 201010505219.9 being entitled as " RFID tag localization method and device " that on September 29th, 2010 submits, the full content of this application is incorporated herein by reference.
According to one embodiment of present invention, the minimum response power of label can be utilized to measure the distance between reader and label.The method comprises: the minimum response power determining label; The emissive power of the antenna of ascending change reader is until read label; And determine the distance between reader and label according to the emissive power of antenna and the minimum response power of label when reading label.
Fig. 7 shows the block diagram for radio frequency identification (RFID) labels locating device according to the embodiment of the present invention.RFID label tag locating device 700 comprises tag reader unit 702, tag read information record cell 704, emissive power adjustment unit 706, Repetitive controller unit 708, sum unit 710 and tag sorting unit 712.Tag reader unit 702, is arranged to and uses RFID reader under current transmit power, read multiple label first pre-determined number.Tag read information record cell 704, is arranged to the number of times recording each label and be successfully read under the current transmit power of antenna.Emissive power adjustment unit 706, is arranged to next emissive power of the minimum resolution determination antenna of the current transmit power according to antenna, the minimum response power of label and the spacing of label.Repetitive controller unit 708, is arranged to the current transmit power of next emissive power of antenna as antenna, repeats above step the second pre-determined number.Sum unit 710, is arranged to the summation calculating the number of times that each label is successfully read.Tag sorting unit 712, the summation being arranged to the number of times be successfully read according to each label sorts to multiple label, determines each label putting in order relative to reader.
Alternatively, RFID label tag locating device 700 also comprises power adjustment computing unit (not shown), and the minimum resolution being arranged to the distance between the current transmit power according to antenna, the minimum response power of label and label calculates the adjustment amount for adjusting current transmit power.
Alternatively, RFID label tag locating device 700 also comprises: normalization unit and distance determining unit (not shown).Normalization unit, is arranged to and calculates the normalization reading probability of each label relative to antenna.Distance determining unit, be arranged to and read probability map by reading probabilistic query according to each label relative to the normalization of antenna, determine the distance of each label relative to antenna, wherein, read probability map record label and read probability and the label corresponding relation relative to the distance of antenna relative to the normalization of antenna.
By reading the description of the respective handling provided above, how the function of each component units of device 700 realizes just becoming very clear, so do not repeat them here.
It should be noted that at this, the structure of the RFID label tag locating device 700 shown in Fig. 7 and component units thereof is only exemplary, and those skilled in the art can modify to the structured flowchart shown in Fig. 7 as required.
Below ultimate principle of the present invention is described in conjunction with specific embodiments, but, it is to be noted, for those of ordinary skill in the art, whole or any step or the parts of method and apparatus of the present invention can be understood, can in the network of any calculation element (comprising processor, storage medium etc.) or calculation element, realized with hardware, firmware, software or their combination, this is that those of ordinary skill in the art use their basic programming skill just can realize when having read explanation of the present invention.
Therefore, object of the present invention can also be realized by an operation program or batch processing on any calculation element.Described calculation element can be known fexible unit.Therefore, object of the present invention also can realize only by the program product of providing package containing the program code realizing described method or device.That is, such program product also forms the present invention, and the storage medium storing such program product also forms the present invention.Obviously, described storage medium can be any storage medium developed in any known storage medium or future.
When realizing embodiments of the invention by software and/or firmware, from storage medium or network to the computing machine with specialized hardware structure, the program forming this software installed by multi-purpose computer 800 such as shown in Fig. 8, this computing machine, when being provided with various program, can perform various function etc.
Fig. 8 shows and can be used for implementing the schematic block diagram according to the computing machine of the method and apparatus of the embodiment of the present invention.In fig. 8, CPU (central processing unit) (CPU) 801 performs various process according to the program stored in ROM (read-only memory) (ROM) 802 or from the program that storage area 808 is loaded into random access memory (RAM) 803.In RAM 803, also store the data required when CPU 801 performs various process etc. as required.CPU 801, ROM 802 and RAM 803 are connected to each other via bus 804.Input/output interface 805 is also connected to bus 804.
Following parts are connected to input/output interface 805: importation 806 (comprising keyboard, mouse etc.), output 807 (comprise display, such as cathode-ray tube (CRT) (CRT), liquid crystal display (LCD) etc., and loudspeaker etc.), storage area 808 (comprising hard disk etc.), communications portion 809 (comprising network interface unit such as LAN card, modulator-demodular unit etc.).Communications portion 809 is via network such as the Internet executive communication process.As required, driver 810 also can be connected to input/output interface 805.Detachable media 811 such as disk, CD, magneto-optic disk, semiconductor memory etc. can be installed on driver 810 as required, and the computer program therefrom read is installed in storage area 808 as required.
When series of processes above-mentioned by software simulating, from network such as the Internet or storage medium, such as detachable media 811 installs the program forming software.
It will be understood by those of skill in the art that this storage medium is not limited to wherein having program stored therein shown in Fig. 8, distributes the detachable media 811 to provide program to user separately with equipment.The example of detachable media 811 comprises disk (comprising floppy disk (registered trademark)), CD (comprising compact disc read-only memory (CD-ROM) and digital universal disc (DVD)), magneto-optic disk (comprising mini-disk (MD) (registered trademark)) and semiconductor memory.Or hard disk that storage medium can be ROM 802, comprise in storage area 808 etc., wherein computer program stored, and user is distributed to together with comprising their equipment.
The present invention also proposes a kind of program product storing the instruction code of machine-readable.When described instruction code is read by machine and performs, the above-mentioned method according to the embodiment of the present invention can be performed.
Correspondingly, be also included within of the present invention disclosing for carrying the above-mentioned storage medium storing the program product of the instruction code of machine-readable.Described storage medium includes but not limited to floppy disk, CD, magneto-optic disk, storage card, memory stick etc.
Above in the description of the specific embodiment of the invention, the feature described for a kind of embodiment and/or illustrate can use in one or more other embodiment in same or similar mode, combined with the feature in other embodiment, or substitute the feature in other embodiment.
Should emphasize, term " comprises/comprises " existence referring to feature, key element, step or assembly when using herein, but does not get rid of the existence or additional of one or more further feature, key element, step or assembly.
In addition, method of the present invention be not limited to specifications in describe time sequencing perform, also can according to other time sequencing ground, perform concurrently or independently.Therefore, the execution sequence of the method described in this instructions is not construed as limiting technical scope of the present invention.
Can being applied to for needing the monitoring position of object and the application in orientation according to the said method of the embodiment of the present invention and device, being particularly suitable for logistics and line management field.Corresponding service can be provided according to the demand of client to position and orientation recognition.Conveniently to the further understanding of the method and apparatus of the embodiment of the present invention, the application scenarios of several method and apparatus according to the embodiment of the present invention is below described.Should be appreciated that these application scenarioss are only the objects for illustrating, instead of will the present invention be limited.
(application scenarios 1)
Because current most logistic label does not possess visuality, therefore will find the product with specifying label from the article of a pile proper alignment, be very difficult thing.
For convenience of description, the arrangement mode of label is specified to be that the center of antenna starts by directions of rays arrangement here, if required object can be reached by the position of adjustment antenna and angle when not being and arrange by this direction.If when the scope of an antenna can not cover all labels, multiple antenna can be used.
Utilize the method and apparatus according to the embodiment of the present invention, first design the maximum transmission power needed for the antenna of location Calculation and minimum emissive power.Then the emissive power of antenna is transferred to default maximal value, records each label under the maximum transmission power of antenna by number of times that antenna successfully reads.Then the adjustment amount of antenna transmission power is calculated according to the minimum resolution of the spacing of the current transmit power of antenna, the minimum response power of label and label, turn down the emissive power of antenna gradually, until reach the minimum output power designed in advance, and under obtaining each emissive power each label be successfully read number of times.Then the number of times that is successfully read corresponding for each label is added, obtains the number of times sum that label is successfully read by antenna.Sorted by the number of times sum that each label is successfully read, determine that each label puts in order relative to the distance of antenna.
When user inputs the label ID that will search, described device return the most at last this label of No. ID be press distance antenna from the close-by examples to those far off or draw near direction arrangement which number label.User directly can find the position of this label in the sequence of labeled object by naked eyes.
(application scenarios 2)
When needing the article at certain sect be identified by warehouse gate or the process of circulation, utilizing the method and apparatus according to the embodiment of the present invention, stacking sequentially by article each time this can be found rapidly by the positional alignment calculating the RFID label tag on article.
In addition, by the combination of multiple antennas, the calculating put in order of the label of longitudinal arrangement can be realized.
(application scenarios 3)
Utilize according to the method and apparatus of the embodiment of the present invention, robot can determine position residing for oneself and orientation and direction of travel according to the speed of oneself and positioning label in walking.
The location of label also can realize the location of antenna conversely, by realizing the effective location of direction of travel to robot and position to the location of antenna.
Although above by the description of specific embodiments of the invention to invention has been disclosure, should be appreciated that, above-mentioned all embodiments and example are all illustrative, and not restrictive.Those skilled in the art can design various amendment of the present invention, improvement or equivalent in the spirit and scope of claims.These amendments, improvement or equivalent also should be believed to comprise in protection scope of the present invention.
Can be found out by above description, according to embodiment of the present disclosure, provide following scheme:
Remarks 1. 1 kinds of radio frequency identification (RFID) labels localization methods, comprising:
Use the antenna of RFID reader under current transmit power, read multiple label first pre-determined number;
Record the number of times that each label is successfully read under the current transmit power of described antenna;
Next emissive power of described antenna is determined according to the minimum resolution of the spacing of the current transmit power of described antenna, the minimum response power of described label and described label;
Using next emissive power of described antenna of determining as the current transmit power of described antenna, repeat above step the second pre-determined number;
Calculate the summation of the number of times that each label is successfully read; And
The summation of the number of times be successfully read according to described each label sorts to described multiple label, determines each label putting in order relative to described antenna.
The method of remarks 2. as described in remarks 1, next emissive power of wherein said antenna obtains as follows:
The adjustment amount being used for adjusting the current transmit power of described antenna is calculated according to the minimum resolution of the spacing of the current transmit power of described antenna, the minimum response power of described label and described label; And
Next emissive power of described antenna is obtained with the current transmit power adjustment of described adjustment amount to described antenna calculated.
The method of remarks 3. as described in remarks 1 or 2, wherein also comprises after the step that the summation of the number of times be successfully read according to described each label sorts to described multiple label:
Calculate each label and read probability relative to the normalization of described antenna; And
Reading probability map by reading probabilistic query according to each label relative to the normalization of described antenna, determining the distance of each label relative to described antenna,
Wherein, described reading probability map record label reads probability and the label corresponding relation relative to the distance of described antenna relative to the normalization of described antenna.
The method of remarks 4. as described in remarks 1, the minimum response power of wherein said label is obtained by following steps:
The distance between described reader and described label is kept to fix;
The emissive power of the described antenna of ascending change is until read described label; And
The minimum response power of described label is determined according to the emissive power of described antenna and the described distance between described reader and described label when reading described label.
The method of remarks 5. as described in remarks 1, the minimum response power of wherein said label is obtained by following steps:
Described antenna attempts reading tag with fixed transmission power;
Distance between described reader and described label is changed until described reader reads described label by as far as near; And
According to Distance geometry when reading described label between described reader and described label, the described emissive power of antenna determines the minimum response power of described label.
The method of remarks 6. as described in remarks 1 or 2, the arrangement mode of wherein said label is arrange by directions of rays from the center of described antenna.
Remarks 7. 1 kinds, for determining the method for the distance between RFID reader and label, comprising:
Determine the minimum response power of described label;
The emissive power of the antenna of the described reader of ascending change is until read described label; And
The distance between described reader and described label is determined according to the emissive power of described antenna and the minimum response power of described label when reading described label.
Remarks 8. 1 kinds of radio frequency identification (RFID) labels locating devices, comprising:
Tag reader unit, is arranged to and uses the antenna of RFID reader under current transmit power, read multiple label first pre-determined number;
Tag read information record cell, is arranged to the number of times recording each label and be successfully read under the current transmit power of described antenna;
Emissive power adjustment unit, the minimum resolution being arranged to the current transmit power according to described antenna, the minimum response power of described label and the spacing of described label determines next emissive power of described antenna;
Repetitive controller unit, is arranged to the current transmit power of next emissive power described in described antenna as described antenna, repeats above step the second pre-determined number;
Sum unit, is arranged to the summation calculating the number of times that each label is successfully read; And
Tag sorting unit, the summation being arranged to the number of times be successfully read according to described each label sorts to described multiple label, determines each label putting in order relative to described reader.
The device of remarks 9. as described in remarks 8, also comprise power adjustment computing unit, the minimum resolution being arranged to the distance between the current transmit power according to described antenna, the minimum response power of described label and described label calculates the adjustment amount for adjusting the current transmit power of described antenna.
The device of remarks 10. as described in remarks 8 or 9, also comprises:
Normalization unit, is arranged to and calculates the normalization reading probability of each label relative to described antenna;
Distance determining unit, is arranged to and reads probability map by reading probabilistic query according to each label relative to the normalization of described antenna, determine the distance of each label relative to described antenna,
Wherein, described reading probability map record label reads probability and the label corresponding relation relative to the distance of described antenna relative to the normalization of described antenna.
The device of remarks 11. as described in remarks 8, wherein, described minimum response power obtains in the following manner:
Described reader attempts reading tag with fixed transmission power;
Distance between described reader and described label is changed until described reader reads described label by as far as near; And
According to Distance geometry when reading described label between described reader and described label, the described emissive power of reader determines described minimum response power.
The device of remarks 12. as described in remarks 8, wherein, described minimum response power obtains in the following manner:
Described reader attempts reading tag with fixed transmission power;
Distance between described reader and described label is changed until described reader reads described label by as far as near; And
According to Distance geometry when reading described label between described reader and described label, the described emissive power of reader determines described minimum response power.
Claims (9)
1. a radio frequency identification (RFID) labels localization method, comprising:
Use the antenna of RFID reader under current transmit power, read multiple label first pre-determined number;
Record the number of times that each label is successfully read under the current transmit power of described antenna;
Next emissive power of described antenna is determined according to the minimum resolution of the spacing of the current transmit power of described antenna, the minimum response power of described label and described label;
Using next emissive power of described antenna of determining as the current transmit power of described antenna, repeat above step the second pre-determined number;
Calculate the summation of the number of times that each label is successfully read; And
The summation of the number of times be successfully read according to described each label sorts to described multiple label, determines each label putting in order relative to described antenna.
2. the method for claim 1, next emissive power of wherein said antenna obtains as follows:
The adjustment amount being used for adjusting the current transmit power of described antenna is calculated according to the minimum resolution of the spacing of the current transmit power of described antenna, the minimum response power of described label and described label; And
Next emissive power of described antenna is obtained with the current transmit power adjustment of described adjustment amount to described antenna calculated.
3. method as claimed in claim 1 or 2, wherein also comprises after the step that the summation of the number of times be successfully read according to described each label sorts to described multiple label:
Calculate each label and read probability relative to the normalization of described antenna; And
Reading probability map by reading probabilistic query according to each label relative to the normalization of described antenna, determining the distance of each label relative to described antenna,
Wherein, described reading probability map record label reads probability and the label corresponding relation relative to the distance of described antenna relative to the normalization of described antenna.
4. the method for claim 1, the minimum response power of wherein said label is obtained by following steps:
The distance between described reader and described label is kept to fix;
The emissive power of the described antenna of ascending change is until read described label; And
The minimum response power of described label is determined according to the emissive power of described antenna and the described distance between described reader and described label when reading described label.
5. the method for claim 1, the minimum response power of wherein said label is obtained by following steps:
Described antenna attempts reading tag with fixed transmission power;
Distance between described reader and described label is changed until described reader reads described label by as far as near; And
According to Distance geometry when reading described label between described reader and described label, the described emissive power of antenna determines the minimum response power of described label.
6. method as claimed in claim 1 or 2, the arrangement mode of wherein said label is arrange by directions of rays from the center of described antenna.
7. a radio frequency identification (RFID) labels locating device, comprising:
Tag reader unit, is arranged to and uses the antenna of RFID reader under current transmit power, read multiple label first pre-determined number;
Tag read information record cell, is arranged to the number of times recording each label and be successfully read under the current transmit power of described antenna;
Emissive power adjustment unit, the minimum resolution being arranged to the current transmit power according to described antenna, the minimum response power of described label and the spacing of described label determines next emissive power of described antenna;
Repetitive controller unit, is arranged to the current transmit power of next emissive power described in described antenna as described antenna, repeats above step the second pre-determined number;
Sum unit, is arranged to the summation calculating the number of times that each label is successfully read; And
Tag sorting unit, the summation being arranged to the number of times be successfully read according to described each label sorts to described multiple label, determines each label putting in order relative to described reader.
8. device as claimed in claim 7, also comprise power adjustment computing unit, the minimum resolution being arranged to the distance between the current transmit power according to described antenna, the minimum response power of described label and described label calculates the adjustment amount for adjusting the current transmit power of described antenna.
9. device as claimed in claim 7 or 8, also comprises:
Normalization unit, is arranged to and calculates the normalization reading probability of each label relative to described antenna;
Distance determining unit, is arranged to and reads probability map by reading probabilistic query according to each label relative to the normalization of described antenna, determine the distance of each label relative to described antenna,
Wherein, described reading probability map record label reads probability and the label corresponding relation relative to the distance of described antenna relative to the normalization of described antenna.
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| CN106355926A (en) * | 2015-07-17 | 2017-01-25 | 上海华虹集成电路有限责任公司 | Vehicle lateral positioning method |
| CN106340184A (en) * | 2015-07-17 | 2017-01-18 | 上海华虹集成电路有限责任公司 | Vehicle queue ordering method |
| CN106446733B (en) * | 2015-11-13 | 2018-12-07 | 湖南大学 | A kind of label reception power forecasting method of UHF RFID ETC application |
| CN106682554B (en) * | 2016-11-29 | 2019-08-16 | 大唐微电子技术有限公司 | A kind of Contactless IC Card Reader and its implementation |
| JP6887838B2 (en) * | 2017-03-21 | 2021-06-16 | 東芝テック株式会社 | Information processing equipment, information collection equipment and information collection system |
| CN113260035A (en) * | 2020-03-05 | 2021-08-13 | 深圳怡化电脑股份有限公司 | Method and device for controlling transmission power of reader-writer, computer equipment and storage medium |
| CN111591044B (en) * | 2020-04-27 | 2022-04-29 | 厦门汉印电子技术有限公司 | Method, device and equipment for acquiring operation position of RFID label paper and readable storage medium |
| CN111929636B (en) * | 2020-06-16 | 2024-03-26 | 宜宾电子科技大学研究院 | Intelligent identification and marking positioning method for metal container |
| CN112001194A (en) * | 2020-08-17 | 2020-11-27 | 苏州智昕医教科技有限公司 | Medical education system based on distributed radio frequency identification |
| CN116432670B (en) * | 2023-04-20 | 2024-01-23 | 欧科华创自动化(深圳)有限公司 | Energy-saving RFID method and system capable of self-adjusting power |
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