CN105956636A - Method for correlating with object by means of RF identification label - Google Patents
Method for correlating with object by means of RF identification label Download PDFInfo
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- CN105956636A CN105956636A CN201610234835.2A CN201610234835A CN105956636A CN 105956636 A CN105956636 A CN 105956636A CN 201610234835 A CN201610234835 A CN 201610234835A CN 105956636 A CN105956636 A CN 105956636A
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- label
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
- G06K17/0029—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device the arrangement being specially adapted for wireless interrogation of grouped or bundled articles tagged with wireless record carriers
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/10009—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves
- G06K7/10019—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves resolving collision on the communication channels between simultaneously or concurrently interrogated record carriers.
- G06K7/10079—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves resolving collision on the communication channels between simultaneously or concurrently interrogated record carriers. the collision being resolved in the spatial domain, e.g. temporary shields for blindfolding the interrogator in specific directions
- G06K7/10089—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves resolving collision on the communication channels between simultaneously or concurrently interrogated record carriers. the collision being resolved in the spatial domain, e.g. temporary shields for blindfolding the interrogator in specific directions the interrogation device using at least one directional antenna or directional interrogation field to resolve the collision
- G06K7/10099—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves resolving collision on the communication channels between simultaneously or concurrently interrogated record carriers. the collision being resolved in the spatial domain, e.g. temporary shields for blindfolding the interrogator in specific directions the interrogation device using at least one directional antenna or directional interrogation field to resolve the collision the directional field being used for pinpointing the location of the record carrier, e.g. for finding or locating an RFID tag amongst a plurality of RFID tags, each RFID tag being associated with an object, e.g. for physically locating the RFID tagged object in a warehouse
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- Computer Networks & Wireless Communication (AREA)
- Toxicology (AREA)
- General Engineering & Computer Science (AREA)
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- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
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Abstract
A method for correlating with an object by means of an RF identification label belongs to RF identification and robot technology. The method settles a problem of real-time transmitting spatial structure information of a set of objects which are orderly arranged and may change along with time to a self-moving robot, thereby setting the boundary or path of the self-moving object. According to the method of the invention, FR identification labels are placed on the set of objects in a one-to-one manner. Furthermore a reference pointer to an adjacent label is written according to a certain principle and a certain method. According to the label set and pointer information contained therein, a linear, tree-shaped or net-shaped data structure can be formed logically, thereby mapping a spatial position relationship among objects which are marked by the label set. According to a pointer function construction principle and a pointer function construction method provided by the invention, storage length of the reference pointer can be greatly reduced. Furthermore information can be added on the pointer. According to the method of the invention, a complicated relationship among the objects can be mapped; small-memory labels can be used in a hybrid manner for reducing cost; and abundant object manufacturing materials are disclosed.
Description
Technical field
The method using RFID tag associate belongs to RF identification (RFID) technology, is again that a robot is correlated with skill
Art.
Background technology
One group of RFID tag is placed on the fixing or zone boundary of movement or path, for self-moving robot delineation and labelling
The border of work and trend, Chinese patent 201520892229.0/201510762076.2 (2015, the least quick etc.) discloses
A kind of related art scheme for robot hay mover, but there is following limitation: 1, it is only limitted to the series connection of RFID tag logic
Situation, be not directed to the tree-like of branch or network structure, have no idea to tackle the path that can encounter during robot path guides and divide
The problems such as fork, path merging；2, employing tag identifier code TID, UTID or TID+UTID itself is as being cited pointer,
Need to take too much RFID tag USER memory block, and in the market can be with print format (inlay) form system
Making in the chip of label, what USER district was maximum also only has 512 binary digits；3, require that every label all must possess bigger
USER memory block stores reference pointer, and great amount of cost is relatively low and RFID tag that USER district is less cannot be used；4、
Only relating to PVC material to make series connection bound object, washability is the narrowest.
Summary of the invention
One group of object, is arranged in linear (comprising ring), tree-like or network structure, and the arrangement of object may time to time change.
The structural information of this group collection of objects needs to pass to robot in real time in the way of robot understanding, thus sets for self-moving robot
Surely work border or route guidance.Use the solution that the method (being hereafter also known as " present invention ") of RFID tag associate designs
Certainly scheme is to lay RFID tag one by one to each object on this group object, carrys out each object of labelling with RFID tag,
Write in all or part of RFID tag the reference pointer of RFID tag in adjacent objects simultaneously.This radio frequency is known
The set of distinguishing label and wherein many pointer informations of containing are combined, just logically created one linear, tree-like or
Netted data structure, carrys out the spatial relation between the object of map tags set institute labelling.Penetrate to self-moving robot equipment
Frequency identifies read functions, after robot reads identification information and the pointer information of the most a piece of RFID tag, it is possible to understand
The neighbor information of this label also determines whether it oneself is the adjacent node of other nodes and the most adjacent.Progressively accumulate number
According to rear, self-moving robot just can grasp the locus whole relation of this collection of objects, thus understands that this relation to be transmitted
Defining or guidance information to it.
Technical scheme reference standard EPCglobal C1 G2, ISO 18000, ISO 15961/15962/15963.This
During invention is discussed, subscript h represents 16 systems, and subscript b represents binary system.
Will store the reference pointer to other label Y in certain RFID tag X, method is one pointer function fortune of structure
Calculating P (t)=p, p value writes the memory block of label X, as quoting the virtual mouse of label Y, wherein p is a numerical value,
T be cited the TID code of label Y or its fragment, EPC code or its fragment or be stored in the user in USER district from
Definition identification code (UDID)；And the qualifications of pointer function P is it inverse operation P-1(p)=t, and p value and t value exist
Must be unique in the tag set of one concrete application of the present invention.
The identification method of RFID tag self mainly has: TID identity code, EPC code or Custom tags code UDID.
And in a small-scale application closed, certain fragment of TID code or EPC code just can uniquely distinguish RFID tag
Label in set.In the present invention the corresponding expression way of reference pointer be respectively P (TID)、P(EPC) and P (UDID).Three
The method of kind is respectively arranged with length, and concrete selection to determine for every qualifications of actual application scenarios.
Different vendor, the coding rule of different model RFID tag TID code and code length are not quite similar, and some labels are also
There is a unique tag identification code extended (Unique TID or UTID), so what the RFID tag of separate sources was used with
Time, constructing a general succinct pointer function can be relatively difficult.But the RFID tag of same manufacturer has in one
The serial number in portion uniquely distinguishes label, so using same manufacturer, the penetrating of same model in the middle of the application of a limited scale
Frequency identification tag, the local paragraph at they internal sequence places (is designated astids) may serve as identification (RFID) tag self.P(TID)
=tidsIt it is a preferred version of pointer function in this case.
Although the EPC district of RFID tag in fact can store user-defined any code value, but closes the EPC of rule
Code must be complied with the complicated coding rule of EPCglobal, the obligated uniqueness safeguarding code value of user and compliance, it is to avoid pollutes
Whole EPC space encoder.Enterprise typically also can add serial number in EPC code and (be designated asepcs) as of EPC code
Fragment, at this moment P (EPC)=epcsIt it is a preferable reference pointer function.If non-EPC standard, then EPC should be stored
District the 17thhPosition is set as 1b。
In USER district, user can the ratio identification code UDID of the most self-defined RFID tag, accomplish to simplify short and small,
Now pointer function can use anti-body function P (UDID)=UDID.But, the information reading efficiency in USER district is not so good as TID
District and EPC district.
The memory capacity of radio frequency identification label chip is very limited, can make with print format (inlay) form in the market
In the chip of label, what USER district was maximum also only has 512 binary digits.So the function of pointer function should shorten as far as possible
The number of bits of reference pointer, takies memory space to save.
The EPC district of RFID tag and USER district are all read-write memory blocks.Reference pointer can be stored in EPC district
A part for EPC code, it is also possible to be stored in USER district.If there being the reference pointer to label Y in label X,
Consider that the restriction of memory size it is not recommended that the two-way of label is quoted, i.e. no longer stores the reference pointer to label X in label Y.As
Fig. 1, has the pointer of sensing label B (120) in label A (110), have sensing label C (130) in label B
Pointer, but in label B, no longer the pointer of label A is pointed in storage, and in label C, no longer the pointer of label B is pointed in storage.
When all labels the most only store a reference pointer, and the most all labels order is connected, and tag set structure is a line
Property data structure.A piece of RFID tag can also store multiple reference pointer, show that this label is a branch node,
With adjacent more than two other labels.If there is branch node in tag set, then show that this tag set expresses is one
Tree form data structure.Multiple pointers that a piece of RFID tag can also be respectively stored in different label are quoted, and representing should
Label is an aggregation node.If tag set exists branch node and aggregation node simultaneously, then show this tag set table
Reach is a network data structure.Such as Fig. 3, label T2And label T (320)3(330) it is branch node, and label T6
(360) it is aggregation node, tag set { T1..T6A network data structure is stored in }.And if label T3In do not have
Storage is to T6Quote, then tag set { T1..T6In }, storage is exactly a tree form data structure.
If having the memory space inadequate of portion radio frequency identification label in tag set to store reference pointer, then will utilize
Label in complementary set is organized and stores the pointer information of whole set.Such as Fig. 2, label M (210), label I (220), mark
Sign J (230) and label N (250) to have respectively at its TID fieldTID=m (211),TID=i (221),TID=j (231),TID=n (251).Label I and J only has the least memory space, it is impossible to distribute to reference pointer, and label M and mark
Sign N and have more memory space, can substitute for other label to store pointer data.In label M, mark is quoted in storage in order
Sign pointer P ' (i) (215) of I, J, N, P ' (j) (216), P ' (n) (217), then tag set { M, I, J, N} and refer to
Pin forms tree form data structure.When the storage order according to label M pointer travels through the node set, and traverse path forms a line
Property ordering relation.Fig. 2 pointer function be P ' (TID), it would however also be possible to employ forEPCOrUDIDComputing.And label N
In equally store multiple reference pointer, one section of relation of isomorphism is expressed in relay.
At the end points of each data structure above-mentioned, the null value (null) of the position write agreement of pointer to be stored in the label.null
General value is 0 or FFFFh。
The present invention can apply in such as the application scenarios of Fig. 1.Guide pile (100) is arranged in linear ring, irises out self-propelled machine
The scope of people (900) operation.Laying RFID tag on guide pile, by write reference pointer, labels are by guide pile
Order linear links.Border and trend thereof are understood by reading label substance by robot, and take to take action accordingly, such as leave
The banded zone on border.
The present invention can also apply in such as the application scenarios of Fig. 3.There is bifurcated in the path (300) of robot the unknown in advance and converges,
When robot motion arrives this, the premise of its decision-making is must to know whether be faced with bifurcated or converge.It is on these positions
The RFID tag T laid on mark post2(320)、T3(330)、T4And T (340)6(360) data in will be transmitted
The information that it is expected to robot.
Some information can also be added on reference pointer.Such as Fig. 3, label T1And label T (310)2(320) adjacent, label
T1In except having label T2Reference pointer, also have Len (t1, t2) (318) expression label T1And T2Between distance.
Additional information more assists to self-moving robot.
On self-moving robot install RF identification read equipment, the identification information of reading rfid tags, reference pointer information,
And pointer additional information, the inverse operation calling pointer function obtains the identification information of the label that is cited.Self-moving robot will be every
The data of secondary reading preserve, and progressively accumulate and associate, just can re-map out by the data structure in RFID tag set.
The practicable of the present invention additionally depends on making material or the peace of RFID tag of the objects such as above-mentioned guide pile and mark post
Put method.These subject should use the material of electromagnetic wave penetrating (RF-lucent) to make, and can be selected for but is not limited to: second
Alkene ester, polystyrene, Merlon, polypropylene, polyethylene, polyurethane, polyester, polyolefin, polyamide, ethylene, silicon
Ketone, polyethylene terephthalate (PET), poly-naphthalenedicarboxylic acid (PEN), Polyetherimide (PEI), polyether-ether-ketone (PEEK),
Polysulfones (PS), PPSU (PPS), polyether sulfone (PES), polrvinyl chloride (PVC), polyester, polyimides, poly-breast
The material that acid (PLA), ABS synthetic resin or the above material of two of which are mixed to get.If the system of these subject
Make material not electromagnetic wave penetrating, then suitable method must be used to lay RFID tag.Chinese patent
201520732167.7 (2015, Xu little Min) disclose a kind of scheme can properly be placed in some non-electrical by RFID tag
On the object that magnetic wave is penetrating, it is referred to use.Anti-metal tag can also be with reference to use.
The invention has the beneficial effects as follows:
(1), when RFID tag quote other label by pointer, The present invention gives principle and the side of structure reference pointer
Method.Follow these principles and method, the memory length of reference pointer can be greatly shortened, reduce label valuable memory space
Take.And on the other hand, on reference pointer the method for additional information can the user of preferably assisted tag information, such as from
Row robot.
(2), the method for the present invention is except expressing and map the linear relationship of collection of objects in realistic space, it is also possible to express
With tree-like relation and the network relation mapping collection of objects.
(3), the method for the present invention can use little internal memory with or there is no the RFID tag of USER internal memory to reduce cost, and
All references pointer information still can preserve in tag set.
(4), the method for the present invention discloses the abundant material that makes and supplies the subject selection in realistic space.
Accompanying drawing explanation
What Fig. 1 expressed is that RFID tag set sets up linear linked list data structure by reference pointer, thus maps institute's labelling
The linearly aligned spatial relation of exterior object.
What Fig. 2 expressed is quotes pass with the RFID tag in the subset of tag set to store all labels in whole set
System, thus the method setting up data structure.
What Fig. 3 expressed is with RFID tag aggregated label exterior object and by reference pointer structure network data structure
Method, thus map the spatial shape of external path.
Detailed description of the invention
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings, so that those skilled in the art can
To be better understood from the present invention and can be practiced, but illustrated embodiment is not as a limitation of the invention.
The node object of all embodiments, such as guide pile and mark post, all use the material system of electromagnetic wave penetrating (RF-lucent)
Make, can be selected for but be not limited to: be vinyl acetate, polystyrene, Merlon, polypropylene, polyethylene, polyurethane, polyester, poly-
Alkene, polyamide, ethylene, silicone, polyethylene terephthalate (PET), poly-naphthalenedicarboxylic acid (PEN), Polyetherimide
(PEI), polyether-ether-ketone (PEEK), polysulfones (PS), PPSU (PPS), polyether sulfone (PES), polrvinyl chloride (PVC),
The material that polyester, polyimides, polylactic acid (PLA), ABS synthetic resin or the above material of two of which are mixed to get.
Being lifted in enforcement row, relate to the place of spatial order, all with the visual angle of observer, definition is left clockwise, the inverse time
Pin direction is right.
Embodiment is just like Fig. 1.One group of guide pile (100) is arranged in linear ring on ground, has drawn a circle to approve a self-moving robot (900)
Working range.A piece of RFID tag is laid on each guide pile.The RF identification of robot reads radius and is adjusted to
1 meter, 120 ° of horizontal emission angle, then the density requirements of guide pile controls more than 0.6/meter, to ensure that robot enters border
The most a piece of RFID tag is read in region surely with regard to one, and robot then it will be seen that the position of oneself, the mark of next stake
Knowledge, directional information, and take corresponding measure, such as it is diverted away from borderline region.
RFID tag all uses the ALN-9640Squiggle of Alien company, and it has 96 Wei EPC districts and 512
USER district.Determine the 17th of EPC code thehPosition is set as 1b, and construct pointer function P (epc)=epcAnd it is stored in USER
District, whereinepcIt is defined as EPC code 40h～4FhFragment on address, and unique in the present embodiment is applied.
Label A (110) storage hasepc=a (115), label B (120) hasepc=b (125), label C hasepc=c
(135), they have in USER district the most respectively reference pointer P (epc)=b (116), P (epc)=c (126), P (epc)=d
(136) being respectively directed to respective right adjacent label B, C and D, wherein d is label D (140)epcValue.Other joints
The rest may be inferred for some situation.Label A, B, C logically constitute linear linked list, are demonstrated by RFID tag collection on guide pile
One three node fragment of the full linear chained list that the data in conjunction are contained.
When self-moving robot reads label B from guide pile, it is thus achieved thatepc=b and P (epcTwo data of)=c, i.e. it will be seen that
The identity of this guide pile is b, and right neighbour is c.If robot has been obtained forepc=a and P (epcA pair data of)=b, just
It is known that b is the right neighbour of the guide pile that identity is a once accessed.Robot, through constantly contacting guide pile, constantly amasss
Tired data, it is possible to grasp the information on whole border.
Embodiment two such as Fig. 3.There are bifurcated and point in path (300), in each bifurcation and point and path on the way
Place mark post, mark post is laid RFID tag, including T1(310)、T2(320)、T3(330)、T4(340)、T5
(350)、T6(360), they have stored respectivelyUTID=t1(311)、UTID=t2(321)、UTID=t3(331)、UTID=t4(341)、UTID=t5(351)、UTID=t6(361)。
RFID tag all uses the ALN-9654G of Alien company, and label is by the unique district of UTID of 64 binary digits
Point.In enforcement, the UTID of selected label requires not repeat in low 16 binary digits.Structure pointer function
P″(UTID″)=UTID″AND 000000000000FFFFh=p ",
Take low 16 binary digits and be stored in USER district.
P″-1(p ")=UTID AND FFFFFFFFFFFF0000hOR p ",
WhereinUTIDIt is the UTID of this label,UTID″It is the UTID of label of being cited.
Will be at tag set { T1..T6Form cancellated logical relation in } and reflect the shape of path (300), need at mark
Label store left and right two reference pointers, by the map reference of up north and down south, is respectively directed to lower-left, bottom right adjacent node.Mark
Sign T1In have bottom right pointer P " (t2) (317) sensing T2；And label T2Middle storage has two pointer P " (t3) (325) and P " (t4)
(327) lower-left neighbour T it is respectively directed to3With bottom right neighbour T4, represent T2It is in a branch node in path；Label T3Also have two
Individual pointer P " (t5) (335) and P " (t6) (337) be respectively directed to lower-left neighbour T5With bottom right neighbour T6, represent T3Present position is also
One bifurcation in path；Label T4In have bottom right pointer P " (t6) (347) be also directed to T6, show T6Present position is road
One point in footpath；Label T5In have lower-left pointer P " (tx) (355) point to certain label TxIf, P " (tx)=null,
Then represent T5It lower left is end points；Label T6In have bottom right pointer P " (ty) (367) point to certain label Ty, as
Really P " (ty)=null, then it represents that T6It lower right is end points.
In label USER district, if the null value (null) being due up of write on the position of storage pointer, then it represents that this
Adjacent node is not had on direction.The value of null null pointer is defined as 0.Reference pointer all followed by length data Len (x, y)
As pointer additional information, represent this label X distance to adjacent label Y.Null pointer follow a length of 0.
Self-moving robot can be by reading the data in tag set, and solution path situation, including Location and direction, is come
Assisting navigation.If robotic equipment has beam antenna, it is possible to be accurately oriented reading label data, with these data voluntarily
Navigation.Arbitrary label position is referred to as a node, then RF identification reads equipment and can begin stepping through joint from arbitrary node
Point, and in internal memory, replicate the whole data structure in tag set.Just can accurately be known from when it turns again to certain node
Own position on path.
Claims (4)
1. the method using RFID tag associate, is to lay RFID tag one by one, with RF identification on one group of object
The each object of label labelling, all RFID tags form a set, it is characterised in that:
C01: the value of storage function computing P (t)=p is as to adjacent radio frequency identification label in all or part of RFID tag
Reference pointer, the qualifications of function P is that it has inverse operation P-1P ()=t, wherein p is a numerical value, and t is to be cited
The TID code of RFID tag or its fragment, EPC code or its fragment or be stored in the user in USER district from
Definition identification code, t has uniqueness in tag set；
C02: multiple reference pointer can be stored in a piece of RFID tag and point to different labels, and can also in multiple label
Store same pointer respectively and point to same label；
C03: RFID tag set and the pointer information wherein contained logically constitute linear, tree-like or mesh data
Structure, with the spatial relation between the object of map tags set institute labelling.
The method of employing RFID tag associate the most according to claim 1, it is characterised in that in feature C03,
Described linear relationship can realize by constructing and traveling through tree form data structure.
The method of employing RFID tag associate the most according to claim 1, it is characterised in that permissible on reference pointer
Additional information, including the range data between the side of quoting and the side of being cited.
The method of employing RFID tag associate the most according to claim 1, it is characterised in that described subject
Make material to can be selected for but be not limited to: vinyl acetate, polystyrene, Merlon, polypropylene, polyethylene, polyurethane, poly-
Ester, polyolefin, polyamide, ethylene, silicone, polyethylene terephthalate (PET), poly-naphthalenedicarboxylic acid (PEN), poly-
Etherimide (PEI), polyether-ether-ketone (PEEK), polysulfones (PS), PPSU (PPS), polyether sulfone (PES),
More than polrvinyl chloride (PVC), polyester, polyimides, polylactic acid (PLA), ABS synthetic resin or two of which
The material that material is mixed to get.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107817726A (en) * | 2017-10-31 | 2018-03-20 | 合肥天鹰高科技有限公司 | A kind of intelligent substation managing and control system |
| CN107883926A (en) * | 2017-10-31 | 2018-04-06 | 合肥天鹰高科技有限公司 | A kind of transmission line of electricity early warning analysis platform |
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