CN109886051B - Vehicle positioning radio frequency identification system and quick inspection positioning method thereof - Google Patents
Vehicle positioning radio frequency identification system and quick inspection positioning method thereof Download PDFInfo
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Abstract
The invention discloses a vehicle positioning radio frequency identification system, which comprises: a plurality of passive radio frequency identification tags which are pre-buried in the road ground at intervals, wherein each passive radio frequency identification tag comprises a radio frequency identification tag chip and a tag antenna coil primary auxiliary antenna coil; the vehicle-mounted reader comprises a radio frequency identification reader, a radio frequency driving circuit, a reader antenna coil, a tag excitation array unit, an excitation array unit driving circuit and an excitation array unit controller. The rapid inspection positioning method of the vehicle positioning radio frequency identification system is also disclosed. The invention can use large-sized excitation and data communication antennas under the condition of adopting the same frequency of the passive radio frequency identification magnetic coupling signals, thereby realizing a longer access distance.
Description
Technical Field
The invention relates to the technical field of automatic driving of vehicles, in particular to a vehicle positioning radio frequency identification system based on an excitation winding dichotomy and a quick inspection positioning method thereof.
Background
Vehicle autopilot technology is a hot spot of current research and industrialization, and vehicle autopilot in special scenes, such as unmanned autopilot of container transfer vehicles in ports, has entered an application stage. Vehicle autolocalization is one of the core basic technologies for realizing automatic driving. At present, the technology of ultra-wideband wireless communication such as regional grid positioning, laser radar environmental characteristic identification and matching, micro-mechanical gyroscope/accelerometer inertial positioning navigation, satellite positioning and the like has corresponding technology and products in the automatic driving technology. In addition, a technology of adopting a vehicle-mounted radio frequency identification reader and a road pre-buried passive radio frequency identification tag is also provided. The technology is different from the technology of ultra-wideband wireless communication such as regional grid positioning, laser radar environmental characteristic recognition and matching, the technology of vehicle positioning based on passive radio frequency recognition adopts mature radio frequency identification tags, the passive radio frequency tags pre-buried in roads are low in cost, long in service life and small in environmental impact, a specific passive radio frequency identification reader is configured on a vehicle, and the pre-buried radio frequency identification tags with unique codes are used for positioning a moving or stationary vehicle through the antenna recognition of the subdivided grid reader, so that the technology of vehicle positioning based on passive radio frequency recognition has the advantages of relatively low operation cost, strong environmental adaptability, high reliability, easiness in deployment and the like, and has been applied to the field of automatic driving of port container transfer vehicles to a certain extent.
GermanyCompanies have developed positioning systems for vehicle autopilot applications based on current 125.134KHz (low band) and 13.56MHz (RFID) passive radio frequency identification technologies. The passive radio frequency identification tag of the pre-buried road has the dimensions of 74.5mm in diameter and 35mm in height, and the antenna of the vehicle-mounted reader has the dimensions of 1560mm x 653mm x 81mm, so that the positioning accuracy of +/-10 mm under the speed of 25 km/h can be realized. Compared with the common passive radio frequency identification tag, the embedded passive radio frequency identification tag for vehicle positioning mainly has certain difference in packaging, but the vehicle-mounted reader is quite different from the common radio frequency identification reader, so that the vehicle-mounted reader needs to realize remote access and simultaneously needs to realize access meeting expected positioning precision at a certain vehicle speed. In particular, access to the desired positioning accuracy is achieved by means of a specially designed grid antenna, i.e. by subdividing the grid antenna, the position of the vehicle relative to the pre-buried tag being obtained from the grid in which the communication is effected. Since the distance of passive rfid access is closely related to the dimensions of the antenna, the subdivision grid of the antenna in turn directly affects the access distance. Currently, germany->Corporate tags and readers and mesh antennas can achieve a maximum access distance of 35cm in a typical environment.
Referring to fig. 1, fig. 1 shows a conventional vehicle positioning system based on a magnetic coupling rfid technology, in which a vehicle 10 travels on a road, and an rfid reader 20 and an rfid reader antenna 30 are mounted on the vehicle 10. When the vehicle 10 and the rfid reader antenna 30 pass through the passive rfid tag 40 pre-buried on the road, the vehicle-mounted reader 20 can obtain the information of the passive rfid tag 40, and can realize the positioning of the vehicle 10 according to the geographic information of the pre-buried passive rfid tag 40 and the relative relationship between the passive rfid tag 40 and the vehicle 10.
Referring to fig. 2, fig. 2 illustrates the energy transmission and communication principles of a conventional rfid reader antenna and passive rfid tag based on magnetic coupling rfid technology. When a current passes through the antenna coil 31 of the rfid reader antenna 30, an induced alternating magnetic field 31a is generated, an induced electromotive force is generated by the antenna coil of the passive rfid tag 40, the chip circuit of the passive rfid tag 40 can convert the induced alternating electromotive force generated by the antenna coil into a power supply required by the chip to work, an instruction from the rfid reader 20 is extracted from the coupled signal, the instruction is executed, and a corresponding response is made, so that the communication between the rfid reader 20 and the passive rfid tag 40 is completed. For magnetically coupled radio frequency identification technology, the radio frequency identification tag operates within a distance of 1.10 or 1/8 of the wavelength of the electromagnetic wave used. Such as a carrier frequency of 13.56MHz, at a wavelength of 22.1 meters, and theoretically, a maximum access distance of 2.2 meters for magnetically coupled radio frequency identification at that wavelength. However, in near field conditions, the energy decays by a factor of 1/1000 for every 10 times increase in the normal to the rfid reader antenna 30, i.e., the energy decays by a third power of the reciprocal of the distance between the passive rfid tag 40 and the rfid reader antenna 30. In addition, due to the bandwidth requirements of the data communications, the network quality factor of the antenna coils of the RFID reader 20 and the passive RFID tag 40 is much lower than the intrinsic quality factor of the coil antenna. For example, copper wire coils may have a quality factor of up to 50, but in order to guarantee the bandwidth of data communications, the quality factor of the rfid reader antenna and tag antenna network may be only 8. These factors result in the effective access distances that magnetic-coupled radio frequency identification technology may achieve being well below the theoretical near field range. Referring to fig. 2, a 13.56MHz system, the access distance along the vertical direction of the antenna coil 31 of the rfid reader antenna 30 may be only 50-60 cm. In addition, the larger size of the rfid reader antenna 30 also means that the inductance of the antenna coil is large, the higher the carrier frequency, the more difficult the tuning; with a low electromagnetic wave frequency, a low data rate is meant.
The actual access distance is further limited by the effective size of the antenna coil 31 of the rfid reader antenna 30, and generally such systematic access distances are approximately 0.7 times the reader antenna size. The smaller the rfid reader antenna 30, the shorter the access distance. These features result in the following disadvantages with standard magnetically coupled radio frequency identification technology as vehicle positioning: in order to obtain a certain positioning accuracy, the antenna coil 31 of the radio frequency identification reader antenna 30 needs to be as small as possible, but the smaller the antenna coil 31 of the radio frequency identification reader antenna 30 means the shorter the effective access distance, which may be required to be at least 20-30 cm or more for automatic driving positioning of the vehicle. The use of an antenna of 40 cm or more results in a significant reduction in the obtainable positioning accuracy.
In order to overcome the defects of the vehicle positioning system based on the magnetic coupling radio frequency identification technology, the German patent with the patent number of DE202013101196U1 discloses the following contents: a low frequency carrier is used, namely a frequency band of 125KHz/134 KHz; meanwhile, the coverage area of the antenna of the radio frequency identification reader is subdivided into single access units 31 by adopting a grid subdivision method, as shown in fig. 3, so that the positioning accuracy is improved.
Referring to fig. 4, fig. 4 shows an antenna mesh subdivision structure adopted in the german patent publication of patent No. DE202013101196U1, in which excitation windings EQ1-EQ2 and excitation windings EL1-EL2 divide the area of the entire rfid reader antenna into 16 meshes, the excitation winding RE is a receiving winding and covers the entire antenna access area, and when one of the mesh signals is normally excited, the surrounding mesh signals cancel each other, so that the tag corresponding to the mesh position cannot be activated. And the time-sharing access of the antenna coverage area of the whole radio frequency identification reader is realized in an electronic scanning mode. The excitation winding of the radio frequency identification reader antenna of the technical scheme is long, and the inductance of the antenna coil is large, so that a low-frequency band is adopted, and tuning of an over-the-air network is facilitated.
To achieve a suitable communication distance, this may be achieved by increasing the transmission power of the rfid reader, and therefore a diode or similar structure may be added to the antenna end of the passive rfid tag to limit the voltage across the tag antenna, as shown in fig. 5. The antenna ends AC0, AC1 of the passive rfid tag chip 41 are connected to the coil antenna Lant, respectively, which is a basic rfid tag structure. In order to protect the passive rfid tag chip 41 from possible high voltage breakdown under the field intensity of a large dynamic range, a protection structure formed by diodes D1, D2 is added between the antenna ends AC0, AC1 of the rfid tag chip 41, and under the high field intensity, it is ensured that the voltages of the antenna ends AC0, AC1 of the passive rfid tag chip 41 do not exceed the bearing range of the passive rfid tag chip 41. In addition, in this scenario where the working distance is critical, the passive rfid tag 40 may further require additional passive rfid tag chip 41 to be externally connected to the capacitors C1, C2 and the resistors R1, R2 to adjust the working performance of the tag.
Compared with a corresponding frequency band radio frequency identification system, the existing vehicle positioning system is far more complicated in both a tag and a radio frequency identification reader antenna, but is limited in performance, and is mainly used for automatic driving positioning of 25 km/h or below at present.
Disclosure of Invention
One of the technical problems to be solved by the invention is as follows: aiming at the defects of the prior art, the vehicle positioning radio frequency identification system can realize remote access, reduce the complexity and cost of the system and improve the reliability of the system.
The second technical problem to be solved by the invention is that: the quick inspection positioning method of the vehicle positioning radio frequency identification system is provided.
A vehicle locating radio frequency identification system as a first aspect of the present invention includes:
the system comprises a plurality of passive radio frequency identification tags which are pre-buried in the road ground at intervals, wherein each passive radio frequency identification tag comprises a radio frequency identification tag chip, a tag antenna coil and an auxiliary antenna coil, a first antenna connecting end and a second antenna connecting end of the radio frequency identification tag chip are respectively connected with two ends of the tag antenna coil, and a first alternating current coupling signal end and a second alternating current coupling signal end of the radio frequency identification tag chip are respectively connected with two ends of the auxiliary antenna coil; and
the vehicle-mounted reader is fixedly arranged on a vehicle and comprises a radio frequency identification reader, a radio frequency driving circuit, a reader antenna coil, a tag excitation array unit, an excitation array unit driving circuit and an excitation array unit controller, wherein a first signal interaction end of the radio frequency identification reader is respectively connected with two ends of the reader antenna coil through the radio frequency driving circuit, a second signal interaction end of the radio frequency identification reader is connected with a vehicle-mounted positioning system, the tag excitation array unit is arranged in the reader antenna coil, the tag excitation array unit is composed of a plurality of excitation coil windings which are arranged in a matrix mode, one end of each excitation coil winding is connected with the excitation array unit driving circuit in parallel, the other end of each excitation coil winding is respectively connected with the excitation array unit driving circuit through a multi-way switch, and a first signal interaction end of the excitation array unit controller is connected with the excitation array unit driving circuit, and a second signal interaction end of the excitation array unit controller is connected with the vehicle-mounted positioning system.
As a second aspect of the present invention, the method for fast locating the vehicle positioning radio frequency identification system comprises the steps of 2 n The excitation coil windings are arranged in matrix, wherein n is more than or equal to 3 and n is an integer, and 2 n The excitation coil windings are divided into two primary regions each having 2 n-1 A plurality of exciting coil windings, 2 of each primary region n-1 The excitation coil windings are divided into two secondary regions and each secondary region has 2 n-2 A plurality of exciting coil windings, divided into 2 according to the rule n N-level regions, each n-level region corresponding to one excitation coil winding; then searching corresponding exciting coil windings in the tag exciting array unit by a binary search inspection method, and calculating according to the relation between the exciting coil windings in the tag exciting array unit and the vehicleAnd outputting the current position information of the vehicle. For example: for an underground tag with local geographic coordinates (X0, Y0), when the underground tag corresponding to the nth inspection excitation winding coil has a response or a tag state is set, the offset of the nth inspection excitation winding coil relative to the center of the vehicle is (deltaX, deltaY), and then the coordinates of the center of the vehicle are (X0+deltaX, Y0+deltaY).
Due to the adoption of the technical scheme, the invention has the beneficial effects that: the invention can use large-sized excitation and data communication antennas under the condition of adopting the same frequency of the passive radio frequency identification magnetic coupling signals, thereby realizing a longer access distance; meanwhile, the quick positioning of the passive radio frequency identification tag is realized through the dichotomy quick inspection control of the tag excitation array unit, so that the access speed is improved, meanwhile, the design of the antenna coil of the reader and the driving of the antenna coil is simplified, the complexity of the system is reduced, the reliability of the system is improved, and the vehicle positioning function with higher performance is realized at lower cost.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a prior art vehicle positioning system based on magnetically coupled radio frequency identification technology.
FIG. 2 is a schematic diagram of the energy transfer and communication between an RFID reader antenna and a passive RFID tag based on the prior art magnetic coupling RFID technology.
Fig. 3 is a diagram of a subdivision of an antenna mesh of a conventional rfid reader.
Fig. 4 is a schematic diagram of the subdivision of the antenna grid of a radio frequency identification reader disclosed in german invention DE202013101196U 1.
Fig. 5 is a circuit schematic of a conventional passive rfid tag.
FIG. 6 is a schematic diagram of a vehicle locating radio frequency identification system of the present invention.
Fig. 7 is a schematic diagram of the structure of the reader antenna coil and tag excitation array unit of the present invention.
FIG. 8 is a schematic diagram of a three-level binary search combination of a tag excitation array unit of 8 excitation coil windings of the present invention.
FIG. 9 is a binary search patrol process of the present invention.
Detailed Description
The invention is further described with reference to the following detailed drawings in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the implementation of the invention easy to understand.
Referring to fig. 6, a vehicle locating radio frequency identification system is shown that includes a number of passive radio frequency identification tags 100 and an onboard reader 200.
The passive rfid tags 100 are encapsulated in a supporting structure made of glass or epoxy resin, and are arranged in road surfaces such as asphalt and concrete at regular intervals in a pre-buried or perforated manner. Each passive rfid tag 100 includes an rfid tag chip 110, a tag antenna coil 120, and an auxiliary antenna coil 130. The antenna connection terminals AC0 and AC1 of the rfid tag chip 110 are connected to both ends of the tag antenna coil 120, respectively, and the AC coupling signal terminals k1 and k2 thereof are connected to both ends of the auxiliary antenna coil 130, respectively.
The in-vehicle reader 200 is fixedly mounted on a vehicle and includes a radio frequency identification reader 210, a radio frequency drive circuit 220, a reader antenna coil 230, a tag excitation array unit 240, an excitation array unit drive circuit 250, and an excitation array unit controller 260. The signal interaction ends 211 of the radio frequency identification reader 210 are respectively connected with two ends of the reader antenna coil 230 through the radio frequency driving circuit 220, the signal interaction ends 212 of the radio frequency identification reader are connected with the vehicle-mounted positioning system 1, the reader antenna coil 230 is a transmitting antenna and a receiving antenna, for a typical 1000mm×500mm antenna coil, a communication distance of 50 cm-60 cm can be realized, and the reader antenna coil 230 is driven by radio frequency signals with carrier frequency fc. The tag excitation array unit 240 is disposed within the reader antenna coil 230. Referring to fig. 7 in combination with fig. 6, in the embodiment, the tag excitation array unit 240 is formed by 24 excitation coil windings 241 arranged in a matrix, one end of each excitation coil winding 241 is connected in parallel and then commonly connected with the excitation array unit driving circuit 250, the other end of each excitation coil winding 241 is connected with the excitation array unit driving circuit 250 by adopting a multi-way switch and a coil connector lc2, and the coil connectors lc1 and lc2 are driven by an excitation signal with a frequency fa. The signal interaction end 261 of the excitation array unit controller 260 is connected with the excitation array unit driving circuit 250, and the signal interaction end 262 thereof is connected with the vehicle-mounted positioning system 1.
When the passive rfid tag 100 is within the range of effective access by the in-vehicle reader 200, the tag antenna coil 120 may provide power to the rfid tag chip 110 and a channel for communication; when the passive rfid tag 100 is within the effective range of the excitation coil winding 241 in the tag excitation array unit 240, the auxiliary antenna coil 130 receives the effective signal and allows the passive rfid tag 100 to communicate with the rfid reader 210, or sets the state agreed by the passive rfid tag 100, so that the subdivided positioning can be realized through the inspection of the tag excitation array unit 240.
The rfid reader 210 drives the reader antenna coil 230 through the rf driver circuit 220, and the rf driver circuit 220 includes a modulation, demodulation, power amplifier, etc. circuit to provide power and data to the passive rfid tag 100 through the reader antenna coil 230 and to receive a return signal from the passive rfid tag 100. The excitation array unit controller 260 controls the tag excitation array unit 240 through the excitation array unit driving circuit 250 to provide an excitation signal for the passive radio frequency identification tag 100. The passive rfid tag 100 implements loop control of the tag antenna coil 120 by energizing the receiving auxiliary antenna coil 130, or sets the state of the passive rfid tag 100.
Referring to fig. 7, the effective access interval of the tag excitation array unit 240 is divided into 24 cells, each of which is provided with one excitation coil winding 241. The reader antenna coil 230 is driven by an ac signal of a carrier frequency fc, the tag excitation array unit 240 is driven by an ac signal of a frequency fa, and the excitation coil winding 241 is switched on or off by a switch control.
The quick inspection positioning method of the vehicle positioning radio frequency identification system of the invention comprises the step of enabling the tag excitation array unit 240 to be formed by 2 n The excitation coil windings 241 are arranged in matrix, wherein n is more than or equal to 3 and n is an integer, and 2 n The excitation coil windings are divided into two primary regions each having 2 n-1 A plurality of exciting coil windings, 2 of each primary region n-1 The excitation coil windings are divided into two secondary regions and each secondary region has 2 n-2 A plurality of exciting coil windings, divided into 2 according to the rule n N-level regions and one excitation coil winding for each n-level region. And then searching the corresponding exciting coil windings in the tag excitation array unit by a binary search inspection method, and calculating the current position information of the vehicle according to the relation between the exciting coil windings in the tag excitation array unit and the vehicle. For example: for an underground tag with local geographic coordinates (X0, Y0), when the underground tag corresponding to the nth inspection excitation winding coil has a response or a tag state is set, the offset of the nth inspection excitation winding coil relative to the center of the vehicle is (deltaX, deltaY), and then the coordinates of the center of the vehicle are (X0+deltaX, Y0+deltaY).
Specifically, referring to fig. 8, fig. 8 shows a combination of three-level binary searches of a tag excitation array unit consisting of 8 excitation coil windings. The effective access area of the antenna coil of the reader is divided into two primary areas n1 and n2, and the two primary areas n1 and n2 contain the same number of exciting coil windings; the first-level areas n1 and n2 are respectively divided into second-level areas n3 and n4 and second-level areas n5 and n6 according to the distribution of the excitation array units; the secondary region n3 is further divided into tertiary regions n7 and n8, the secondary region n4 is further divided into tertiary regions n9 and n10, the secondary region n5 is further divided into tertiary regions n11 and n12, and the secondary region n6 is further divided into tertiary regions n13 and n14. Each stage maximally comprises2 n The coil windings are excited.
Referring to FIG. 9, FIG. 9 shows a binary search routing process, combined with a binary tree search process, for a design with m excitation coil windings, the maximum number of times the corresponding excitation coil winding is retrieved is log 2 m, a much faster speed than m excitation coil windings inspection one by one can be achieved.
The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (2)
1. A vehicle locating radio frequency identification system, comprising:
the system comprises a plurality of passive radio frequency identification tags which are pre-buried in the road ground at intervals, wherein each passive radio frequency identification tag comprises a radio frequency identification tag chip, a tag antenna coil and an auxiliary antenna coil, a first antenna connecting end and a second antenna connecting end of the radio frequency identification tag chip are respectively connected with two ends of the tag antenna coil, and a first alternating current coupling signal end and a second alternating current coupling signal end of the radio frequency identification tag chip are respectively connected with two ends of the auxiliary antenna coil; and
the vehicle-mounted reader is fixedly arranged on a vehicle and comprises a radio frequency identification reader, a radio frequency driving circuit, a reader antenna coil, a tag excitation array unit, an excitation array unit driving circuit and an excitation array unit controller, wherein a first signal interaction end of the radio frequency identification reader is respectively connected with two ends of the reader antenna coil through the radio frequency driving circuit, a second signal interaction end of the radio frequency identification reader is connected with a vehicle-mounted positioning system, the tag excitation array unit is arranged in the reader antenna coil, the tag excitation array unit is composed of a plurality of excitation coil windings which are arranged in a matrix mode, one end of each excitation coil winding is connected with the excitation array unit driving circuit in parallel, the other end of each excitation coil winding is respectively connected with the excitation array unit driving circuit through a multi-way switch, and a first signal interaction end of the excitation array unit controller is connected with the excitation array unit driving circuit, and a second signal interaction end of the excitation array unit controller is connected with the vehicle-mounted positioning system.
2. A method of quick patrol positioning of a vehicle locating radio frequency identification system as defined in claim 1, said tag excitation array unit consisting of 2 n The excitation coil windings are arranged in matrix, wherein n is more than or equal to 3 and n is an integer, and 2 n The excitation coil windings are divided into two primary regions each having 2 n-1 A plurality of exciting coil windings, 2 of each primary region n-1 The excitation coil windings are divided into two secondary regions and each secondary region has 2 n-2 A plurality of exciting coil windings, divided into 2 according to the rule n N-level regions, each n-level region corresponding to one excitation coil winding; and then searching the corresponding exciting coil windings in the tag excitation array unit by a binary search inspection method, and calculating the current position information of the vehicle according to the relation between the exciting coil windings in the tag excitation array unit and the vehicle.
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