CN105260767B - The cascaded structure of RFID tag - Google Patents
The cascaded structure of RFID tag Download PDFInfo
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- CN105260767B CN105260767B CN201510762076.2A CN201510762076A CN105260767B CN 105260767 B CN105260767 B CN 105260767B CN 201510762076 A CN201510762076 A CN 201510762076A CN 105260767 B CN105260767 B CN 105260767B
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Abstract
The cascaded structure of RFID tag belongs to Radio Frequency Identification Technology, and is a robot the relevant technologies.The present invention solves setting, change, revocation and the migration problem on robot grass trimmer work boundary.RFID tag flag node is used in present invention design on class bead structure, with the identification code of RFID tag on the read-write memory storage adjacent node of RFID tag, establish data link table, concatenated RFID tag set in logic is formed, the physical location correlation of node on mapping class bead structure.The present invention can be used as the vector boundary of robot workspace or the leading line of blind person's equipment, and relevant device can grasp the trend on boundary and from borderline accurate location；Present invention setting and change are simple, can arbitrarily put according to working site, and can store and carry, a work boundary can be cancelled rapidly, or be migrated to other place, not stay security risk.
Description
Technical field
The cascaded structure of RFID tag belongs to radio frequency identification (RFID) technology, and is a robot the relevant technologies.
Background technique
Robot grass trimmer belongs to self-moving robot, and scope of activities or work boundary need to be manually set.Machine at present
There are two types of boundary setting methods for device people's grass trimmer commodity, first is that feeling line as boundary, second is that GPS in meadow laying signal wire
It defines.Wherein GPS 3 meters of stated accuracy in civilian situation are not suitable for household grass trimmer robot, so the grass trimmer machine of mainstream
Device people's product is using ground sense line boundary.But the method that line is felt in careless over ground installation has very big limitation: 1, constructing more multiple
It is miscellaneous, there is certain technical threshold.Grass trimmer robot definitely feels the current direction of line by Ampere's law and determines boundary side
To electric wire connection cannot be reversed.2, line is felt once being arranged, it has not been convenient to be changed and be migrated.Since meadow water content is big, resistance to suction is electric
Magnetic wave, embedment ground sense line can make electromagnetic induction faint to failure, so ground sense line is generally laid in earth's surface.And the fixation of ground sense line is stayed
It is easy to be involved in grass trimmer in earth's surface and be cut off, and have security risk, be easy to trip pedestrian.Although 3, robot grass trimmer can be with
The direction on boundary is determined by Ampere's law, but not can determine that oneself in borderline position, so returning to starting point often needs
Long-range is wanted to traverse boundary, secondly under the auxiliary of no other technologies means, its motion path randomness is excessive, makees each time
Industry is all surplus not covered block.
If only for robot, there are also other, much scientific and technological methods may be used to determine boundary, but in domestic appliance
Under the application scenarios of people's grass trimmer, not yet proved to have by market applicable.Such as the method for the method and infrared ray of laser, precision
Height, but it is complicated to construct, it is helpless to live tortuous boundary, and may cause the damage to human eye especially children's eyes.
At present it is not yet found that patent or research are related to RFID technique come the work boundary of marking machine people's grass trimmer,
It finds no patent or research is related to coming the work boundary of marking machine people using RFID technique.But, Chinese patent application
201410420276.5 (2014, Xu little Min) disclose a kind of method using RFID technique to robot external guidance, can also
To determine the boundary of robot, but it needs to configure perfect external antenna array, is not suitable for outdoor domestic robot and mows
The application scenarios of machine.
Summary of the invention
Cascaded structure (being hereafter also known as " the present invention ") design of RFID tag uses radio frequency identification on class bead structure
Label flag node utilizes the identification code of the read-write memory storage adjacent node RFID tag of RFID tag
(TID), data link table is established, the RFID tag set of logic association is formed, for node on mapping class bead structure
Physical location correlation.
Node object is connected by connecting medium with adjacent node object, is linked to be string one by one.Such as Fig. 1, A node
(101) B node (102) are connected, B node (102) connects C node (103), reconnects D node (104) down to more nodes.A,
B, C, D intra-node have perforation hole (121), for connecting passing through for medium.Such as Fig. 3, E node (105) and F node
(106) it is connected, there are ring (123) on their body surface, be used for and connect medium and link.The present invention to the unlimited shape of node object,
Depending on concrete application.Such as the work boundary as the present invention as robot grass trimmer, then there is landscape to node object
It is required that the requirement with waterproof, node object can be designed to the shape of various stones, and inside sets cavity and places RFID tag.
Connection medium can be flexible rope (125), including cable, clue, wire, chain, a chain of this kind of objects
Part；It is also possible to rigid connecting rod (127), including object as club, pole, bar.Connection method can be perforation, can also be with
It is latch closure.When the method using perforation, connection medium is placed stop at hole hole by through hole (121)
(126).Stop keeps the distance between node and node for preventing node object from sliding on connection medium.Stop
It can be a knot, be also possible to other additional objects and be stuck on connection medium.When the method using latch closure, medium is connected
It ties up on the ring (123) of node object or is buckled on the ring (123) of node object by included ring (128) hinge.
Each node object lays RFID tag, and RFID tag identifies node object, these labels
Identification code (TID) is just simultaneously at the mark of node.According to the requirement of EPCglobal C1G2 or ISO 18000-6C, radio frequency
The identification code of identification label is stored in the TID field of radio frequency identification label chip.The RFID tag of separate sources is in TID field
Configuration may be different, and some only has a tag identifier code (TID), and there are one the unique tag identification codes extended for some
(Unique TID or UTID).In actual use, uniquely distinguishing a piece of RFID tag, there are three types of situations: by TID, passing through
UTID passes through TID+UTID.It is convenient for statement, as referred to three kinds of situations above with TID without being specifically described in this document.
RFID tag can be adhered to node body surface.Such as the RFID tag on A, B, C, F node point
Not Wei label a (410), label b (420), label c (430), label f (460), be pasted onto the surface of respective nodes object.Section
Cavity (122) can also be carried in point object body, for accommodating RFID tag.For example D, E node divide in this way
It Rong Na not RFID tag d (440), RFID tag e (450).RFID tag is accommodated in the side of internal cavity
Method is suitble to need the occasion of waterproof.
RFID tag all using the label for having read-write memory block, i.e., the chip interior of these labels in addition to
TID field, there are also read and write memory block to can be written into the TID of other at least a piece of RFID tags.Such as Fig. 2, label b on B node
(420) TID that chip has TID field (421) to have ownb, there is read-write memory block (422) to have radio frequency identification on right node
The TID of labelc, sensing label c (430) indicates that the right neighbours of B node are C node (103).TID field in (410) label a
(411) there is TIDa, have TID in read-write memory block (412)b, indicate that the right neighbours of A node are B nodes, in turn B node
Left side neighbours be A node.Here left and right saying is the artificially defined of statement for convenience, for the view of opposite Fig. 1.
TID field (431) in (430) label c has TIDc, have right node label d's in read-write memory block (432)
TIDd.TID field (441) in (440) label d has TIDd, have the TID of right node label y in read-write memory block (442)y。
The rest may be inferred for other node situations.
If TIDy=0, indicate that label y is not present, D node is exactly the endpoint of cascaded structure.If TIDy=TIDa, table
The right adjacent node for showing D node is exactly A node, and cascaded structure is a ring.Similarly, if there is no a non-A node mark
Label store TIDa, then A node is the endpoint of cascaded structure.
It label a, b, c, d and is more associated with similar stored data and is combined and just constitute a single-track link table
Data structure maps the node physical location phase of a cascaded structure being made of A, B, C, D node and more nodes
Mutual relation.Here the concept of chained list has borrowed the definition of chained list (linked list) in computer science data structure theory.Appoint
What radio frequency identification reads equipment, can be started by reading any one node on cascaded structure, understand the letter of adjacent node
Breath.When using cascaded structure of the invention as boundary, robot grass trimmer can since arbitrary node, order traversal node and
Copying whole data structure in memory.Oneself can be expressly understood that in borderline position when it returns to certain node.Robot
Can also work operational process in random ergodic, pass through the continuous entire data structure of bonding data segment step-by-step replication.
The making material of node object of the present invention selects PVC material.
The beneficial effects of the present invention are:
(1), for relatively single label, it is relevant that RFID tag with technical solution of the present invention assembles logic
After cascaded structure, a vector boundary can be used as, to determine the work boundary of robot, or undertake blind person's equipment guiding etc.
Responsibility；Radio frequency identification reads equipment by traversing cascaded structure of the invention, can grasp the overall condition on boundary rapidly, work as reading
Equipment is taken to return to a certain node, it will be appreciated that the trend on boundary and from borderline accurate location；
(2), when the work boundary as robot, setting and change are simple, can be according to any requirement of working site
Put boundary；In the application scenarios of domestic robot grass trimmer, the method for line, the technical threshold of initial setting up are felt compared to laying
It is zero；
(3), cascaded structure of the invention can be stored, can be carried, and a work boundary of robot can be removed rapidly
Pin, or move to another place.The convenience of storage eliminates security risk, and the delay for feeling line without ground eliminates the need for
The accident probability that people is tripped.
Detailed description of the invention
What Fig. 1 was expressed is four node segments of the cascaded structure of a RFID tag, and node object passes through rope phase
It is linked to be string, adheres to or accommodate RFID tag on node.The 4th node object of left hand is broken away a quarter in figure, shows
Place the cavity and through hole of RFID tag in inside.
What Fig. 2 was expressed is the four node segments of a single-track link table data structure, the cascaded structure segment of mapping graph 1.
Fig. 3 expression is the string of a RFID tag in the case that node object is connected using rigid posts with latch closure
It is coupled two node segments of structure.
Specific embodiment
The present invention is described in further detail with specific embodiment with reference to the accompanying drawing, so that the technology of this field
Personnel can better understand the present invention and can be practiced, but illustrated embodiment is not as a limitation of the invention.It is below
Two embodiment explanations.
(1), cascaded structure number of nodes of the invention is not less than 2, theoretically can infinitely extend.In the present embodiment, it
It asks the cascaded structure of closed loop 40 meters long, 20 centimetres of equidistant interval between node vertical shaft, then one shares 200 node objects.Fig. 1 is
Four nodes (101,102,103,104) segment of this cascaded structure: it is connected between node and node with rope (125)；
Node object has the hole (121) of perforation, and rope passes through through hole connecting node；Node object slides on rope in order to prevent,
Rope knots (126) on the mouth of through hole or adds stop (126), and the distance between node is kept to immobilize.
The cascaded structure of the present embodiment is stretched into cyclization flatwise face, facilitates the artificially defined counter clockwise direction to be for statement
A left side is clockwise the right side, then each node has a left neighbors and a right neighbors.Such as Fig. 1, on node object
It pastes RFID tag (410,420,430), or accommodates RFID tag (440) by internal cavity (122).Paste suppression
Or built-in label is not the key that of the invention, permission random process.But the purposes of the present embodiment is determining robot grass trimmer
Work boundary, have the requirement of outdoor rain-proof waterproof, so built in preferred tag；The label of stickup is all made of waterproof enclosure.
RFID tag all uses the ALN-9640 Squiggle of Alien company, and TID field includes two in chip
Part: one 32 identification codes (TID) and one 64 exclusive identification codes (Unique TID or UTID).The present embodiment is adopted
RFID tag is identified with UTID, and then identifies corresponding node.There are also 96 EPC in such radio frequency identification label chip
It reads and writes memory block and 512 users reads and writes memory block.The present embodiment reads and writes memory block in the user of every RFID tag
64 UTID of right node are written.Numerical digit described here is binary digit.
Such as Fig. 2, the 20 of TID field (411,421,431,441) in RFID tag (410,420,430,440) chipH
~5fHThere is the UTID of its own on address respectively；The 10 of user storage area (412,422,432,442)H~4fHDivide on address
The UTID of its right node is not stored.Here subscript H used indicates 16 systems.
The node object of the present embodiment is made into various stone-likes or various solid, and size is random but not less than 10 × 10 ×
10 centimetres, also it is not more than 20 × 20 × 20 centimetres.Node object is made of PVC material, and the expression of material is CZ116
+TxlB+ATBC+pvc+R39.When RFID tag is built in node object, to general hand-held radio frequency identification reading equipment
Reading effective distance be greater than 2 meters.
(2), the present embodiment is only with the node object and connection medium of different one the insides of connection type alternate embodiment.
Such as Fig. 3, node object has connection ring (123) on (105,106), is connected with each other by the connecting rod (127) of rigidity, on connecting rod
The ring (123) of ring (128) and node object hinge is buckled together；It can also be connected by rope (125) between node object, rope
Directly tie up on the ring (123) of node object.
Node object adheres to radio frequency identification by internal cavity (122) storage RFID tag (450), or in body surface
Label (460), two nodes just show two kind setting methods of the RFID tag on cascaded structure of the present invention respectively.
Claims (5)
1. the cascaded structure of RFID tag is one for setting work boundary or the scope of activities of automatic moving robot
A string being made of node object and connection medium, is connected between node and node by medium, it is characterised in that:
C01: placing RFID tag on node object, so that node is marked by RFID tag；
C02: using the RFID tag for having read-write memory block, radio frequency identification on adjacent node is written in read-write memory block
The identification code of label is formed and is guided the logic of adjacent node, makes the identification code of the entirely upper all RFID tag storages of string
Data, which are combined, just constitutes a linked list data structure, to map physical relationship of all nodes on string；
C03: automatic moving robot determines work boundary or the activity of oneself by the node in the traversal cascaded structure
Range.
2. the cascaded structure of RFID tag according to claim 1, which is characterized in that the medium include rope,
Cable, wire, chain, the chain of rings, pole or club.
3. the cascaded structure of RFID tag according to claim 2, which is characterized in that the connection method of the medium
It is perforation node object, or the ring or knot hinge carried with medium detains the ring on node object.
4. the cascaded structure of RFID tag according to claim 1, which is characterized in that described to penetrate in feature C01
The placement of frequency identification tag refers to that label is incorporated in the inner space of node object, or is adhered to the surface of node object.
5. the cascaded structure of RFID tag according to claim 1, which is characterized in that in feature C01 or C02,
The RFID tag meets the standard of EPCglobal ISO 18000-6C.
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| CN105956636A (en) * | 2016-04-15 | 2016-09-21 | 许小敏 | Method for correlating with object by means of RF identification label |
| CN109036111A (en) * | 2018-07-23 | 2018-12-18 | 中国科学院华南植物园 | A kind of arborous layer tree species identification method applied in vegetation investigation |
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| KR100729605B1 (en) * | 2006-01-11 | 2007-06-20 | 정현철 | Rfid series and method for constructing location management system using rfid series |
| DE102013108115A1 (en) * | 2013-07-30 | 2015-02-05 | gomtec GmbH | Method and device for defining a working area of a robot |
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| CN104154925A (en) * | 2014-08-25 | 2014-11-19 | 正量电子科技（苏州）有限公司 | Guidance navigation method based on radio frequency identification |
| CN104567860A (en) * | 2014-12-29 | 2015-04-29 | 深圳市科松电子有限公司 | Robot autonomous-navigation method, device and system |
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