CN205230095U - Radio -frequency identification label's cascaded structure - Google Patents
Radio -frequency identification label's cascaded structure Download PDFInfo
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- CN205230095U CN205230095U CN201520892229.0U CN201520892229U CN205230095U CN 205230095 U CN205230095 U CN 205230095U CN 201520892229 U CN201520892229 U CN 201520892229U CN 205230095 U CN205230095 U CN 205230095U
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- rfid tag
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Abstract
Radio -frequency identification label's cascaded structure belongs to radio frequency identification technology, is again a robot correlation technique. The utility model provides a setting on robot lawn mower work border, change, cancel and the migration problem. The utility model relates to a structural with radio -frequency identification label mark node at class string of beads, with radio -frequency identification label's on radio -frequency identification label's the read/write memory storage adjacent node identification code, the creation data link list forms the radio -frequency identification label set of establishing ties in logic, the physical location correlation of the structural node of mapping class string of beads. Wherein the node object adopts PVC material producing. The utility model discloses can regard as the vector border of robot workspace or the leading line of blind person's equipment, the trend and oneself the definite position on the border on border can be grasped to corresponding equipment, the utility model discloses set up and change simply, can put wantonly according to job site to can take in and carry, a work border can be cancelled rapidly, is perhaps moved other place, does not keep the potential safety hazard.
Description
Technical field
The cascaded structure of RFID tag belongs to radio-frequency (RF) identification (RFID) technology, is again a robot correlation technique.
Background technology
Robot mower belongs to self-moving robot, and its scope of activities or work border need artificial setting.Current robot mower commodity have two kinds of border establishing methods, and one is lay signal wire namely to feel line as border on meadow, and two is that GPS defines.Wherein GPS stated accuracy 3 meters in civilian situation, is not suitable for family expenses mower robot, so the mower robot product of main flow adopts ground sense line boundary.But, careless over ground installation feel line method have very large limitation: more complicated of 1, constructing, has certain technical threshold.Mower robot feels the direction of current of line definitely by Ampere's law and determines boundary direction, and electric wire connection can not connect anti-.2, feel line once arrange, be inconvenient to change and move.Because meadow water cut is large, resistance to suction electromagnetic wave, feel line with imbedding electromagnetic induction can be made faint to losing efficacy, so ground sense line is generally laid in earth's surface.And ground sense line is fixedly stayed earth's surface and is easily involved in mower and cut off, and there is potential safety hazard, easily trip pedestrian.Although 3, robot mower can determine the direction on border by Ampere's law, but can not determine that oneself is in borderline position, long-range is often needed to travel through border so get back to starting point, secondly do not have other technologies means auxiliary under, its motion path randomness is excessive, and operation each time all remains the some block that can not cover.
If only with regard to robot, also have other a lot of scientific and technological methods can be used for determining border, but under the application scenarios of domestic robot mower, not yet had applicable by market proof.The method of such as laser and ultrared method, precision is high, but construction is complicated, helpless to on-the-spot tortuous border, and may cause the infringement to human eye particularly children's eyes.
At present not yet find that there is patent or research relates to the work border carrying out marking machine people mower by RFID technique, also find no patent or research relates to the work border that applying RFID technology carrys out marking machine people.But, Chinese patent application 201410420276.5 (2014, Xu little Min) disclose a kind of RFID technique that adopts to the method for robot external guidance, also the border of robot can be determined, but it needs to configure perfect exterior antenna array, the application scenarios of the domestic robot mower of inapplicable open air.
Summary of the invention
Cascaded structure (hereafter also known as " the present invention ") design of RFID tag uses RFID tag flag node on class bead structure, the read-write memory of RFID tag is utilized to store the identification code (TID) of adjacent node RFID tag, set up data link table, form the RFID tag set of logic association, be used for the physical location mutual relationship of node on mapping class bead structure.
Node object is connected with adjacent node object by connecting media, is linked to be string one by one.As Fig. 1, A node (101) connects B node (102), B node (102) connects C node (103), then connects D node (104) so that more nodes.A, B, C, D intra-node all has through hole (121), passing through for connecting media.As Fig. 3, E node (105) is connected with F node (106), their body surface there is ring (123), for linking with connecting media.The present invention does not limit shape to node object, determines according to embody rule.Such as when the present invention is as the work border of robot mower, then have the requirement of view and the requirement of waterproof to node object, node object can be designed to the shape of various stone, and inside establishes cavity to place RFID tag.
Connecting media can be flexible rope (125), comprises cable, clue, tinsel, chain, this class object a chain of; Also can be the connecting rod (127) of rigidity, comprise the object that club, pole, bar are such.Method of attachment can be through, also can be latch closure.When adopting through method, connecting media by through hole (121), and is placed stop (126) at hole mouth.Stop is slided on connecting media for stoping node object, keeps the distance between node and node.Stop can be a knot, also can be that other additional objects are stuck on connecting media.When adopting the method for latch closure, the ring (123) that connecting media ties up to node object above or by ring (128) hinge carried is buckled on the ring (123) of node object.
Each node object all lays RFID tag, RFID tag identification nodes object, and the identification code (TID) of these labels has just become the mark of node simultaneously.According to the requirement of EPCglobalC1G2 or ISO18000-6C, the identification code of RFID tag is stored in the TID district of radio frequency identification label chip.The configuration of RFID tag in TID district of separate sources may be different, and what have only has a tag identifier code (TID), the unique tag identification code (UniqueTID or UTID) also having an expansion had.Actual use, unique a slice radio frequency identification marking of distinguishing is signed with three kinds of situations: by TID, by UTID or pass through TID+UTID.For stating conveniently, as illustrated without special in this document, by TID general reference three kinds of situations above.
RFID tag can stick to node body surface.RFID tag on such as A, B, C, F node is respectively label a (410), label b (420), label c (430), label f (460), is all pasted onto the surface of respective nodes object.Also cavity (122) can be carried, for holding RFID tag in node object body.Such as D, E node is adopted and is held RFID tag d (440), RFID tag e (450) respectively in this way.Method RFID tag being accommodated in internal cavity is applicable to the occasion of needs waterproof.
RFID tag all adopts the label possessing read-write memory block, and namely the chip internal of these labels is except TID district, also has read-write memory block can write the TID of at least other RFID tag of a slice.Chip as Fig. 2, B node label b (420) has TID district (421) to have its TID
b, have read-write memory block (422) to have the TID of RFID tag on right node
c, point to label c (430), represent that the right neighbours of B node are C node (103).TID is had in the TID district (411) of label a (410)
a, have TID in read-write memory block (412)
b, represent that the right neighbours of A node are B nodes, the left side neighbours of B node are A nodes conversely.Here left and right saying is the artificial definition conveniently stated, the view of relative Fig. 1.
TID is had in the TID district (431) of label c (430)
c, the TID of right node label d is had in read-write memory block (432)
d.TID is had in the TID district (441) of label d (440)
d, the TID of right node label y is had in read-write memory block (442)
y.The rest may be inferred for other node situations.
If TID
y=0, represent that label y does not exist, D node is exactly the end points of cascaded structure.If TID
y=TID
a, represent that the right adjacent node of D node is exactly A node, cascaded structure is a ring.In like manner, if there is no a non-A node label stores TID
a, then A node is the end points of cascaded structure.
Label a, b, c, d and similar the stored data of more association are combined and just constitute a single-track link table data structure, map the node physical location mutual relationship of a cascaded structure be made up of A, B, C, D node and more nodes.Here the concept of chained list has used the definition of chained list (linkedlist) in computer science data structure theory.Any radio-frequency (RF) identification fetch equipment, can be started by any one node read on cascaded structure, understand the information of adjacent node.When with cascaded structure of the present invention for border, robot mower can from arbitrary node, order traversal node and in internal memory a copying whole data structure.Get back to certain node when it and just clearly can understand oneself in borderline position.Robot also can work operational process in random ergodic, by a continuous bonding data fragment progressively copying whole data structure.
Node object of the present invention can adopt PVC material to make.
The invention has the beneficial effects as follows:
(1), relatively single label, RFID tag as a vector border, can be determined the work border of robot, or undertake the responsibilities such as blind person's equipment guiding after assembling the relevant cascaded structure of logic with technical scheme of the present invention; Radio-frequency (RF) identification fetch equipment, by traversal cascaded structure of the present invention, can grasp rapidly the overall condition on border, when fetch equipment gets back to a certain node, can understand border trend and from borderline accurate location;
(2), when the work border as robot, arrange and change simple, border can be put according to any requirement of working site; At the application scenarios of domestic robot mower, compare feel line method with laying, the technical threshold of initial setting up is zero;
(3), cascaded structure of the present invention can receive, can carry, and of a robot work border can be cancelled rapidly, or move to another one place.The convenience of storage eliminates potential safety hazard, and do not feel line delay with having just eliminates people by the accident probability tripped.
Accompanying drawing explanation
What Fig. 1 expressed is four node fragments of the cascaded structure of a RFID tag, and node object to be connected bunchiness by rope, node adheres to or holds RFID tag.In figure, left hand the 4th node object is broken away 1/4th, shows that intra-node places cavity and the through hole of RFID tag.
What Fig. 2 expressed is four node fragments of a single-track link table data structure, the cascaded structure fragment of mapping graph 1.
What Fig. 3 expressed is that node object adopts rigid posts when being connected with latch closure, two node fragments of the cascaded structure of a RFID tag.
Embodiment
Below in conjunction with accompanying drawing and specific embodiment, the present invention is described in further detail, can better understand the present invention and can be implemented, but illustrated embodiment is not as a limitation of the invention to make those skilled in the art.Below two embodiment explanations.
(1), cascaded structure nodes of the present invention is not less than 2, can infinitely extend in theory.In the present embodiment, require long 40 meters of the cascaded structure of closed loop, equi-spaced apart 20 centimetres between node vertical shaft, then one have 200 node objects.Fig. 1 is four nodes (101,102,103, the 104) fragment of this cascaded structure: be connected with rope (125) between node with node; Node object has through hole (121), and rope is through through hole connected node; In order to prevent node object from sliding on rope, rope is tied a knot (126) or is added stop (126) on the mouth of through hole, keeps the distance between node to immobilize.
The cascaded structure of the present embodiment is drawn into ring and keeps flat ground, for stating convenient artificially definition counterclockwise for left, clockwise direction are right, so each node has a left neighbors and a right neighbors.As Fig. 1, node object is pasted RFID tag (410,420,430), or hold RFID tag (440) by internal cavity (122).Paste or built-in label is not key of the present invention, allow random processing.But the purposes of the present embodiment determines the work border of robot mower, has the requirement of outdoor rain-proof waterproof, so preferred tag is built-in; The label pasted all adopts waterproof enclosure.
RFID tag all adopts the ALN-9640Squiggle of Alien company, and in its chip, TID district comprises two parts: the exclusive identification code (UniqueTID or UTID) of the identification code (TID) of 32 and 64.The present embodiment adopts UTID to identify RFID tag, and then the node that mark is corresponding.The EPC of 96 is also had to read and write the user writable memory block of memory block and 512 in such radio frequency identification label chip.The present embodiment writes 64 UTID of right node in the user writable memory block of every sheet RFID tag.Numerical digit described here is binary digit.
As Fig. 2, in RFID tag (410,420,430,440) chip TID district (411,421,431,441) 20
h~ 5f
haddress there is respectively the UTID of himself; 10 of user storage area (412,422,432,442)
h~ 4f
haddress stores respectively the UTID of its right node.Here subscript H used represents 16 systems.
The node object of the present embodiment makes various stone shape or various solid, and size is random but be not less than 10 × 10 × 10 centimetres, is also not more than 20 × 20 × 20 centimetres.Node object adopts PVC material to make, and the expression of material is CZ116+TxlB+ATBC+pvc+R39.When RFID tag is built in node object, 2 meters are greater than to the reading coverage of general hand-held radio-frequency (RF) identification fetch equipment.
(2), the present embodiment is only with the node object inside different connected mode alternate embodiments one and connecting media.As Fig. 3, (105,106) have connection ring (123) to node object, be interconnected by the connecting rod (127) of rigidity, ring (123) hinge of the ring (128) on connecting rod and node object is buckled together; Also can pass through rope (125) between node object to connect, rope directly ties up on the ring (123) of node object.
Node object is by body internal cavity (122) storage RFID tag (450), or adhere to RFID tag (460) at body surface, two nodes just in time show the two kind setting methods of RFID tag on cascaded structure of the present invention respectively.
Claims (6)
1. the cascaded structure of RFID tag is a string be made up of node object and connecting media, is connected, it is characterized in that between node and node by medium:
C01: node object lays RFID tag;
C02: the TID identification code having RFID tag on adjacent node in the memory block of every sheet RFID tag, or have the identification code characterizing end points end to end.
2. the cascaded structure of RFID tag according to claim 1, is characterized in that, described medium comprises the such thing of rope, cable, tinsel, chain, the chain of rings, pole or club.
3. the cascaded structure of RFID tag according to claim 2, is characterized in that, the method for attachment of described medium is through node object, or the ring on the ring carried with medium or knot hinge button node object.
4. the cascaded structure of RFID tag according to claim 1, is characterized in that, in feature C01, laying of described RFID 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, is characterized in that, in feature C01 or C02, described RFID tag meets the standard of ISO18000-6C.
6. the cascaded structure of RFID tag according to claim 1, is characterized in that, described node object can adopt PVC material to make.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201520892229.0U CN205230095U (en) | 2015-11-05 | 2015-11-05 | Radio -frequency identification label's cascaded structure |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520892229.0U CN205230095U (en) | 2015-11-05 | 2015-11-05 | Radio -frequency identification label's cascaded structure |
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| CN205230095U true CN205230095U (en) | 2016-05-11 |
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| CN201520892229.0U Expired - Fee Related CN205230095U (en) | 2015-11-05 | 2015-11-05 | Radio -frequency identification label's cascaded structure |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105260767A (en) * | 2015-11-05 | 2016-01-20 | 正量电子科技（苏州）有限公司 | Series structure of radio frequency identification label |
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2015
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105260767A (en) * | 2015-11-05 | 2016-01-20 | 正量电子科技（苏州）有限公司 | Series structure of radio frequency identification label |
| CN105260767B (en) * | 2015-11-05 | 2019-04-12 | 正量电子科技（苏州）有限公司 | The cascaded structure of RFID tag |
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|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160511 Termination date: 20191105 |