JP2009270901A - Method for measuring highly accurately three-dimensional position of passive rfid tag - Google Patents
Method for measuring highly accurately three-dimensional position of passive rfid tag Download PDFInfo
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本発明は、質問器からの電波ＡとＲＦＩＤタグの応答電波Ｂの到達時間差から求まる距離と、電波Ａと電波Ｂの位相差から求まる１波長内の距離との合成から、質問器からの距離を求め、３台の質問器を使用する事で、３次元位置を高精度で計測する方法である。 The present invention provides a distance from the interrogator by combining the distance obtained from the arrival time difference between the radio wave A from the interrogator and the response radio wave B of the RFID tag and the distance within one wavelength obtained from the phase difference between the radio wave A and the radio wave B. The three-dimensional position is measured with high accuracy by using three interrogators.
製造ロットで異なるＲＦＩＤタグの応答する迄の時間の差は、位相差に影響し、ＲＦＩＤタグを交換した時の測定距離の誤差の原因となる為、ＲＦＩＤタグに特性データを書き込み、質問器が読み取る事で補正を行う。 The difference in time until the response of different RFID tags in the production lot affects the phase difference and causes an error in the measurement distance when the RFID tag is replaced. Correct by reading.
従来から、質問器からの電波とＲＦＩＤタグの応答電波の到達時間差から距離を求める方法は有ったが、波長より短い距離を計測するには、波長を必要な精度に分割するクロックが必要で、２．４５ＧＨｚ帯を超えてのディジタルカウントは、事実上不可能である。この波長内距離を求める為に、送信波と応答波の位相差を検出し、位相差に応じた長さを、時間差で求まる距離と合成する事で、波長より短い距離精度で位置計測を可能にするもので有る。尚、位相差だけでは、１波長を越えての位置は計測出来ないので、到達時間から求まる距離との合成が必要である。 Conventionally, there has been a method for obtaining the distance from the difference in arrival time between the radio wave from the interrogator and the response radio wave of the RFID tag. Digital counting beyond the 2.45 GHz band is virtually impossible. In order to determine the distance within the wavelength, the phase difference between the transmitted wave and the response wave is detected, and the length corresponding to the phase difference is combined with the distance determined by the time difference, enabling position measurement with a distance accuracy shorter than the wavelength. There is something to do. In addition, since the position beyond one wavelength cannot be measured only by the phase difference, it is necessary to combine with the distance obtained from the arrival time.
３台の質問器の１つから送信し、ＲＦＩＤタグは受信したら、信号を連続送信する。３台の質問器の受信機は、ＲＦＩＤタグからの応答を受信し、時間差と位相差から、それぞれの位置からＲＦＩＤタグ迄の距離を算出する。 When transmitted from one of the three interrogators and received by the RFID tag, the signal is continuously transmitted. The receivers of the three interrogators receive the response from the RFID tag, and calculate the distance from each position to the RFID tag from the time difference and the phase difference.
１台の質問器からの送信で距離の計測は可能で有るが、ＲＦＩＤタグには指向性が有る為、３台の質問器が順に送信を行う事で、指向性による無応答を回避する。 Although it is possible to measure the distance by transmission from one interrogator, since the RFID tag has directivity, the three interrogators sequentially transmit, thereby avoiding no response due to directivity.
質問器１の座標をＰ１とし、ＲＦＩＤタグまでの距離をＲ１とすると、ＲＦＩＤタグは、Ｐ１を中心とする半径Ｒ１の球上に位置していると考えられる。同様に質問器２と３の球を求める。これら３つの球の重なる点から、地震の震源を算出するのと同じ原理で、３次元空間上のＲＦＩＤタグの位置を決定出来る。これは、水平平面上に質問器を配置しても、高低を含めて、位置の決定が行える事を意味している。 If the coordinate of the interrogator 1 is P1 and the distance to the RFID tag is R1, the RFID tag is considered to be located on a sphere having a radius R1 centered on P1. Similarly, the balls of the interrogators 2 and 3 are obtained. From the overlapping point of these three spheres, the position of the RFID tag in the three-dimensional space can be determined by the same principle as that for calculating the epicenter of the earthquake. This means that even if the interrogator is arranged on a horizontal plane, the position can be determined including the height.
応答電波の強度で位置計測を行うのでは無い為、ＲＦＩＤタグの送信レベルや障害物による電波の減衰は、問題とされない。 Since position measurement is not performed based on the intensity of the response radio wave, the transmission level of the RFID tag and the attenuation of the radio wave due to an obstacle are not a problem.
ＲＦＩＤタグにその個体識別ＩＤコードを質問器から発信し、その識別ＩＤコードのＲＦＩＤだけが応答するので、複数のＲＦＩＤタグの位置計測が可能で有る。 Since the individual identification ID code is transmitted from the interrogator to the RFID tag and only the RFID of the identification ID code responds, the position of a plurality of RFID tags can be measured.
ＲＦＩＤタグ内の処理回路の遅れ時間の個体差が、応答時間や位相差に影響し、画一的条件では、誤差として現れてしまう。この対策として、ＲＦＩＤタグの固有情報をＲＦＩＤタグ内に記録し、質問器で情報を読み取る事で補正を行い、ＲＦＩＤタグの個体差を無くす事が可能である。 The individual difference in the delay time of the processing circuit in the RFID tag affects the response time and the phase difference, and appears as an error under uniform conditions. As a countermeasure, it is possible to record the unique information of the RFID tag in the RFID tag, read the information with an interrogator, perform correction, and eliminate individual differences among the RFID tags.
変調方式は、位相差の検出を行う都合上、ＡＳＫ方式を採用する。周波数を変調するＦＳＫやＭＳＫ及び位相変調のＰＳＫでは位相差が求められない為、使用出来ない。 As the modulation method, the ASK method is adopted for the purpose of detecting the phase difference. FSK and MSK that modulate frequency and PSK that uses phase modulation cannot be used because a phase difference cannot be obtained.
２．４５ＧＨｚ帯で行う場合は、無線ＬＡＮ、携帯電話や電子レンジの周波数帯と同じで有り、原理上これ等の干渉を防ぐ事が不可能な関係上、電磁的に遮断された場所で行う必要が有る。又、水分や金属の影響を受け易いので、考慮する必要がある。
計測は次の手順で行われる。
３台の質問器の１台からＲＦＩＤタグ識別コードとそれに続いて連続波を送信する。
自分の識別コードを検出したＲＦＩＤタグは、連続波を応答送信する。
ＲＦＩＤタグからの応答波を受信した３台の質問器は、発信した質問器のタイミングに同期して応答時間を計測する。
応答時間からＲＦＩＤタグ固有の処理時間を差し引き、実際の電波の往復時間とする。往復時間の半分から距離を求める。
同時に、送信波と応答波の位相を検出し、３６０度を１００％とする位相度数の割合から、１波長の位相分の長さを求める。
求められた距離と長さを加算して、質問器とＲＦＩＤタグ間の距離とする。
距離が求まると、質問器からの連続波を停止する。
連続波の停止は、ＲＦＩＤタグの指向性による無応答が考えられるので、タイムアウトでも停止する。
続いて、次の質問器が働き、同様の測定を順に繰り返す。
質問器が１台だけの場合、距離は求まるが、質問器からの距離を半径とする球面上の何所かであり、座標を特定する事は出来ない為、３台の質問器を使用する。
The measurement is performed according to the following procedure.
An RFID tag identification code followed by a continuous wave is transmitted from one of the three interrogators.
The RFID tag that has detected its own identification code transmits a continuous wave as a response.
The three interrogators that have received the response wave from the RFID tag measure the response time in synchronization with the timing of the transmitted interrogator.
The processing time specific to the RFID tag is subtracted from the response time to obtain the actual round-trip time of the radio wave. Find the distance from half of the round trip time.
At the same time, the phases of the transmission wave and the response wave are detected, and the length corresponding to the phase of one wavelength is obtained from the ratio of the phase frequency with 360 degrees as 100%.
The obtained distance and length are added to obtain the distance between the interrogator and the RFID tag.
When the distance is determined, the continuous wave from the interrogator is stopped.
Since the continuous wave is stopped due to the non-response due to the directivity of the RFID tag, the continuous wave is stopped even at time-out.
Subsequently, the next interrogator works and repeats the same measurement in order.
If there is only one interrogator, the distance is obtained, but it is some place on the sphere whose radius is the distance from the interrogator, and the coordinates cannot be specified, so three interrogators are used. .
求まった３台の質問器からＲＦＩＤタグまでの距離から、ＲＦＩＤタグの位置を特定する。
３台の質問器の座標値を、Ｐ１（Ｘ１、Ｙ１、Ｚ１）、Ｐ２（Ｘ２、Ｙ２、Ｚ２）、Ｐ２（Ｘ３、Ｙ３、Ｚ３）とする。
３台の質問器からＲＦＩＤタグ迄の距離をＲ１、Ｒ２、Ｒ３とする。
Ｐ１を中心とする半径Ｒ１の球とＰ２を中心とする半径Ｒ２の球とＰ３を中心とする半径Ｒ３の球の３つの球の交点が求まるＲＦＩＤタグの座標値となる。
次式の解が求める座標値Ｐ０（Ｘ、Ｙ、Ｚ）となる。
（Ｘ−Ｘ１）＾２＋（Ｙ−Ｙ１）＾２＋（Ｚ−Ｚ１）＾２＝Ｒ１＾２
（Ｘ−Ｘ２）＾２＋（Ｙ−Ｙ２）＾２＋（Ｚ−Ｚ２）＾２＝Ｒ２＾２
（Ｘ−Ｘ３）＾２＋（Ｙ−Ｙ３）＾２＋（Ｚ−Ｚ３）＾２＝Ｒ３＾２
但し、＾２は二乗を表す。
この３つの式は、Ｒ１、Ｒ２、Ｒ３に誤差の無い場合に成立し、測定誤差を含む実測値には、適用出来ない。この式で解くには、右辺と左辺の差が極小となる様に、多数の測定点から最少二乗法で求めなければならない。
質問器は３台と、最小構成としていて、最小二乗法では解く事が出来ない為、下記手順で、ＲＦＩＤタグの位置を求める。
図１を参考にして説明する。
３台の質問器の座標値を含む面Ｓを作成する。
半径Ｒ１、Ｒ２、Ｒ３の大円を平面Ｓに描く。
半径Ｒ１とＲ２の円と円の２箇所の交点を結ぶ平面Ｓ上の線をＬ１とする。
半径Ｒ２とＲ３の円と円の２箇所の交点を結ぶ平面Ｓ上の線をＬ２とする。
Ｌ１とＬ２の交点をＰｃ（Ｘｃ、Ｙｃ、Ｚｃ）とする。
Ｐｃから面Ｓの法線を延ばし、半径Ｒ３の球と交わる点Ｐ０を求める。Ｐ０が求めるＲＦＩＤタグとなる。
半径Ｒ３とＲ１の２箇所の円と円の交点を結ぶ平面Ｓ上の線をＬ３としても、Ｌ１とＬ２とＬ３の交点は一箇所に集まる事は証明されているので、２線の交点だけを求めれば済む。
Ｌ１又はＬ２の求まらない場合は、Ｌ３をＬ１又はＬ２と入れ換えて求める。
Ｒ１、Ｒ２、Ｒ３が小さく、２つ以上の交点を結ぶ線が求められなかった場合は、２半径に定数を掛けて半径を大きくして求める。比率が同じで有れば、２円の交点を通る直線は変わらない事から、半径を大きくした状態で円と円の交点２箇所から、平面Ｓ上の線を求める。但し、法線と交わる球の半径は原寸を使用する。
Ｐｃからの法線と交わる球の交点Ｐ０は、平面Ｓの表と裏の２箇所有り、どちらの点であるか特定は出来ない。
本発明では、面の表裏どちらか片方で計測を行わなければならない制限が有る。
この制限は、質問器の配置を測定対象構造体の最下面なり最上面、又は側面に配置する事で、それを越えての測定は必要無いので、実用上問題とは成らない。
The position of the RFID tag is identified from the distance from the obtained three interrogators to the RFID tag.
The coordinate values of the three interrogators are P1 (X1, Y1, Z1), P2 (X2, Y2, Z2), and P2 (X3, Y3, Z3).
The distances from the three interrogators to the RFID tag are R1, R2, and R3.
The coordinate value of the RFID tag is obtained as an intersection of three spheres, a sphere having a radius R1 centered on P1, a sphere having a radius R2 centered on P2, and a sphere having a radius R3 centered on P3.
A coordinate value P0 (X, Y, Z) to be obtained by a solution of the following equation is obtained.
(X−X1) ^ 2 + (Y−Y1) ^ 2 + (Z−Z1) ^ 2 = R1 ^ 2
(X−X2) ^ 2 + (Y−Y2) ^ 2 + (Z−Z2) ^ 2 = R2 ^ 2
(X−X3) ^ 2 + (Y−Y3) ^ 2 + (Z−Z3) ^ 2 = R3 ^ 2
However, ^ 2 represents a square.
These three formulas are established when there is no error in R1, R2, and R3, and cannot be applied to actual measurement values including measurement errors. In order to solve with this equation, the least square method must be obtained from a large number of measurement points so that the difference between the right side and the left side is minimized.
Since there are three interrogators, which have a minimum configuration and cannot be solved by the least square method, the position of the RFID tag is obtained by the following procedure.
This will be described with reference to FIG.
A surface S including the coordinate values of the three interrogators is created.
A great circle with radii R1, R2, and R3 is drawn on the plane S.
A line on the plane S connecting the circles with the radii R1 and R2 and two intersections of the circles is defined as L1.
A line on the plane S connecting the circles having the radii R2 and R3 and two intersections of the circles is defined as L2.
Let the intersection of L1 and L2 be Pc (Xc, Yc, Zc).
A normal line of the surface S is extended from Pc, and a point P0 intersecting with a sphere having a radius R3 is obtained. This is the RFID tag that P0 seeks.
Even if the line on the plane S that connects the intersections of the two circles with the radii R3 and R1 and the circle is L3, the intersection of L1, L2, and L3 has been proven to be gathered in one place, so only the intersection of the two lines If you ask for.
If L1 or L2 cannot be obtained, L3 is replaced with L1 or L2.
When R1, R2, and R3 are small and a line connecting two or more intersections cannot be obtained, the radius is obtained by multiplying the two radii by a constant. If the ratio is the same, the straight line passing through the intersection of the two circles does not change, so a line on the plane S is obtained from two intersections between the circle and the circle with the radius increased. However, the radius of the sphere that intersects with the normal uses the full size.
There are two intersections P0 of the sphere that intersect the normal line from Pc on the front and back of the plane S, and it is not possible to specify which point is.
In the present invention, there is a limitation that the measurement must be performed on either the front or back side.
This limitation is not a problem in practice because the interrogator is arranged on the lowermost surface, the uppermost surface, or the side surface of the structure to be measured, and measurement beyond that is not necessary.
個体情報のＲＦＩＤタグへの記録は次の手順で行われる。
ＲＦＩＤタグを質問器の前に置き、３次元実距離を測定して置く。
質問器から距離測定コマンドを送り、応答時間と位相差から距離を算出する。
算出した距離と実距離を比較し、誤差が有れば、定数変更コマンドを送り、ＲＦＩＤタグの個体情報を書き換え、再度距離を算出する。
これを繰り返して、最適値を求める。
定数変更時、ＲＦＩＤタグは固定したままで、動かす必要は無い。
この一連の作業は、最適化プログラムを組む事で、自動的に行われる。
Recording of individual information to the RFID tag is performed in the following procedure.
Place the RFID tag in front of the interrogator and measure the 3D actual distance.
A distance measurement command is sent from the interrogator, and the distance is calculated from the response time and the phase difference.
The calculated distance is compared with the actual distance, and if there is an error, a constant change command is sent, the individual information of the RFID tag is rewritten, and the distance is calculated again.
This is repeated to find the optimum value.
When changing the constant, the RFID tag remains fixed and does not need to be moved.
This series of operations is automatically performed by creating an optimization program.
発明実施の形態を、図面を参照して説明する。 Embodiments of the invention will be described with reference to the drawings.
図１において、１、２、３の質問器Ｐ１、Ｐ２、Ｐ３は、実験構造物の下面に設置され、６の集中制御装置ＭＣから、伝送特性の揃った、同じ長さのケーブルにより、発振周波数と制御線及び通信線が接続されている。
Ｐ１、Ｐ２、Ｐ３の質問器を中心とした円は、３台の質問器の座標を含む平面上に広がる、ＲＦＩＤタグまでの距離を半径Ｒ１、Ｒ２、Ｒ３とした大円である。
質問器は、集中制御装置の指示で、距離測定コマンドを送信する。
実験動物に取り付けたＲＦＩＤタグ４が応答すると、質問器は、応答までの時間と電波の位相差から、各質問器とＲＦＩＤタグまでの距離を算出し、集中制御装置に送る。
集中制御装置は、３台の質問器から距離を収集し、ＲＦＩＤタグの３次元座標を決定して、パソコン等の解析システムに送信する。
集中制御装置は、次の質問器に送信指示を行い、順に測定を繰り返す。
In FIG. 1, the interrogators P1, P2, and P3 of 1, 2, and 3 are installed on the lower surface of the experimental structure, and are oscillated from the central control device MC of 6 by cables of the same length with uniform transmission characteristics. The frequency, the control line, and the communication line are connected.
A circle centered on the interrogators P1, P2, and P3 is a great circle having a radius R1, R2, and R3 that are spread on a plane that includes the coordinates of the three interrogators.
The interrogator transmits a distance measurement command in accordance with an instruction from the central control apparatus.
When the RFID tag 4 attached to the experimental animal responds, the interrogator calculates the distance between each interrogator and the RFID tag from the time until response and the phase difference between the radio waves, and sends the distance to the central control device.
The central control apparatus collects distances from the three interrogators, determines the three-dimensional coordinates of the RFID tag, and transmits it to an analysis system such as a personal computer.
The central control apparatus issues a transmission instruction to the next interrogator and repeats the measurement in order.
図２を参照して、質問器の動作原理を説明する。
３台の質問器は、図３の集中制御装置から２７と２８の通信ポートでカスケード接続されている。
３台の質問器は、それぞれ独自のデバイスコードを持ち、集中制御装置から選択され、コマンドに従い動作する。
２５と２６のＳＷ１及びＳＷ２は、外部ＯＳＣと外部ＳＴＡＲＴ信号を使用するか、質問器内蔵の１１のＯＳＣ及び２２のμＣＰＵのＳＴＡＲＴ信号を使用するかを切り換えるスイッチである。システム構成時は、どちらか片方だけで、両信号を同時に使用する事は無い。集中制御装置側にすると、３台の質問器の距離測定の同時性が保証され、高速移動物体の測定が行える。質問器内蔵側にすると、同時性は失われるが、数時間掛けて低速移動する腸内カプセル監視等に、低価格で構成する事が出来る。
外部でも内蔵でもＯＳＣは常時発振している。
The operation principle of the interrogator will be described with reference to FIG.
The three interrogators are cascade-connected with 27 and 28 communication ports from the centralized control device of FIG.
Each of the three interrogators has its own device code, is selected from the centralized control device, and operates according to the command.
SW1 and SW2 of 25 and 26 are switches for switching between using the external OSC and the external START signal, or using the 11 OSC built in the interrogator and the 22 μCPU START signal. When configuring the system, only one of them is used, and both signals are not used simultaneously. On the central control device side, the simultaneous measurement of the distance of the three interrogators is guaranteed, and the high-speed moving object can be measured. When the interrogator is built-in, the synchrony is lost, but it can be configured at a low price for monitoring an intestinal capsule that moves slowly over several hours.
The OSC constantly oscillates both externally and internally.
１７のＰＨ１及び１８のＰＨ２の位相差検出器は、非特許文献１のＩＣで、２入力信号の位相差と振幅比を出力する２つの機能を持つ。ＰＨ２では、振幅比出力は使用しない。 The phase difference detectors of 17 PH1 and 18 PH2 are ICs of Non-Patent Document 1 and have two functions of outputting a phase difference and an amplitude ratio of two input signals. In PH2, the amplitude ratio output is not used.
集中制御装置から通信ポートで発信指定された質問器は、連続送信要求とＲＦＩＤタグのＩＤを含む送信コードを、１０のシフトレジスタＳＲに設定する。
ＳＴＡＲＴ信号は、ＣＮＴをリセットすると共に、シフトレジスタＳＲのシフトを開始し、ＯＳＣの周波数に同期してレジスタ内容を９の振幅変調器ＭＤに送り出す。ベースバンド変調された信号は、７のアンテナＡＴから送信される。
The interrogator that is designated for transmission from the central control device through the communication port sets a transmission code including the continuous transmission request and the ID of the RFID tag in the ten shift registers SR.
The START signal resets the CNT and starts shifting the shift register SR, and sends the register contents to the amplitude modulator MD of 9 in synchronization with the frequency of the OSC. The baseband modulated signal is transmitted from 7 antennas AT.
同時に１３のカウンタＣＮＴがＯＳＣに同期してカウントアップし、時間計測を始める。１２のＳＨ１及び１５のＳＨ２は、アナログ信号をディジタル信号に変換する回路である。 At the same time, the 13 counters CNT count up in synchronization with the OSC and start measuring time. 12 SH1 and 15 SH2 are circuits for converting an analog signal into a digital signal.
ＲＦＩＤタグからの応答信号がアンテナＡＴで受信されると、８のサーキュレータで信号分離され、１４の増幅器ＡＭＰを通して、カウンタＣＮＴをＳＴＯＰさせる。 When the response signal from the RFID tag is received by the antenna AT, the signal is separated by 8 circulators, and the counter CNT is stopped through 14 amplifiers AMP.
１７の位相差検出器ＰＨ１の振幅比の出力電圧は、２０のＡＤ２でディジタル値に変換されてμＣＰＵに読み込まれる。この振幅比は、ＳＨ２でのディジタル変換時に、受信波の減衰状態で、信号検出レベルに波形が達するまでの時間に違いが出る事を、補正する為に参照される。 The output voltage of the amplitude ratio of the 17 phase difference detector PH1 is converted into a digital value by 20 AD2 and read into the μCPU. This amplitude ratio is referred to in order to correct the difference in the time until the waveform reaches the signal detection level in the attenuation state of the received wave during digital conversion in SH2.
ＯＳＣとＡＭＰの出力信号は、１７の位相差検出器ＰＨ１で送信波と受信波の位相差が取り出される。位相差は１９のＡＤ１で波長内距離計算用としてディジタル値に変換されてμＣＰＵに取り込まれる。 From the output signals of OSC and AMP, the phase difference between the transmission wave and the reception wave is extracted by 17 phase difference detector PH1. The phase difference is converted into a digital value for calculating the distance within the wavelength by 19 AD1, and is taken into the μCPU.
ＯＳＣの位相を１６のＰＳの移相器で９０度位相をずらし、１８の位相差検出器ＰＨ２で送信波と受信波の位相差を取り出し、２１のＡＤ３でＡＤ１と同様に、波長内距離計算用としてディジタル値に変換して、μＣＰＵに取り込む。この値と、ＰＨ１と合わせる事で、位相検出範囲が１８０度までの制限の有る特性を３６０度に拡張し、かつ０度又は１８０度近辺での非直線性を相補する。 The phase of the OSC is shifted 90 degrees with 16 PS phase shifters, the phase difference between the transmitted wave and the received wave is extracted with 18 phase difference detector PH2, and in-wavelength calculation is performed with AD3 of 21 as with AD1. For use, it is converted into a digital value and loaded into the μCPU. By combining this value with PH1, the characteristic of the phase detection range limited to 180 degrees is expanded to 360 degrees, and the non-linearity around 0 degrees or around 180 degrees is complemented.
μＣＰＵは、ＳＴＯＰ信号を受けると、ＣＮＴ、ＡＤ１、ＡＤ２及びＡＤ３のデータからＲＦＩＤタグ迄の距離を計算し、集中制御装置に送信する。 Upon receiving the STOP signal, the μCPU calculates the distance from the data of CNT, AD1, AD2, and AD3 to the RFID tag and transmits it to the centralized control device.
集中制御装置から発信指定されなかった質問器は、ＳＴＡＲＴ信号でＣＮＴをリセットする。
受信信号は、発信指定された質問器と同じ処理がされる。
The interrogator that is not designated for transmission from the centralized control device resets the CNT with the START signal.
The received signal is processed in the same manner as the interrogator designated for transmission.
内部信号を用いる場合は、図３の集中制御装置で指定された質問器だけが、内蔵ＯＳＣと内蔵ＳＴＡＲＴ信号で送受信し、他の２台の質問器は、送受信処理を行わない。集中制御装置は、３台の質問器を順に指定して、ＲＦＩＤタグまでの距離を、Ｒ０１、Ｒ０２、Ｒ０３、Ｒ１１，Ｒ１２、Ｒ１３・・・の順に測定すると、ＲＦＩＤタグの３次元位置の計算は、（Ｒ０１、Ｒ０２、Ｒ０３）→（Ｒ０２、Ｒ０３、Ｒ１１）→（Ｒ０３、Ｒ１１、Ｒ１２）と、質問器の順送りで求める事で、３データ単位での計算に比べ、高速にＲＦＩＤタグの移動に追従出来る様になる。 When the internal signal is used, only the interrogator specified by the centralized control device in FIG. 3 transmits and receives with the built-in OSC and the built-in START signal, and the other two interrogators do not perform transmission / reception processing. When the central controller designates three interrogators in order and measures the distance to the RFID tag in the order of R01, R02, R03, R11, R12, R13,..., It calculates the three-dimensional position of the RFID tag. (R01, R02, R03) → (R02, R03, R11) → (R03, R11, R12) You can follow the movement.
小動物にＲＦＩＤタグを取り付ける事で、その生態行動を暗視下でも記録し、調べる実験が行える。従来から電波の発信機や蛍光発光体を付けての実験は行われていたが、小動物に付けるには、形状及び重量に問題が有った。２．４５ＧＨｚのパッシブＲＦＩＤタグは、ミリ単位のサイズであり、電池も不要である為、実験動物への負担が軽減出来る。 By attaching an RFID tag to a small animal, the ecological behavior can be recorded and examined even under night vision. Conventionally, experiments using radio wave transmitters and fluorescent light emitters have been carried out, but there are problems in shape and weight when attached to small animals. Since the 2.45 GHz passive RFID tag has a size in millimeters and does not require a battery, the burden on the experimental animal can be reduced.
小動物に限らず、昆虫など虫の行動にも対応可能である。 Not only small animals but also insects and other insect behaviors can be handled.
同時に複数のＲＦＩＤタグの使用が可能なので、動物の前後に取り付けると、移動方向だけでなく、向きを変えた場合の回転の様子が観察出来る。 Since a plurality of RFID tags can be used at the same time, when attached to the front and back of an animal, not only the direction of movement but also the state of rotation when the direction is changed can be observed.
同時に複数のＲＦＩＤタグの使用が可能なので、複数の動物に取り付ける事で、群行動の観察が行える。 Since multiple RFID tags can be used at the same time, group behavior can be observed by attaching to multiple animals.
３次元方向の位置が測定出来るので、平面的な経路だけでなく、立体的行動範囲の実験が可能となる。 Since the position in the three-dimensional direction can be measured, not only a planar route but also a three-dimensional action range can be experimented.
電波障害の無い環境で有れば、動物に限らず、開放及び隠蔽場所内の移動物体の３次元的行動監視が可能となる。 If the environment is free from radio interference, it is possible to monitor three-dimensional behavior of moving objects in open and concealed places, not limited to animals.
実験構造物の構造図と重ね合わせる事で、現在位置をリアルタイムで知る事ができるので、その場面に対応する操作が行える。 By superimposing it with the structural drawing of the experimental structure, the current position can be known in real time, and operations corresponding to the scene can be performed.
１ 質問器１番 （Ｐ１）
２ 質問器２番 （Ｐ２）
３ 質問器３番 （Ｐ３）
４ 実験動物に取り付けたＲＦＩＤタグ （Ｐ０）
５ 実験構造物
６ 集中制御装置 （ＭＣ）
７ アンテナ （ＡＴ）
８ サーキュレータ
９ 変調器 （ＭＤ）
１０ シフトレジスタ （ＳＲ）
１１ 搬送波発振器 （ＯＳＣ）
１２ 波形整形器 （ＳＨ１）
１３ 時間測定カウンタ （ＣＮＴ）
１４ 増幅器 （ＡＭＰ）
１５ 波形整形器 （ＳＨ２）
１６ ９０度移相器 （ＰＳ）
１７ 位相差＋振幅値検出器 １ （ＰＨ１）
１８ 位相差＋振幅値検出器 ２ （ＰＨ２）
１９ 位相差用ＡＤ変換機 １ （ＡＤ１）
２０ ゲイン補正ＡＤ変換機 （ＡＤ２）
２１ 位相差用ＡＤ変換機 ２ （ＡＤ３）
２２ マイクロコンピュータ （μＣＰＵ）
２３ 外部ＳＴＡＲＴ入力ポート
２４ 外部ＯＳＣ入力ポート
２５ 内蔵ＯＳＣ・外部ＯＳＣ切換スイッチ （ＳＷ１）
２６ 内部ＳＴＡＲＴ・外部ＳＴＡＲＴ切換スイッチ （ＳＷ２）
２７ カスケード通信入力ポート
２８ カスケード通信出力ポート
２９ 質問器間通信ポート
３０ ＰＣ間通信ポート
３１ 外部ＳＴＡＲＴ出力ポート（３台の質問器へ）
３２ 外部出力用ＯＳＣ （ＯＳＣ）
３３ 外部ＯＳＣ出力ポート（３台の質問器へ）
３４ マイクロコンピュータ （μＣＰＵ）
1 Interrogator 1 (P1)
2 Interrogator No. 2 (P2)
3 Interrogator No. 3 (P3)
4 RFID tags attached to experimental animals (P0)
5 Experimental structure 6 Central control device (MC)
7 Antenna (AT)
8 Circulator 9 Modulator (MD)
10 Shift register (SR)
11 Carrier wave oscillator (OSC)
12 Waveform shaper (SH1)
13 hour counter (CNT)
14 Amplifier (AMP)
15 Waveform shaper (SH2)
16 90 degree phase shifter (PS)
17 Phase difference + amplitude value detector 1 (PH1)
18 Phase difference + Amplitude value detector 2 (PH2)
19 AD converter for phase difference 1 (AD1)
20 Gain correction AD converter (AD2)
21 Phase difference AD converter 2 (AD3)
22 Microcomputer (μCPU)
23 External START input port 24 External OSC input port 25 Built-in OSC / external OSC selector switch (SW1)
26 Internal START / External START switch (SW2)
27 Cascade communication input port 28 Cascade communication output port 29 Interrogator communication port 30 Intercomputer communication port 31 External START output port (to 3 interrogators)
32 OSC for external output (OSC)
33 External OSC output port (to 3 interrogators)
34 Microcomputer (μCPU)
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