CN112013848A - Method for planning navigation path in loader room based on radio frequency identification technology - Google Patents
Method for planning navigation path in loader room based on radio frequency identification technology Download PDFInfo
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
The invention discloses a method for planning a navigation path in a loader room based on a radio frequency identification technology, and relates to a method for planning a navigation path in a loader room. The method adopts the RFID electronic tags to perform grid division on the ground, reads the current position through readers arranged around the loader, automatically plans a path by adopting an algorithm after a starting point and an end point are appointed, and controls the loader to automatically drive to the end point; the method is suitable for automatic navigation control of the loader in indoor environments such as large storehouses and workshops. And can also be used for the navigation control of the loader in a designated area of an outdoor open environment. The scheme of the invention is simple and reliable, and the cost is low; the dust-proof and anti-interference device is not influenced by dust environment and has strong anti-interference performance; the required computing resource is small, and the realization of the embedded system is convenient.
Description
Technical Field
The invention relates to a method for planning a navigation path in a loader room, in particular to a method for planning a navigation path in a loader room based on a radio frequency identification technology.
Background
In power plants or coal mines, it is often necessary to transport the coal along a fixed path to a designated location using a loader. In order to reduce the influence of the pulverized coal environment on the human health and reduce the labor intensity of workers. The automatic driving technology can be adopted on the loader, and intelligent transportation of the coal yard is realized.
Radio Frequency Identification (RFID) is a wireless communication technology, and uses a wireless radio frequency method to read and write a recording medium (an electronic tag or a radio frequency card), thereby achieving the purpose of identifying an object and exchanging data.
The RFID system generally includes a reader and an electronic tag, and the operating principle of the RFID system is that the reader transmits a radio wave signal with a specific frequency, and the electronic tag receives a radio frequency signal transmitted by the reader and transmits identification data of a memory to the reader. The communication is realized in a contactless mode by utilizing the space coupling of an alternating magnetic field or an electromagnetic field and a radio frequency signal modulation and demodulation technology.
The common positioning and navigation methods for automatic driving include: electromagnetic guide rail navigation, laser navigation, inertial navigation, two-dimensional code navigation, GPS navigation and the like. However, electromagnetic guide rail navigation, two-dimensional code navigation and GPS navigation are not suitable for indoor places such as coal storage warehouses due to the limitation of the principle, and laser navigation and inertial navigation have the defects of large interference and high cost. Therefore, a low-cost and highly reliable navigation method is needed.
The electromagnetic guide rail navigation adopts the guide rail buried underground to navigate along a fixed path, is generally suitable for carrying out single conveying work from one station to another station, has higher navigation precision and lower cost, is not easy to be corroded by external oil stains, dust and industrial waste materials, and is very popular in the conventional tracing system.
In the laser navigation method, a laser emitting device is usually installed at a proper position of a vehicle, and position information is obtained through calculation of laser reflection information, so that accurate positioning is realized. The laser navigation positioning precision is high, and the processing speed is high. But are susceptible to environmental interference and the cost of laser navigation equipment is high.
The two-dimension code navigation is realized by paving two-dimension code labels on the ground of the logistics warehouse and identifying two-dimension code information through a camera to obtain current geographic information. The scheme has high requirements on the field environment, once the two-dimensional code label is shielded or polluted, the two-dimensional code label cannot be identified, and the reading equipment is expensive.
The GPS navigation system is provided with a GPS device on equipment and obtains GPS positioning information through a satellite. Generally applicable to large transportation systems such as automated container terminals or logistics transport vehicles, and are not suitable for precise positioning of items in an indoor warehouse.
In summary, the invention designs a method for planning a navigation path in a loader room based on a radio frequency identification technology, which uses an RFID electronic tag to perform grid division on the ground, reads the current position through readers arranged around the loader, and uses an algorithm to automatically plan the path after designating a starting point and an end point, so as to control the loader to automatically travel to the end point. The method is suitable for automatic navigation control of the loader in indoor environments such as large storehouses and workshops. And can also be used for the navigation control of the loader in a designated area of an outdoor open environment.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a method for planning a navigation path in a loader room based on a radio frequency identification technology, which solves the problem of automatic driving navigation of a loader and aims at solving the problem that the general positioning navigation method is limited due to the dust environment of an indoor coal yard.
In order to achieve the purpose, the invention is realized by the following technical scheme: a method for planning a navigation path in a loader room based on radio frequency identification technology comprises an underground RFID label grid, RFID readers arranged around a vehicle, a loader capable of realizing remote control and a navigation path planning algorithm; the method comprises the following steps:
firstly, packaging a passive RFID tag containing position information in a stone brick, arranging the passive RFID tag on the indoor ground in a square grid mode, and forming an indoor coordinate grid by the RFID tag.
Secondly, setting the current position coordinates of the coal pile as a navigation destination point, setting the initial position of the vehicle (generally the destination of the coal yard transfer) as a coordinate origin, and establishing a rectangular coordinate system.
Thirdly, planning the vehicle driving path by adopting an A-x algorithm, and setting the vehicle driving path as the navigation path.
Fourthly, four RFID readers are respectively installed on the periphery of the loader, and the current position coordinates and the motion direction of the vehicle are determined by reading the RFID tags. And comparing the current position with the navigation path coordinate, and controlling the moving direction and speed of the vehicle to advance along the navigation path.
Fifthly, when the vehicle meets a temporary obstacle, the position of the obstacle is detected through an infrared sensor arranged on the vehicle, the vehicle stops, and the vehicle continues to move forward along the original path after the obstacle disappears.
Sixthly, when the vehicle reaches the destination point, after loading is finished, the third step, the fourth step and the fifth step are repeated by taking the origin of coordinates as the destination point, the vehicle returns to the initial position, and after unloading is finished, the vehicle body is adjusted to the initial position to prepare for starting the action of the next period.
Finally, as the coal pile is transported, the destination point of navigation is changed, so that the destination point of the loader is increased by a distance on the coordinate of the first destination point every time. If the vehicle detects that the original destination point and the new destination point have obstacles, the obstacles are considered to be coal piles, and the vehicle stops and starts to be charged with coal. Otherwise, stopping and charging the coal when the vehicle moves to a new destination point.
The core idea of the method is to evaluate the current state information according to a cost evaluation function, then select a more favorable adjacent node for expansion, and circularly execute the search process until the target node is searched.
The RFID label grid is formed by laying RFID labels on the ground in a rasterization mode, the labels are laid according to a two-dimensional rectangular coordinate system mode, and coordinate information of nodes is written in the labels.
The RFID reader adopts RD905M, has a reading distance of about 6m, is internally provided with an 8dBi antenna, has adjustable output power of 0-30 dBi, is forward 60-90 degrees in a sector card reading area, and supports various communication modes such as TCP/IP, RS232/485, WIFI and the like.
The loader adopts a Salix CLG 850H.
The invention has the following beneficial effects: the invention adopts RFID electronic tags to form grids, and the grids are divided indoors; the electronic tag can be read through an RFID reader to obtain the current position of the loader; comparing the vehicle with a planned path in the process of vehicle running, and adjusting the motion direction and speed of the vehicle in real time; automatically updating the position coordinates of the target point; the scheme of the invention is simple and reliable, and the cost is low; the dust-proof and anti-interference device is not influenced by dust environment and has strong anti-interference performance; the required computing resource is small, and the realization of the embedded system is convenient.
Drawings
The invention is described in detail below with reference to the drawings and the detailed description;
FIG. 1 is a schematic diagram of the RFID operation of the present invention;
FIG. 2 is a schematic diagram of the algorithm A path search process of the present invention;
FIG. 3 is a schematic view of the read/write area of the card reader of the present invention;
FIG. 4 is a schematic side view of an inscribed square according to the present invention;
FIG. 5 is a schematic diagram of the position of a card reader according to the present invention;
FIG. 6 is a schematic view of the RFID label placement of the present invention;
fig. 7 is a schematic diagram of the movement of the loader of the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
Referring to fig. 1 to 7, the following technical solutions are adopted in the present embodiment: a method for planning a navigation path in a loader room based on radio frequency identification technology comprises an underground RFID label grid, RFID readers arranged around a vehicle, a loader capable of realizing remote control and a navigation path planning algorithm; the method comprises the following steps:
firstly, packaging a passive RFID tag containing position information in a stone brick, arranging the passive RFID tag on the indoor ground in a square grid mode, and forming an indoor coordinate grid by the RFID tag.
Secondly, setting the current position coordinates of the coal pile as a navigation destination point, setting the initial position of the vehicle (generally the destination of the coal yard transfer) as a coordinate origin, and establishing a rectangular coordinate system.
Thirdly, planning the vehicle driving path by adopting an A-x algorithm, and setting the vehicle driving path as the navigation path.
Fourthly, four RFID readers are respectively installed on the periphery of the loader, and the current position coordinates and the motion direction of the vehicle are determined by reading the RFID tags. And comparing the current position with the navigation path coordinate, and controlling the moving direction and speed of the vehicle to advance along the navigation path.
Fifthly, when the vehicle meets a temporary obstacle, the position of the obstacle is detected through an infrared sensor arranged on the vehicle, the vehicle stops, and the vehicle continues to move forward along the original path after the obstacle disappears.
Sixthly, when the vehicle reaches the destination point, after loading is finished, the third step, the fourth step and the fifth step are repeated by taking the origin of coordinates as the destination point, the vehicle returns to the initial position, and after unloading is finished, the vehicle body is adjusted to the initial position to prepare for starting the action of the next period.
Finally, as the coal pile is transported, the destination point of navigation is changed, so that the destination point of the loader is increased by a distance on the coordinate of the first destination point every time. If the vehicle detects that the original destination point and the new destination point have obstacles, the obstacles are considered to be coal piles, and the vehicle stops and starts to be charged with coal. Otherwise, stopping and charging the coal when the vehicle moves to a new destination point.
The specific implementation mode mainly adopts the following technical principles:
1. basic principle of passive RFID
The most basic RFID application system consists of three parts, namely an electronic tag, a reader and an antenna, and the basic working principle is shown in figure 1. The reader transmits a radio frequency signal with a certain frequency through the transmitting antenna, and when the electronic tag enters a working area of the transmitting antenna, induced current is generated, so that the electronic tag is activated by acquiring energy; the electronic tag sends out information such as self coding and the like through an antenna; the system receiving antenna receives the carrier signal sent from the electronic tag, and the carrier signal is sent to the reader through the antenna regulator, and the reader demodulates the received signal and sends the demodulated signal to the background main system for relevant processing: the main system judges the validity of the card according to the logic operation, carries out relevant processing according to different settings, and modifies the internal information of the tag through the antenna.
The electronic label is attached to the object to be identified and is a real data carrier of the radio frequency identification system, and when the label enters the effective coverage area of the antenna, the passive label can obtain energy from the electromagnetic field emitted by the antenna, so that the passive label is activated. Generally, an electronic tag is composed of a tag antenna and a tag-dedicated chip.
When the article to be identified attached with the electronic tag passes through the reading range of the article, the reader automatically takes out the appointed identification information in the electronic tag in a non-contact mode, so that the function of automatically identifying the article or automatically collecting the identification information of the article is realized. A typical reader contains a high frequency module (transmitter and receiver), a control unit, and a reader antenna.
The antennas and spatial channel antennas are used to transmit signals to form an effective electromagnetic field coverage area and to receive return signals from tags. There are two tasks for passive tags: one is to provide energy to the tag through electromagnetic field coupling, and the other is to establish a channel for transmitting data between the tag and the reader through electromagnetic coupling.
A directional antenna should be used in an RFID system, which has less interference with radiation patterns and return loss than an omni-directional antenna. The antenna type must be selected so that its impedance matches the free space and ASIC (integrated circuit designed for a specific purpose).
Algorithm A2. A
The core idea of the method is to evaluate the current state information according to a cost evaluation function, then select a favorable adjacent node for expansion, and perform the search process in a loop until the target node is searched. The algorithm A guides the searching direction of the algorithm through the heuristic function, the closer the node is to the target, the smaller the estimated function value is, and the shortest searching is ensured to be carried out towards the terminal point direction. The path search process of the a-algorithm is shown in fig. 2.
The basic idea of the a algorithm is as follows: introducing an estimation function f of a current node j, wherein the estimation function of the current node j is defined as:
f(j)＝g(j)+h(j)
where g (j) is a measure of the actual cost from the starting point to the current node j, h (j) is an estimate of the minimum cost from the node j to the end point, and the specific form of h (j) may be selected according to the actual situation, and h (j) is to satisfy a requirement: cannot be higher than the actual minimum cost from node j to the endpoint. When searching from the starting node to the destination node, searching f (j) the minimum node each time until finding the destination node.
The core of the A-algorithm is to design an estimation function h (j), wherein the estimation function h (j) is n times of a distance weighted value, an applied distance calculation mode is matched with a moving mode, a Manhattan distance is adopted when an ontology is allowed to move to four fields in a gridding map, and the estimation function expression of a node j under the condition is as follows:
f(j)＝g(j)+(|Ax-Bx|+|Ay-By|)
the a-algorithm sets up two tables in the search: open and Close tables. The Open table stores all the nodes which are generated but not examined, and the Close table records the nodes which are examined. One step in the algorithm is to rearrange the nodes in the Open table according to the estimation function, so that only the node with the best state (the lowest cost) in the Open table is considered in each step of the cycle, if the same node is found to exist in the Open table, the cost of the two nodes is compared, if the cost of the new node obtained by expansion is greater than the cost of the existing node, the new node obtained by expansion can be abandoned, otherwise, the original node is replaced by the new node. If the same node number exists in the Close table, the cost of the newly generated path is definitely higher than that of the original path, and the newly generated node can be eliminated.
The algorithm comprises the following steps:
step 1: generating an empty Open table and a Close table, and putting a starting point S into the Open table;
step 2: if the Open table is empty, failing and exiting;
and step 3: finding out a head node U from the Open table as a current node, and removing the head node U from the Open table;
and 4, step 4: and judging whether the U is an end point, if so, traversing to the starting point through a parent pointer of the node U, finding out the optimal path, and finishing the algorithm. Otherwise, turning to the step 5;
and 5: expanding a current node U, finding an expanded subsequent node set V, traversing nodes in the set V, calculating an estimated value of the node if the node is not in an Open table or a Close table, adding the node into the OPEN table, and setting a parent node as U, comparing the cost g (V) of the current node with the costs in the Open table and the Close table if the node is in the Open table and the Close table, and updating the cost in the table and a parent node pointer if the cost g (V) of the current node is small;
step 6: sequencing all nodes in the Open table according to the increasing sequence of the evaluation values;
and 7: and (6) turning to the step 2.
The electronic tag grid division of the embodiment:
and (3) paving RFID labels on the ground in a rasterizing mode, paving the labels in a two-dimensional rectangular coordinate system mode, and writing coordinate information of nodes into the labels.
The ultrahigh frequency RFID reader adopts RD905M, has a reading distance of about 6m, is internally provided with an 8dBi antenna, has adjustable output power of 0-30 dBi, has a forward sector card reading area of 60-90 degrees, supports various communication modes such as TCP/IP, RS232/485, WIFI and the like,
the loader adopts a Salix CLG850H, and the length a, the width b and the height h from the ground of the vehicle body are the same. The card reader is just right opposite to the ground, and the read-write area of the card readerThe fields are shown in fig. 3. And setting the vertical distance between the reader and the ground as L, and calculating according to the angle of 90 degrees of the maximum fan-shaped card reading area of the reader, wherein the area which can be read on the ground is a circle with the radius of L. The inscribed square of the circle of the reading area has a side length of
As shown in fig. 4.
In order to reduce the number of the electronic tags and enable readers on the left side and the right side of the loader to read at least one electronic tag at any time, the grid width of the square unit is smaller than that of the square unit
In practice, integers are taken for calculation, and the side length of the square unit grid is set to be Δ s.
Description of the travel track of the loader in the present embodiment: because the loader is provided with four card readers, at least one card reader can read the electronic tag at any sampling moment, and the data of the electronic tag read by the four card readers at any moment is set as (A)i,Bi,Ci,Di) The position of the four points A, B, C, D is shown in FIG. 5. And taking the A point data as a driving track, wherein the unread data can be corrected by using B, C, D point data.
A simple correction method is: when the point A has no data, if the point B has data, the point B data is used as the track data of the point A at the moment; if the point B has no data and the point C has data, taking the point C as the track data of the point A at the moment; if the point B has no data, the point C has no data and the point D has data, the point D data is taken as the locus data of the point A at the moment.
The navigation scheme of the specific embodiment is designed as follows: RFID tags are laid in a grid on the ground, with the distance between each tag set to Δ s meters. The label is laid according to a two-dimensional rectangular coordinate system form, coordinate information of nodes is written into the label, X, Y coordinate axes are respectively represented by one byte, and the range of the coordinate information is 0-255. The combination may have 65536 RFID tags with non-repeating data. As shown in fig. 6, the actual map layout extends from the origin at the upper left corner to the lower right, and the data written in the tag at the origin is (0x00 ) and the data written in the tag at the lower right corner is (0xff ).
Fig. 6 each RFID tag represents a corresponding two-dimensional location node of the field that can be used for loader positioning: when the loader passes through the upper part of the node, after the RFID reader-writer reads the geographic position information in the RFID label, the relative position of the loader in the warehouse can be known according to the geographic information of the RFID label. A virtual direction can be set to be up-north-down-south-left-west-right-east according to the laying format of the RFID tags in the map. The loader is considered to be oriented east of the virtual direction if it is at the (0x00 ) geographic position and the head of the loader is oriented at (0x00,0x 01).
The upper computer calculates the running path of the loader by adopting an A-algorithm, a path data link issued by the scheduling system is the position of the coordinate point which the loader should walk through, and the loader does not know how to move according to the information of the coordinate point after receiving the information of the coordinate point. If the dispatching system plans a path information with the initial position coordinate at the initial point and the final position coordinate of (0x03 ), the path format is:
{(0x00,0x00)(0x00,0x01)(0x01,0x01)(0x02,0x01)(0x02,0x02)(0x03,0x02)(0x03,0x03)}
assume that the loader is at the origin of coordinates and is oriented eastward in the virtual direction of the map. The loader movement after receiving the path information is shown in fig. 7.
After the loader reaches a coordinate position, the next step is to calculate according to the current coordinate position and the next coordinate position when the loader needs to walk straight or turn, and then corresponding actions are made according to the calculation result. And synthesizing the XY coordinate values into a 16-bit integer in the resolving process, placing the X coordinate value at the upper 8 bits, and placing the Y coordinate value at the lower 8 bits, so that the loader is positioned at the current coordinate, and the 16-bit integer and the value obtained by the next coordinate are subtracted to obtain a difference value. This difference has only four consequences, +1, -1, +256, and-256, respectively, and in combination with the virtual orientation of the loader, determines whether the next action is straight, 90 degrees to the right, 90 degrees to the left, or 180 degrees to the back. When the operation value is not the values, the data error of the system is shown, the loader stops running, and the current position information is reported.
The movement of the loader can be determined according to the virtual orientation of the loader and the coordinate difference, and the analysis action comparison table is shown in table 1.
TABLE 1 analysis action look-up table
The initial direction of the loader is set to be north, a variable is used for recording, the loader has a reference direction during first action analysis, and the virtual direction of the loader needs to be consistent with the initial direction before the loader actually runs. If the loader is oriented in the east of the virtual direction when it is turned right 90 degrees, setting the variable of the storage direction to the east can be used for action resolution of the next node.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. A method for planning a navigation path in a loader room based on a radio frequency identification technology is characterized by comprising an underground RFID label grid, RFID readers arranged around a vehicle, a loader capable of realizing remote control and a navigation path planning algorithm; the method comprises the following steps:
firstly, packaging a passive RFID tag containing position information in a stone brick, arranging the passive RFID tag on the indoor ground in a square grid mode, and forming an indoor coordinate grid by the RFID tag;
secondly, setting the current position coordinates of the coal pile as a navigation destination point, setting the initial position of a vehicle (generally a destination of coal yard transfer) as an origin of coordinates, and establishing a rectangular coordinate system;
thirdly, planning a vehicle driving path by adopting an A-star algorithm, and setting the vehicle driving path as the navigation path;
fourthly, four RFID readers are respectively arranged on the periphery of the loader, and the current position coordinates and the motion direction of the vehicle are determined by reading the RFID tags; comparing the current position with the navigation path coordinate, and controlling the moving direction and speed of the vehicle to make the vehicle advance along the navigation path;
fifthly, when the vehicle encounters a temporary obstacle, the position of the obstacle is detected through an infrared sensor arranged on the vehicle, the vehicle stops, and the vehicle continues to move forward along the original path after the obstacle disappears;
sixthly, when the vehicle reaches the destination point, after loading is finished, the third step, the fourth step and the fifth step are repeated by taking the origin of coordinates as the destination point, the vehicle returns to the initial position, and after unloading is finished, the vehicle body is adjusted to the initial position to prepare for starting the action of the next period;
finally, as the coal pile is transferred continuously, the destination point of navigation is changed continuously, so that the destination point of the loader increases a distance on the coordinate of the first destination point every time; if the vehicle detects that the original destination point and the new destination point have obstacles, the obstacles are considered to be coal piles, and the vehicle stops and starts to be charged with coal at the moment; otherwise, stopping and charging the coal when the vehicle moves to a new destination point.
2. The method as claimed in claim 1, wherein the a-algorithm is a heuristic search algorithm for shortest path, the heuristic search is an effective method for solving the problem of transition from the initial state to the target state in a complex environment, and the core idea is to evaluate the current state information according to a cost evaluation function, then select a more favorable neighboring node for expansion, and perform the search process in a loop until the target node is searched.
3. The method for planning the navigation path in the loader room based on the radio frequency identification technology as claimed in claim 1, wherein the RFID tag grid is laid on the ground in a grid manner, the tags are laid in a two-dimensional rectangular coordinate system, and coordinate information of the nodes is written in the tags.
4. The method for planning the navigation path in the loader room based on the radio frequency identification technology as claimed in claim 1, wherein the RFID reader adopts RD905M, has a reading distance of about 6m, is provided with an internal 8dBi antenna, has an adjustable output power of 0-30 dBm, has a forward sector card reading area of 60-90 degrees, and supports various communication modes such as TCP/IP, RS232/485, WIFI and the like.
5. The method as claimed in claim 1, wherein the loader is a salon CLG 850H.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113450548A (en) * | 2021-09-01 | 2021-09-28 | 成都千嘉科技有限公司 | High-rise residential building gas leakage efficient detection method |
| CN114218346A (en) * | 2022-02-21 | 2022-03-22 | 浪潮通用软件有限公司 | Method and system for guiding vehicles in park and park layout drawing method |
| WO2022267283A1 (en) * | 2021-06-25 | 2022-12-29 | 深圳市优必选科技股份有限公司 | Robot, navigation method and apparatus therefor, and computer-readable storage medium |
-
2020
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022267283A1 (en) * | 2021-06-25 | 2022-12-29 | 深圳市优必选科技股份有限公司 | Robot, navigation method and apparatus therefor, and computer-readable storage medium |
| CN113450548A (en) * | 2021-09-01 | 2021-09-28 | 成都千嘉科技有限公司 | High-rise residential building gas leakage efficient detection method |
| CN113450548B (en) * | 2021-09-01 | 2022-01-04 | 成都千嘉科技有限公司 | High-rise residential building gas leakage efficient detection method |
| CN114218346A (en) * | 2022-02-21 | 2022-03-22 | 浪潮通用软件有限公司 | Method and system for guiding vehicles in park and park layout drawing method |
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