CN102621984A - Manner for positioning and navigating automatic walking robot by utilizing radio frequency identification tags - Google Patents
Manner for positioning and navigating automatic walking robot by utilizing radio frequency identification tags Download PDFInfo
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- CN102621984A CN102621984A CN2012101045617A CN201210104561A CN102621984A CN 102621984 A CN102621984 A CN 102621984A CN 2012101045617 A CN2012101045617 A CN 2012101045617A CN 201210104561 A CN201210104561 A CN 201210104561A CN 102621984 A CN102621984 A CN 102621984A
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- rfid label
- automatic walking
- rfid
- label reader
- walking robot
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Abstract
The invention discloses a manner for positioning and navigating an automatic walking robot by utilizing radio frequency identification (RFID) tags. The manner comprises a positioning system and a navigating system, wherein the positioning system is a mobile space formed by longitudinal lines and transverse lines; the RFID tags are mounted or arranged in the cross positions of the longitudinal lines and the transverse lines; the navigating system is automatic walking equipment which comprises RFID tag readers and driving devices; the RFID tag readers are arranged at the front part and the back part of the bottom of the automatic walking equipment and capable of sending instructions to drive the driving devices to work; and after receiving work instructions, the RFID tag readers send radio frequency commands through antennas in the RFID tag readers to realize operation with the RFID tags, and simultaneously receive data returned by the RFID tags. The manner has the characteristics of simple structure, low cost, practicality, simplicity in operation.
Description
Technical field
The present invention relates to refer more particularly to a kind of automatic walking robot location navigation mode of the RFID of utilization label in the location positioning mode field of the automatic walking robot or the equipment of walking certainly.
Background technology
At present, present common having in the location technology of walking robot or equipment:
1), GPS location; The ultimate principle of GPS location be satellite instantaneous position according to high-speed motion as the known data of starting at, adopt the method for space length resection, confirm the position of tested point.
2), laser positioning mode; Laser is located with range finding; Launch a laser signal exactly; Mistiming according to receiving the signal of returning from reflection object is calculated this segment distance, confirms the angle of object and transmitter according to the angle of emission laser then, thereby draws the relative position of object and transmitter.
3), bar code locator meams.To convert the bar code that compiles out according to certain rule to significant information, need experience scanning and decipher two processes.The color of object is by its catoptrical type decided; White object can reflect the visible light of various wavelength; Black object then absorbs the visible light of various wavelength, thus when light that the bar code scanner light source sends after reflection on the bar code, reflected light shines on the inner photoelectric commutator of barcode scanner; The reflected light signal that photoelectric commutator is different according to power converts corresponding electric signal to.According to the difference of principle, scanner can be divided into three kinds in light pen, CCD, laser.Electric signal outputs to after the amplifying circuit enhancing signal of barcode scanner, delivers to shaping circuit again analog signal conversion is become digital signal.The width of informal voucher, secret note is different, and corresponding electric signal duration length is also different.Code translator is differentiated bar and empty number through the number of measuring pulse digit electric signal 0,1 then.Differentiate bar and empty width through measuring the lasting time of 0,1 signal.This moment, resulting data remained rambling, know the information that bar code comprises, and according to the corresponding codes rule (for example: the EAN-8 sign indicating number), change bar symbol into corresponding digital, character information then needed.At last, carry out data processing and management by computer system, the details of article just have been identified.
More than each location technology relative complex in the automatically walking robot or the equipment implementation procedure of walking certainly, the shortcoming of having nothing in common with each other:
1.GPS the location since signal problem indoor impracticable.
2. laser positioning is technological, complex equipments, and cost is high, in minority factory, uses.
3. bar code locator meams is shone because of bar code is contaminated easily and can't be read use occasion restriction is arranged.
Summary of the invention
The objective of the invention is to overcome above-mentioned weak point of the prior art and a kind of simple in structure, automatic walking robot location navigation mode of carrying out low, the practical novel RFID of the utilization label of plane or three-dimensional space orientation mode, cost is provided.
The present invention realizes through following mode:
A kind of automatic walking robot positioning navigation device that utilizes the RFID label is characterized in that: comprise positioning system and navigational system,
Described positioning system is the mobile space of ordinate 1 or horizontal line 2 or ordinate 1 and horizontal line 2 compositions, installs or be provided with RFID label 3 by certain distance on described ordinate 1 or the horizontal line 2;
Install or be provided with RFID label 3 on described ordinate 1 and horizontal line 2 crossover locations;
Described navigational system is automatic walking arrangement 4, and described automatic walking arrangement 4 comprises RFID label reader 5 and drive unit, and described RFID label reader 5 is located at the front and rear of automatic walking arrangement 4 bottoms; RFID label reader 5 sends the work of instruction driver; Described drive unit is located in the automatic walking arrangement 4; Described drive unit is located in the automatic walking arrangement 4; After described RFID label reader 5 is received work order, realize and the operation of RFID label 3, receive the data that RFID label 3 returns simultaneously through the antenna transmission radio-frequency command in it.
Described automatic walking arrangement 4 comprises body 9, power supply module, drive unit, RFID label reader 5, and described power supply module comprises electric battery 7, charging inlet 8, and described electric battery 7 is located at the bottom of body 9; Described charging inlet 8 is connected with electric battery 7, and is positioned at the bottom of body 9; Described drive unit comprises driving wheel 10, motor 11, angular transducer 12, and described driving wheel 10 is connected in the bottom of body 9, and described motor 11 is connected in the bottom of body 9, and is connected with driving wheel 10; Described angular transducer 12 is connected in the bottom of body 9, and motor 11 is connected; Described RFID label reader 5 is located at the front and rear of automatic walking arrangement 4 bottoms;
The front and rear of described body 9 is respectively equipped with anti-collision switch 13, and described anti-collision switch 13 is positioned at the place ahead of RFID label reader 5; Be connected with area sensor 14 on the described anti-collision switch 13; Described area sensor 14 is connected with angular transducer 12.
Described automatic walking arrangement 4 is provided with universal wheel 15.
Beneficial effect of the present invention is: utilize the uniqueness of RFID label, carry out plane or three-dimensional space orientation mode; Have advantages such as cost is low, use is stablized, be difficult for makeing mistakes, algorithm is simple, let the automatic walking robot or the equipment of walking certainly promote more easily and use.
Description of drawings
Fig. 1 positioning system structural representation of the present invention;
Fig. 2 navigational system structural representation of the present invention;
Fig. 3 user mode figure of the present invention.
Embodiment
Combine accompanying drawing at present, the specific embodiment of the invention be detailed:
Like Fig. 1, shown in Figure 2, a kind of automatic walking robot location navigation mode of utilizing the RFID label is characterized in that: comprise positioning system and navigational system,
Described positioning system is the mobile space of ordinate 1 or horizontal line 2 or ordinate 1 and horizontal line 2 compositions, installs or be provided with RFID label 3 by certain distance on described ordinate 1 or the horizontal line 2;
Install or be provided with RFID label 3 on described ordinate 1 and horizontal line 2 crossover locations;
Described navigational system is automatic walking arrangement 4, and described automatic walking arrangement 4 comprises RFID label reader 5 and drive unit, and described RFID label reader 5 is located at the front and rear of automatic walking arrangement 4 bottoms; Described drive unit is located in the automatic walking arrangement 4; RFID label reader 5 sends the work of instruction driver; After described RFID label reader 5 is received work order; Realize and the operation of RFID label 3 through the antenna transmission radio-frequency command in it, receive the data that RFID label 3 returns simultaneously.
Described automatic walking arrangement 4 comprises body 9, power supply module, drive unit, RFID label reader 5, and described power supply module comprises electric battery 7, charging inlet 8, and described electric battery 7 is located at the bottom of body 9; Described charging inlet 8 is connected with electric battery 7, and is positioned at the bottom of body 9; Described drive unit comprises driving wheel 10, motor 11, angular transducer 12, and described driving wheel 10 is connected in the bottom of body 9, and described motor 11 is connected in the bottom of body 9, and is connected with driving wheel 10; Described angular transducer 12 is connected in the bottom of body 9, and motor 11 is connected; Described RFID label reader 5 is located at the front and rear of automatic walking arrangement 4 bottoms;
The front and rear of described body 9 is respectively equipped with anti-collision switch 13, and described anti-collision switch 13 is positioned at the place ahead of RFID label reader 5; Be connected with area sensor 14 on the described anti-collision switch 13; Described area sensor 14 is connected with angular transducer 12.
Described automatic walking arrangement 4 is provided with universal wheel 15.
Whether the front and back that area sensor 14 of the present invention is used for the checkout equipment moving direction have the obstacle object.
It is to utilize wireless radio frequency mode to carry out the noncontact bidirectional data communication for a rfid system, to reach the purpose of Target Recognition and swap data.Can be used to follow the tracks of and manage nearly all physical object, all have wide practical use in various fields such as industrial automation, business automation, communications and transportation control and management, false proof and military affairs.Rfid system generally is made up of RFID label reader 5 and RFID label 3 (or claiming transponder, electronic tag, intelligent label) and antenna.RFID label 3 is called RF tag, transponder, data carrier again; Whether RFID label reader 5 is called readout device again, scanner, communicator, read write line (depend on electronic tag can wireless rewrite data).Between RFID label 3 and the RFID label reader 5 through coupling element realize space (contactless) coupling of radiofrequency signal, in coupling channel, according to sequential relationship, realize the transmission of energy, the exchange of data.
Embodiment
As shown in Figure 3, the first step, in the mobile space of the automatically walking robot or the equipment 4 of walking certainly, carry out ordinate 1 and horizontal line 2 planning;
Second goes on foot, needs in the movable space at the automatic walking robot or the equipment 4 of walking certainly; The mobile space that ordinate 1 or horizontal line 2 or ordinate 1 and horizontal line 2 are formed; Install or be provided with RFID label 3 by certain distance on described ordinate 1 or the horizontal line 2, if needed full the setting or installation RFID label 3 in each point of crossing of A1～J10.
The 3rd step, in that automatically a RFID label reader 5 is respectively installed at the front portion and the rear portion of the bottom of the walking robot or the equipment 4 of walking certainly;
Position fixing process in the 4th step, automatic walking robot or equipment 4 moving process of walking certainly, as shown in Figure 3:
One, reference position is anterior X9-Y8, and rear positions is X9-Y10
Two, the target location is anterior X2-Y2, and rear positions is X2-Y4
Three, locator meams: automatically the walking robot or the equipment 4 of walking certainly be in operation only need to compare the label 3 of front and rear portions RFID in label list X, Building Y target positional value can obtain current location.Like reference position is anterior X5-Y4, and the rear portion is X6-Y6.
Four, establish the control of the automatic walking robot or the equipment 4 move left and right modes of walking certainly:
1) after obtaining X axle bed scale value, the X axle bed scale value of the coordinate values of more current X axle and target location is if the current location of X axle value＞target location value is established automatic walking robot or the equipment 4 of walking certainly moves to the right; If the current location of X axle value＜target location value, the walking robot or the equipment 4 of walking certainly move to the left automatically; If the current location of X axle value=target location value, the walking robot or the equipment 4 of walking certainly are to keeping current direction automatically.
2) after obtaining Y axle bed scale value, if the Y axle bed scale value of the coordinate values of more current Y axle and target location is the current location of Y axle value＞target location value, the walking robot or equipment 4 side shifting forward of walking certainly automatically; If the current location of Y axle value＜target location value, the walking robot or equipment 4 side shifting backward of walking certainly automatically; If the current location of Y axle value=target location value, the walking robot or the equipment 4 of walking certainly are to keeping current direction automatically.
The automatic walking robot or the equipment 4 of walking certainly stopped to move when the X that 3) label of the single walking robot automatically or the equipment 4 anterior posterior RFID readers 5 of walking certainly is corresponding, Building Y scale value and X, the Building Y of target location were marked RFID label 3 values and equated.
Claims (3)
1. automatic walking robot location navigation mode of utilizing the RFID label is characterized in that: comprise positioning system and navigational system,
Described positioning system is the mobile space of ordinate (1) or horizontal line (2) or ordinate (1) and horizontal line (2) composition, and described ordinate (1) or horizontal line (2) are gone up by certain distance and installed or be provided with RFID label (3);
Install or be provided with RFID label (3) on described ordinate (1) and horizontal line (2) crossover location;
Described navigational system is automatic walking arrangement (4), and described automatic walking arrangement (4) comprises RFID label reader (5) and drive unit, and described RFID label reader (5) is located at the front and rear of automatic walking arrangement (4) bottom; RFID label reader (5) sends the work of instruction driver; Described drive unit is located in the automatic walking arrangement (4); After described RFID label reader (5) is received work order, realize and the operation of RFID label (3), receive the data that RFID label (3) returns simultaneously through the antenna transmission radio-frequency command in it.
2. a kind of automatic walking robot location navigation mode of utilizing the RFID label according to claim 1; It is characterized in that: described automatic walking arrangement (4) comprises body (9), power supply module, drive unit, RFID label reader (5); Described power supply module comprises electric battery (7), charging inlet (8), and described electric battery (7) is located at the bottom of body (9); Described charging inlet (8) is connected with electric battery (7), and is positioned at the bottom of body (9); Described drive unit comprises driving wheel (10), motor (11), angular transducer (12), and described driving wheel (10) is connected in the bottom of body (9), and described motor (11) is connected in the bottom of body (9), and is connected with driving wheel (10); Described angular transducer (12) is connected in the bottom of body (9), and motor (11) is connected; Described RFID label reader (5) is located at the front and rear of automatic walking arrangement (4) bottom;
The front and rear of described body (9) is respectively equipped with anti-collision switch (13), and described anti-collision switch (13) is positioned at the place ahead of RFID label reader (5); Be connected with area sensor (14) on the described anti-collision switch (13); Described area sensor (14) is connected with angular transducer (12).
3. a kind of automatic walking robot location navigation mode of utilizing the RFID label according to claim 1 and 2, it is characterized in that: described automatic walking arrangement (4) is provided with universal wheel (15).
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| CN2012101045617A CN102621984A (en) | 2012-04-11 | 2012-04-11 | Manner for positioning and navigating automatic walking robot by utilizing radio frequency identification tags |
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| CN2012101045617A CN102621984A (en) | 2012-04-11 | 2012-04-11 | Manner for positioning and navigating automatic walking robot by utilizing radio frequency identification tags |
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| CN103809591A (en) * | 2012-11-09 | 2014-05-21 | 苏州宝时得电动工具有限公司 | Automatic work system |
| CN103823469A (en) * | 2014-03-12 | 2014-05-28 | 东南大学 | Positioning device for unmanned line-tracking robot and positioning method thereof |
| CN104793618A (en) * | 2015-04-16 | 2015-07-22 | 嘉兴市德宝威微电子有限公司 | Robot performance positioning array system, positioning blanket and performance method |
| CN105403859A (en) * | 2015-11-09 | 2016-03-16 | 深圳市中科鸥鹏智能科技有限公司 | Robot positioning method and device |
| CN105518560A (en) * | 2014-10-31 | 2016-04-20 | 深圳市大疆创新科技有限公司 | Location-based control method and apparatus, mobile machine and robot |
| CN105629977A (en) * | 2016-03-06 | 2016-06-01 | 王保亮 | Fully automatic navigation-type pilotless electric vehicle using method |
| CN105691230A (en) * | 2016-03-06 | 2016-06-22 | 王保亮 | Full-automatic navigation type unmanned electric car |
| CN106541404A (en) * | 2016-11-03 | 2017-03-29 | 四川阿泰因机器人智能装备有限公司 | A kind of Robot visual location air navigation aid |
| CN106990780A (en) * | 2017-03-28 | 2017-07-28 | 奇瑞汽车股份有限公司 | A kind of automatic charger navigation system and air navigation aid for driverless electric automobile |
| CN107885202A (en) * | 2017-10-31 | 2018-04-06 | 西安科锐盛创新科技有限公司 | warehouse navigation system based on RFID |
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| CN105518560B (en) * | 2014-10-31 | 2018-02-02 | 深圳市大疆创新科技有限公司 | A kind of location-based control method, device, removable movement machine and robot |
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| CN104793618A (en) * | 2015-04-16 | 2015-07-22 | 嘉兴市德宝威微电子有限公司 | Robot performance positioning array system, positioning blanket and performance method |
| CN105403859B (en) * | 2015-11-09 | 2018-05-15 | 深圳市中科鸥鹏智能科技有限公司 | Robot localization method and apparatus |
| CN105403859A (en) * | 2015-11-09 | 2016-03-16 | 深圳市中科鸥鹏智能科技有限公司 | Robot positioning method and device |
| CN105691230A (en) * | 2016-03-06 | 2016-06-22 | 王保亮 | Full-automatic navigation type unmanned electric car |
| CN105629977A (en) * | 2016-03-06 | 2016-06-01 | 王保亮 | Fully automatic navigation-type pilotless electric vehicle using method |
| CN106541404A (en) * | 2016-11-03 | 2017-03-29 | 四川阿泰因机器人智能装备有限公司 | A kind of Robot visual location air navigation aid |
| CN106541404B (en) * | 2016-11-03 | 2018-11-20 | 四川阿泰因机器人智能装备有限公司 | A kind of Robot visual location air navigation aid |
| CN106990780A (en) * | 2017-03-28 | 2017-07-28 | 奇瑞汽车股份有限公司 | A kind of automatic charger navigation system and air navigation aid for driverless electric automobile |
| CN106990780B (en) * | 2017-03-28 | 2020-03-31 | 奇瑞汽车股份有限公司 | Automatic charger navigation system and navigation method for unmanned electric vehicle |
| CN107885202A (en) * | 2017-10-31 | 2018-04-06 | 西安科锐盛创新科技有限公司 | warehouse navigation system based on RFID |
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Application publication date: 20120801 |