CN103093162B - Intelligent robot system and the method utilizing radio-frequency (RF) identification to locate - Google Patents

Intelligent robot system and the method utilizing radio-frequency (RF) identification to locate Download PDF

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Publication number
CN103093162B
CN103093162B CN201110334723.1A CN201110334723A CN103093162B CN 103093162 B CN103093162 B CN 103093162B CN 201110334723 A CN201110334723 A CN 201110334723A CN 103093162 B CN103093162 B CN 103093162B
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described
smart machine
label
rfid tag
article
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CN201110334723.1A
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CN103093162A (en
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胡颖
靳海洋
张朋
张俊
张建伟
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中国科学院深圳先进技术研究院
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Abstract

A kind of intelligent robot system, comprise smart machine and be arranged on smart machine the reference RFID tag of record coordinate position in the environment; Described smart machine comprises radio-frequency identification reader and processor; Described radio-frequency identification reader comprise reader antenna for receiving the described radiofrequency signal with reference to RFID tag, for according to described radio frequency signal acquisition with reference to the coordinate position of RFID tag and the microprocessor receiving the angle that described radiofrequency signal rotates for obtaining reader antenna; Described processor is used for the angle rotated according to described reader antenna and the position determining described smart machine with reference to the coordinate position of RFID tag.Said system, effectively can reduce the quantity of reference RFID tag of record coordinate position, not only can the position of accurate positioning intelligent equipment, can also greatly reduce costs.In addition, a kind of method utilizing radio-frequency (RF) identification to locate also is provided.

Description

Intelligent robot system and the method utilizing radio-frequency (RF) identification to locate

[technical field]

The present invention relates to artificial intelligence field, a kind of method particularly relating to intelligent robot system and utilize radio-frequency (RF) identification to locate.

[background technology]

Along with the development of artificial intelligence, intelligent robot technology becomes international study hotspot, intelligent robot be applied to widely field as subsurface investigation, automatic detecting, household services etc.Intelligent robot, in order to performance objective task, needs the position of locating self place.Be applied in intelligent robot system location technology at present to have: gprs system, infrared location technology, ultrasound wave location technology, bluetooth location technology etc.Wherein GPRS positioning system is only applicable to outdoor, and positioning precision and real-time can not be satisfactory; Infrared, ultrasonic and bluetooth location technology is easily subject to external interference and makes locating effect undesirable, and cost is higher.Radio frequency identification (RFID, RadioFrequencyIdentification) technology is the location technology that a kind of novel precision is high, cost is low.

Radio RF recognition technology, as one of the most rising infotech in this century, has obtained the great attention of global industry.It utilizes radiofrequency signal realize contactless information transmission by Space Coupling (alternating magnetic field or electromagnetic field) and pass through the object that transmitted information reaches identification.Complete rfid system is made up of read write line/reader (Reader), electronic tag (Tag) and data management system three part.

REID has Touchless manipulation, long distance identify (several centimetres to tens meters), need not manual intervention, mechanical wearing and tearing, life-span long, the advantage that can identify batch target, identifiable design moving target fast, and can be applicable to the rugged environments such as various oil stain, contamination by dust.Therefore, RFID technique starts generally to come into one's own at the investigation and application in the fields such as intelligent space, smart machine, robot.RFID label tag is utilized to carry out the location of mobile device or article in a lot of research.

At present when utilizing RFID technique to carry out indoor positioning to the personnel or article that carry RFID label tag, except according to electromagnetic energy distribution figure, by received signal strength obtain with the information of distance dependent outside, most effective method is exactly in the area to be targeted of indoor, arrange a large amount of RFID reference label.Usual reference label forms certain topological structure in area to be targeted, such as rectangular configuration, cellular structure, triangular structure etc.Label to be positioned is located by reference to label, and the precision of therefore locating depends on the density of reference label array.Within the specific limits, the configuration density of reference label is closeer, and the error range of positioning result will be less.But along with the increase of label densities, the cost of system will increase, and environmental suitability also will reduce.

[summary of the invention]

Based on this, be necessary to provide a kind of positioning precision high and the intelligent robot system that cost is low.

A kind of intelligent robot system, comprise smart machine and be arranged on smart machine the reference RFID tag of record coordinate position in the environment; Described smart machine and described reference RFID tag are carried out alternately; Described smart machine comprises:

Radio-frequency identification reader, comprises reader antenna and microprocessor; Described reader antenna is for receiving the described radiofrequency signal with reference to RFID tag; Described microprocessor is used for the coordinate position with reference to RFID tag record according to described radio frequency signal acquisition, also receives the described angle rotated with reference to the radiofrequency signal of RFID tag for obtaining described reader antenna;

Processor, comprises radio-frequency information processing module, for the angle that rotates according to described reader antenna and the position determining described smart machine with reference to the coordinate position of RFID tag.

Preferably, described reader antenna can only receive the radiofrequency signal on a direction at one time, and described reader antenna is by the radiofrequency signal on Rotation of receiver different directions.

Preferably, described reference RFID tag comprises the first label, the second label and the 3rd label, described reader antenna receives the radiofrequency signal of described first label, the second label and the 3rd label, and described microprocessor is according to the coordinate position of described radio frequency signal acquisition first label, the second label and the 3rd label record; Described microprocessor is also for obtaining described reader antenna from the radiofrequency signal receiving described first label to the second angle receiving the first angle that the radiofrequency signal of described second label rotates, described reader antenna rotates from the radiofrequency signal receiving described second label to the radiofrequency signal receiving described 3rd label;

Described radio-frequency information processing module is used for the position calculating described smart machine according to the coordinate position of described first angle, the second angle and the first label, the second label and the 3rd label.

Preferably, described intelligent robot system, also comprise be arranged on smart machine article RFID tag on article in the environment, the Item Information of article described in described article RFID tag record; Described reader antenna is also for receiving the radiofrequency signal of described article RFID tag.

Described microprocessor is also for obtaining the angle that described reader antenna rotates from the radiofrequency signal receiving the reference RFID tag adjacent with described article RFID tag to the radiofrequency signal receiving this article RFID tag;

Described radio-frequency information processing module also determines the positional information of this article RFID tag for the coordinate position of reference RFID tag, the coordinate position of radio-frequency identification reader and the described angle adjacent according to described and described article RFID tag.

Preferably, described radio-frequency identification reader is also for the Item Information of article RFID tag record according to described radio frequency signal acquisition, and described Item Information comprises article mark and goods attribute information; Described processor also comprises:

For arranging the mission planning module of the task object information corresponding with article mark and goods attribute information;

Described smart machine also comprise be connected with described processor for storing the data management module with described article mark and task object information corresponding to goods attribute information.

Preferably, described mission planning module also generates action executing instruction for the positional information of the positional information according to described task object information, article tag, Item Information and smart machine;

Preferably, described system also comprises the action executing device performing corresponding actions according to described action executing instruction.

Preferably, described smart machine also comprises: sensor, for obtaining the Distance geometry directional information of described smart machine movement, and sends described processor to;

Described processor also comprises sensor information processing module, the position after moving for the Distance geometry directional information determination smart machine of the smart machine movement obtained according to described sensor.

Described smart machine also comprises: distance measuring equipment, for detecting whether have obstacle signal in preset distance, if so, then start described radio-frequency identification reader to obtain the positional information of smart machine, if not, then described sensor is started to obtain the positional information of smart machine.

Based on this, there is a need to provide a kind of positioning precision high and the low method utilizing radio-frequency (RF) identification to locate of cost.

Utilize the method that radio-frequency (RF) identification is located, comprise the following steps:

The reference RFID tag of multiple record coordinate position is set in the environment at smart machine, smart machine arranges the radio-frequency identification reader comprising reader antenna;

By the described radiofrequency signal with reference to RFID tag of described reader antenna reception and with reference to the coordinate position of RFID tag record according to described radio frequency signal acquisition;

Obtain described reader antenna and receive the described angle rotated with reference to the radiofrequency signal of RFID tag;

The coordinate position of the angle rotated according to described reader antenna and reference RFID tag determines the position of described smart machine.

Preferably, described reader antenna can only receive the radiofrequency signal on a direction at one time, and described reader antenna is by the radiofrequency signal on Rotation of receiver different directions.

Preferably, described reference RFID tag comprises the first label, the second label and the 3rd label; Described method also comprises:

The radiofrequency signal of described first label, the second label and the 3rd label is received, the coordinate position of the first label, the second label and the 3rd label according to described radio frequency signal acquisition by reader antenna;

Described reader antenna is obtained from the radiofrequency signal receiving described first label to the second angle receiving the first angle that the radiofrequency signal of described second label rotates, described reader antenna rotates from the radiofrequency signal receiving described second label to the radiofrequency signal receiving described 3rd label by microprocessor;

The position of described smart machine is determined according to the coordinate position of described first angle, the second angle and the first label, the second label and the 3rd label.

Preferably, described method also comprises:

At smart machine article in the environment arrange article RFID tag, the Item Information of article described in described article RFID tag record;

The radiofrequency signal of described article RFID tag is received by described reader antenna;

Obtain the angle that described reader antenna rotates from the radiofrequency signal receiving the reference RFID tag adjacent with described article RFID tag to the radiofrequency signal receiving this article RFID tag;

The coordinate position of reference RFID tag, the coordinate position of radio-frequency identification reader and the described angle adjacent according to described and described article RFID tag determine the positional information of this article RFID tag.

Preferably, described method also comprises:

The Item Information of article RFID tag record according to described radio frequency signal acquisition; Described Item Information comprises article mark and goods attribute information;

The task object information corresponding with article mark and goods attribute information is set, and stores described task object information.

Preferably, described method also comprises:

Positional information according to the positional information of described task object information, article tag, Item Information and smart machine generates action executing instruction and performs described action executing instruction.

Preferably, described method also comprises:

Smart machine arranges sensor;

The Distance geometry directional information of described smart machine movement is obtained by sensor;

The position of the Distance geometry directional information determination smart machine of the smart machine movement obtained according to described sensor.

Described method also comprises:

Smart machine arranges distance measuring equipment;

Detect whether have obstacle signal in preset distance by distance measuring equipment, if so, then start the positional information that described radio-frequency identification reader obtains smart machine; If not, then start sensor obtains the positional information of smart machine.

Above-mentioned intelligent robot system and the method utilizing radio-frequency (RF) identification to locate, according to the position of the angle determination smart machine that the coordinate position of described reference RFID tag record and the radiofrequency signal of reader antenna reception reference RFID tag rotate, can effectively reduce be arranged on smart machine the quantity of reference RFID tag of record coordinate position in the environment, not only can the position of accurate positioning intelligent equipment, can also greatly reduce costs.

[accompanying drawing explanation]

Fig. 1 is the schematic diagram of the intelligent robot system in an embodiment;

Fig. 2 is the structural representation of the smart machine in an embodiment;

Fig. 3 is one of schematic diagram of the relative position relation of reference RFID tag and radio-frequency identification reader;

Fig. 4 is the schematic diagram two of the relative position relation of reference RFID tag and radio-frequency identification reader;

Fig. 5 is the schematic diagram of the relative position relation of article RFID tag and reference RFID tag and radio-frequency identification reader;

Fig. 6 is the structural representation of the smart machine in another embodiment;

Fig. 7 is the structural representation of the smart machine in another embodiment;

Fig. 8 is the stereographic map of the smart machine in an embodiment;

Fig. 9 is the stereographic map of the smart machine in another embodiment;

Figure 10 is the schematic flow sheet of the method utilizing radio-frequency (RF) identification to locate in the first embodiment;

Figure 11 is the schematic flow sheet of the method utilizing radio-frequency (RF) identification to locate in the second embodiment;

Figure 12 is the schematic flow sheet of the method utilizing radio-frequency (RF) identification to locate in the 3rd embodiment;

Figure 13 is the schematic flow sheet of the method utilizing radio-frequency (RF) identification to locate in the 4th embodiment;

Figure 14 is the schematic flow sheet of the method utilizing radio-frequency (RF) identification to locate in the 5th embodiment;

Figure 15 is the schematic flow sheet of the method utilizing radio-frequency (RF) identification to locate in the 6th embodiment.

[embodiment]

As shown in Figure 1, in one embodiment, a kind of intelligent robot system, comprise smart machine 12 and be arranged on smart machine 12 the reference RFID tag 14 (hereinafter referred to as reference label 14) of record coordinate position in the environment.Smart machine 12 and reference label 14 are carried out alternately.

In the present embodiment, smart machine 12 place environment is indoor environment, can need to arrange reference label 14 in the region of executing the task by smart machine 12 in indoor environment, as arranged reference label 14 on doorway, wall, around the fringe region such as desk side or barrier.Wherein, reference label 14 can be active label also can be passive label.

In another embodiment, smart machine place environment also can be outdoor environment, and reference label 14 can be arranged on the region that smart machine needs to execute the task.

In the present embodiment, as shown in Figure 2, smart machine 12 comprises radio-frequency identification reader 122 (hereinafter referred to as reader 122) and processor 124, wherein:

Reader 122 comprises reader antenna 1222 (not marking in figure) and microprocessor 1226 (not marking in figure); Reader antenna 1222 is for receiving the radiofrequency signal of reference label 14; The coordinate position of microprocessor 1226 for recording according to radio frequency signal acquisition reference label 14, the angle that the radiofrequency signal also receiving reference label 14 for obtaining reader antenna 1222 rotates.

Reader antenna 1222 can only receive the radiofrequency signal on a direction at one time, and it is by the radiofrequency signal on Rotation of receiver different directions.The angle that the radiofrequency signal receiving reference label 14 by obtaining reader antenna 1222 rotates, reader antenna 1222 can be obtained in rotary course from reception reference label 14 to receiving the angle that rotates of another reference label 14, the angle of angle formed by the line namely obtaining two reference label 14 and reader 122.

Processor 124 comprises radio-frequency information processing module 1242, and radio-frequency information processing module 1242 is for the position according to the anglec of rotation of reader antenna 1222 and the coordinate position determination smart machine 12 of reference label 14.

Said system, the position of the angle determination smart machine 12 that the radiofrequency signal that the coordinate position recorded according to reference label 14 and reader antenna receive reference label 14 rotates, can effectively reduce be arranged on smart machine 12 the quantity of reference label 14 of record coordinate position in the environment, not only can the position of accurate positioning intelligent equipment 12, can also greatly reduce costs.

As shown in Figure 3, in one embodiment, reference label 14 comprises the first label 142, second label 144 and the 3rd label 146; Reader antenna 1222 receive the first label 142, second label 144 and the 3rd label 146 radiofrequency signal and obtain first label 142 record coordinate position (be designated as A (x 1, y 1)), second label 144 record coordinate position (be designated as B (x 2, y 2)) and the 3rd label 146 record coordinate position (be designated as C (x 3, y 3)); The first angle that microprocessor 1226 also rotates for obtaining the radiofrequency signal of reader antenna 1222 from the radiofrequency signal of reception first label 142 to reception second label 144 (is designated as θ 1), the second angle of rotating of the radiofrequency signal of reader antenna 1222 from the radiofrequency signal of reception second label 144 to reception the 3rd label 146 (is designated as θ 2).Wherein, θ 1, θ 2information comprise size and Orientation.Intelligible, any two labels in first, second and third label and reader are not on the same line.

Radio-frequency information processing module 1242 is for according to the first angle θ 1, the second angle θ 2and the first coordinate position A (x of label 142 1, y 1), the coordinate position B (x of the second label 2, y 2), the coordinate position C (x of the 3rd label 3, y 3) calculate the position of smart machine 12 and the coordinate position (being designated as D (x, y)) of reader 122.

Concrete, the process that radio-frequency information processing module 1242 calculates the coordinate position D (x, y) of reader 122 is as follows:

As shown in Figure 3, if be an O through the center of circle of the circle of some A, B, D 3 1, some O 1coordinate be (O 1x, O 1y), radius of a circle is R 1; If be an O through the center of circle of the circle of some B, C, D 3 2, some O 2coordinate be (O 2x, O 2y), radius of a circle is R 2;

First according to coordinate A (x 1, y 1), coordinate B (x 2, y 2) and the first angle θ 1size calculate center of circle O 1(O 1x, O 1y) and radius R 1, then according to coordinate B (x 2, y 2), coordinate C (x 3, y 3) and the second angle θ 2size calculate center of circle O 2(O 2x, O 2y) and radius R 2, then according to center of circle O 1(O 1x, O 1y), radius R 1, center of circle O 2(O 2x, O 2y) and radius R 2calculate D (x, y).

Concrete, can calculate according to following formula and system of equations:

(1) radius R is calculated 1: R 1 = | AB | 2 sin θ 1 = ( x 1 - x 2 ) 2 + ( y 1 - y 2 ) 2 2 sin θ 1

(2) center of circle O is calculated 1(O 1x, O 1y): ( O 1 x - x 1 ) 2 + ( O 1 y - y 1 ) 2 = R 1 ( O 1 x - x 2 ) 2 + ( O 1 y - y 2 ) 2 = R 1

(3) radius R is calculated 2: R 2 = | BC | 2 sin θ 2 = ( x 2 - x 3 ) 2 + ( y 2 - y 3 ) 2 2 sin θ 2

(4) center of circle O is calculated 2(O 2x, O 2y): ( O 2 x - x 2 ) 2 + ( O 2 y - y 2 ) 2 = R 2 ( O 2 x - x 3 ) 2 + ( O 2 y - y 3 ) 2 = R 2

(5) D (x, y) is calculated: ( O 1 x - x ) 2 + ( O 1 y - y ) 2 = R 1 2 ( O 2 x - x ) 2 + ( O 2 y - y ) 2 = R 2 2

According to coordinate A (x 1, y 1), coordinate B (x 2, y 2), coordinate C (x 3, y 3), the first angle θ 1with the second angle θ 2the formula of coordinates computed D (x, y) or equation are multiple in addition, do not enumerate at this.

Due to symmetry, center of circle O in computation process 1with center of circle O 2all can obtain two coordinate figures, so result also will obtain two coordinate figures of a D, the coordinate figure of D will be determined in the direction that can rotate according to reader antenna 1222.As shown in Figure 4, reader 122 may be positioned at a D 1with a D 2.Arranging with the first label 142 is that the direction of end points through the ray of the second label 144 is for direct north.If reader antenna 1222 is by counterclockwise rotating the radiofrequency signal receiving the first label 142, second label 144, the 3rd label 146 successively, i.e. θ 1, θ 2direction be counterclockwise, then reader 122 is positioned at the north by west of the first label 142, and namely reader is positioned at a D 1; If reader antenna 1222 rotates the radiofrequency signal receiving the first label 142, second label 144, the 3rd label 146 successively in the direction of the clock, i.e. θ 1, θ 2direction be clockwise direction, then reader 122 is positioned at the north by east of the first label 142, and namely reader is positioned at a D 2.

The position of angle determination reader that the radiofrequency signal that above-mentioned intelligent robot system receives these three reference label 14 according to the coordinate position of get three reference label 14 and reader antenna 1222 rotates and the position of smart machine, can effectively reduce be arranged on smart machine the quantity of reference label 14 of record coordinate position in the environment, not only can the position of accurate positioning intelligent equipment, can also greatly reduce costs.

In another embodiment, as shown in Figure 1, above-mentioned intelligent robot system also comprise be arranged on smart machine 12 article RFID tag 16 (hereinafter referred to as article tag 16) on article in the environment, article tag 16 records the Item Information of described article; Concrete, can smart machine 12 article to be positioned in the environment or pending task article on article tag 16 is set.Wherein, article tag 16 can be passive label also can be active label.

Reader antenna 1222 is also for receiving the radiofrequency signal of article tag 16.

Microprocessor 1226 is also for obtaining the angle that reader antenna 1222 rotates from the radiofrequency signal receiving the reference label 14 adjacent with article tag 16 to the radiofrequency signal receiving this article tag 16.

Radio-frequency information processing module 1242 is also for determining the positional information of this article tag 16 according to the coordinate position of reference label 14, the coordinate position of reader 122 and the above-mentioned angle adjacent with article tag 16.

As shown in Figure 5, in one embodiment, the size and Orientation of angle θ that the positional information of article tag 16 can rotate to the radiofrequency signal receiving article tag 16 from the radiofrequency signal receiving reference label 148 according to the coordinate position of the coordinate position of the reference label 148 be adjacent, reader 122 and reader antenna 1222 is determined.The size of note θ is θ °, wherein, the direction of θ is counterclockwise, remember with reader 122 be end points, through the ray of reference label 148 for l, ray l is rotated counterclockwise θ ° of postscript for ray l ' centered by reader 122, then article tag 16 is on ray l ', and such article tag 16 just can determine relative to the direction of reference label 148 and reader 122.Smart machine 12 can along the direction of ray l ' near article tag 16 to perform corresponding task.

The angle that above-mentioned intelligent robot system rotates to the radiofrequency signal receiving this article tag 16 from the radiofrequency signal receiving the reference label 14 adjacent with article tag 16 according to the coordinate position of the reference label 14 adjacent with article tag 16, the coordinate position of reader 122 and reader antenna 1222, determine the relative position of article tag 16, can effectively reduce be arranged on smart machine the quantity of reference label 14 in the environment, reduce system cost.

In another embodiment, the coordinate position of the adjacent reference label 148 in article tag 16 both sides and reference label 140 is obtained to determine the positional information of article tag 16 by reader 122.After the coordinate information getting the adjacent reference label 148 in article tag 16 both sides and reference label 140, because article tag 16 is between reference label 148 and reference label 140, then can determine the approximate region at article tag 16 place.

In one embodiment, Item Information comprises article mark and goods attribute information; Reader 122 is also for Item Information that the radio frequency signal acquisition article tag 16 of article tag 16 received according to reader antenna 1222 records; As shown in Figure 6, processor 124 also comprises mission planning module 1244, and smart machine 12 also comprises data management module 126 and action executing device 128; Wherein:

Preferably, article mark comprises classification, subclass, the article ID of article; Preferably, goods attribute information comprises Item Title, physical attribute, geometric attribute, other attribute; Physical attribute comprises article material, can be stressed; Geometric attribute comprises the length, diameter, width, shape etc. of article; Other attribute comprises dependent event, position relationship etc.

Mission planning module 1244 is for arranging the task object information corresponding with article mark and goods attribute information.Such as, mission planning module 1244 arranges the task object information corresponding with No. 0001 cup: capture No. 0001 cup.

Preferably, mission planning module 1244 generates action executing instruction for the positional information of the positional information according to task object information, article tag 16, Item Information and smart machine; Such as, mission planning module 1244 is executed the task according to the positional information determination smart machine of the positional information of smart machine and article tag needs the direction of movement; And generate concrete task in conjunction with task object information and Item Information, as task object information is: capture No. 0001 cup, Item Information is: article ID, and---0001, Item Title---cup, diameter---10 centimetres, then can generate concrete task is: capture No. 0001 cup that diameter is 10 centimetres.

Mission planning module 1244 can generate concrete task and corresponding action executing instruction thereof according to the attribute information of the article got, improve the dirigibility that smart machine 12 formulates specific tasks as the case may be, so that generate more accurate action executing instruction.

Data management module 126 is connected with processor 124, for storing the task object information corresponding with article mark and goods attribute information.

Action executing device 128 is connected with mission planning module 1244, performs corresponding actions for the action executing instruction generated according to mission planning module 1244.

In another embodiment, action executing device 128 can omit.

As shown in Figure 7, in one embodiment, smart machine 22 also comprises sensor 123 and distance measuring equipment 120, and processor 124 also comprises sensor information processing module 1243, wherein:

Sensor 123 for obtaining the Distance geometry directional information of smart machine 12 movement, and sends processor 124 to.

Position after sensor information processing module 1243 moves for the Distance geometry directional information determination smart machine 12 of smart machine 12 movement obtained according to sensor 123.

Preferably, sensor 123 comprises scrambler, electronic compass.Wherein scrambler is for obtaining the distance of smart machine 12 movement, and electronic compass is for obtaining the direction of smart machine 12 movement, and gyroscope is for obtaining the angle of smart machine 12 rotation.Reference position before message processing module 1243 moves according to the Distance geometry direction of smart machine 12 movement and smart machine 12, the final position after computational intelligence equipment 12 moves; The final position of last movement is the reference position of movement next time.

The displacement of the smart machine 12 that scrambler obtains has error, and along with the growth of smart machine 12 displacement, the error of accumulation also can increase; And the location comparison of the smart machine 12 that the angle that the radiofrequency signal that the coordinate position of the reference label 14 that radio-frequency information processing module 1242 obtains according to reader 122 and reader antenna 1222 receive reference label 14 rotates is determined is accurate, so when error accumulation is to time a certain amount of, the current location of smart machine 12 is calibrated in the position that the positional information calculation that can obtain according to reader obtains smart machine 12, as the reference position of smart machine 12 movement next time.

Preferably, sensor 128 also comprises gyroscope, the angle that gyroscope rotates for detecting smart machine 12.When smart machine 12 is from current directional steering target direction, gyroscope correctly can turn to target direction for the angle detecting smart machine 12 rotation to make smart machine 12.

Distance measuring equipment 120 is for detecting whether have obstacle signal in preset distance, and if so, then start reader 122 to obtain the positional information of smart machine 12, if not, then start sensor 123 is to obtain the positional information of smart machine 12.

Distance measuring equipment 120 needs must obstacle signal be detected in the certain limit in the region of executing the task at smart machine 12, such as, the task object information of smart machine 12 is: capture No. 0001 cup, so must there be the object of carrying cup in the region at cup place, the object of cup and carrying cup can regard barrier as, distance measuring equipment 120 enter into barrier region and barrier in a distance time, distance measuring equipment 120 just can detect obstacle signal.

Although the positional information that sensor 123 obtains has error, sensor 123 is low relative to cost radio frequency identification equipment (i.e. radio-frequency identification reader, RFID tag), radiation is few.Said system detects in preset distance have obstacle signal at distance measuring equipment 120, namely when smart machine 12 enters the region needing to execute the task, start the positional information that reader 122 obtains smart machine 12, and when distance measuring equipment 120 does not detect in preset distance have obstacle signal, namely, when smart machine 12 does not enter the region needing to execute the task, start sensor 123 obtains the positional information of smart machine 12.Therefore, said system effectively can reduce system cost, reduce radiation, accurate positioning intelligent equipment in the region can executed the task at needs again.

Preferably, distance measuring equipment can adopt any one or a few the combination in infrared distance sensor, laser measuring apparatus, Ultrasonic ranging device.

Fig. 8 gives the stereographic map of smart machine pipe 12, as shown in Figure 8, in one embodiment, smart machine 12 comprises distance measuring equipment 120, reader 122, sensor 123, processor 124 (not marking in figure), data administrator 126 (not marking in figure), action executing device 128; Wherein:

Reader 122 and sensor 123 for obtaining the positional information of smart machine 12, and send processor 124 to the positional information got.

Processor 124 is according to the position of the positional information calculation smart machine 12 received, and processor 124 is also formulated task for the position according to smart machine 12 and generates action executing instruction and send action executing device 128 to.

Data administrator 126 is connected with processor 124, the data message produced the positional information received from reader 122 and sensor 123 for storage of processor 124 and processor 124 processing procedure.

Action executing device 128 is for performing corresponding action according to action executing instruction.

Distance measuring equipment 120, for detecting whether have obstacle signal in preset distance, if so, then starts the positional information that reader 122 obtains smart machine 12; If not, then start sensor 123 obtains the positional information of smart machine 12.

In one embodiment, distance measuring equipment 120, sensor 123 can omit.In another embodiment, action executing device 128 can also be omitted.

Concrete, reader 122 is positioned at the top of smart machine, and reader 122 comprises reader antenna 1222, whirligig 1224, microprocessor 1226; Reader antenna 1222 for receive smart machine 12 the radiofrequency signal of reference label 14 in the environment and article tag 16; Reader antenna 1222 can only receive the radiofrequency signal on a direction at one time, and rotation platform 1224 is for carrying and driving reader antenna 1222 to rotate the radiofrequency signal received on different directions; The radiofrequency signal that microprocessor 1226 receives for resolving and process reader antenna 1222, obtain the coordinate position of reference label 14 record and the Item Information of article tag 16 record, microprocessor 1226 is also for obtaining the angle that reader antenna 1222 received RF signal rotates; Microprocessor 1226 sends processor 124 to the angle that the coordinate position obtained and Item Information and reader antenna 1222 rotate.

Concrete, action executing device 128 comprises rotating mechanical arm 1282, be connected with mechanical arm 1282 wheel 1286 moved for the mechanical arm 1284 and smart machine 12 capturing article.Mechanical arm 1282 has corresponding drive unit (as motor) to each motor joint of mechanical arm 1284, mechanical arm 1282 is provided with the rotational angle of angel measuring instrument measuring machine mechanical arm 1282.

Concrete, sensor 123 comprises gyroscope 1232, electronic compass 1234, scrambler 1236; Gyroscope 1232 is positioned at smart machine 12 top, for detecting the angle that smart machine 12 rotates; Electronic compass 1234 is positioned at smart machine 12 top, for obtaining the direction of smart machine 12 movement; Scrambler 1236 is positioned on wheel 1286, for obtaining the number of turns that wheel 1286 rotates, and then obtains the distance of smart machine 12 movement.

As shown in Figure 9, in one embodiment, the whirligig 1224 of reader 122 can omit, and reader antenna 1222 is arranged on the action executing device 128 of smart machine 12, is preferably arranged on the end of mechanical arm.Rotate reader antenna 1222 with the rotating arm of the radiofrequency signal receiving the radio-frequency (RF) tag on different directions by spinning movement actuating unit 128, and obtain the angle of reader antenna 1222 rotation by the anglec of rotation obtaining action executing device.

As shown in Figure 10, in one embodiment, a kind of method utilizing radio-frequency (RF) identification to locate, comprises the following steps:

Step S102, the reference RFID tag (hereinafter referred to as reference label) of multiple record coordinate position is set in the environment at smart machine, and the radio-frequency identification reader (hereinafter referred to as reader) comprising reader antenna is set on smart machine.

In one embodiment, smart machine place environment is indoor environment, can need to arrange reference label in the region of executing the task by smart machine in indoor environment, as arranged reference label on doorway, wall, around the fringe region such as desk side or barrier.Wherein, reference label can be active label also can be passive label.

In another embodiment, smart machine place environment also can be outdoor environment, and reference label can be arranged on the region that smart machine needs to execute the task.

Step S104, receives the radiofrequency signal of reference label, according to the coordinate position of radio frequency signal acquisition reference label record by reader antenna.

Preferably, reader antenna can only receive the radiofrequency signal on a direction at one time, and reader antenna is by the radiofrequency signal on Rotation of receiver different directions.

Step S106, the angle that the radiofrequency signal obtaining reader antenna reception reference label rotates.

The angle that the radiofrequency signal receiving reference label by obtaining reader antenna rotates, reader antenna can be obtained in rotary course from reception reference label to receiving the angle that rotates of another reference label, the angle of angle formed by the line namely obtaining two reference label and reader.

Step S108, the position of the angle rotated according to reader antenna and the coordinate position determination smart machine of reference label.

Said method, according to the position of the angle determination smart machine that the coordinate position of reference label record and the radiofrequency signal of reader antenna reception reference label rotate, can effectively reduce be arranged on smart machine the quantity of reference label of record coordinate position in the environment, not only can the position of accurate positioning intelligent equipment, can also greatly reduce costs.

In one embodiment, reference label comprises the first label, the second label and the 3rd label.As shown in figure 11, said method is further comprising the steps of:

Step S204, receives the radiofrequency signal of the first label, the second label and the 3rd label by reader antenna, the coordinate position according to radio frequency signal acquisition first label, the second label and the 3rd label is designated as A (x respectively 1, y 1), B (x 2, y 2), C (x 3, y 3);

Step S206, the first angle that the radiofrequency signal of acquisition reader antenna from the radiofrequency signal of reception first label to reception second label rotates (is designated as θ 1), the second angle of rotating of the radiofrequency signal of reader antenna from the radiofrequency signal of reception second label to reception the 3rd label (is designated as θ 2).

Wherein, θ 1, θ 2information comprise size and Orientation.Intelligible, any two labels in first, second and third label and reader are not on the same line.

Step S208, according to the first angle θ 1, the second angle θ 2and the first coordinate position A (x of label 1, y 1), the coordinate position B (x of the second label 2, y 2) and the coordinate position C (x of the 3rd label 3, y 3) determine smart machine position also namely the coordinate position of reader (be designated as D (x, y).

Concrete, the implementation of step S208 is as follows:

As shown in Figure 3, if be an O through the center of circle of the circle of some A, B, D 3 1, some O 2coordinate be (O 1x, O 1y), radius of a circle is R 1; If be an O through the center of circle of the circle of some B, C, D 3 2, some O 2coordinate be (O 2x, O 2y), radius of a circle is R 2;

First according to coordinate A (x 1, y 1), coordinate B (x 2, y 2) and the first angle θ 1size calculate center of circle O 1(O 1x, O 1y) and radius R 1, then according to coordinate B (x 2, y 2), coordinate C (x 3, y 3) and the second angle θ 2size calculate center of circle O 2(O 2x, O 2y) and radius R 2, then according to center of circle O 1(O 1x, O 1y), radius R 1, center of circle O 2(O 2x, O 2y) and radius R 2calculate D (x, y).

Concrete, can calculate according to following formula and system of equations:

(1) radius R is calculated 1: R 1 = | AB | 2 sin θ 1 = ( x 1 - x 2 ) 2 + ( y 1 - y 2 ) 2 2 sin θ 1

(2) center of circle O is calculated 1(O 1x, O 1y): ( O 1 x - x 1 ) 2 + ( O 1 y - y 1 ) 2 = R 1 ( O 1 x - x 2 ) 2 + ( O 1 y - y 2 ) 2 = R 1

(3) radius R is calculated 2: R 2 = | BC | 2 sin θ 2 = ( x 2 - x 3 ) 2 + ( y 2 - y 3 ) 2 2 sin θ 2

(4) center of circle O is calculated 2(O 2x, O 2y): ( O 2 x - x 2 ) 2 + ( O 2 y - y 2 ) 2 = R 2 ( O 2 x - x 3 ) 2 + ( O 2 y - y 3 ) 2 = R 2

(5) D (x, y) is calculated: ( O 1 x - x ) 2 + ( O 1 y - y ) 2 = R 1 2 ( O 2 x - x ) 2 + ( O 2 y - y ) 2 = R 2 2

According to coordinate A (x 1, y 1), coordinate B (x 2, y 2), coordinate C (x 3, y 3), the first angle θ 1with the second angle θ 2the formula of coordinates computed D (x, y) or equation are multiple in addition, do not enumerate at this.

Due to symmetry, center of circle O in computation process 1with center of circle O 2all can obtain two coordinate figures, so result also will obtain two coordinate figures of a D, the coordinate figure of D will be determined in the direction that can rotate according to reader antenna 1222.As shown in Figure 4, reader 122 may be positioned at a D 1with a D 2.Arranging with the first label 142 is that the direction of end points through the ray of the second label 144 is for direct north.If reader antenna 1222 is by counterclockwise rotating the radiofrequency signal receiving the first label 142, second label 144, the 3rd label 146 successively, i.e. θ 1, θ 2direction be counterclockwise, then reader 122 is positioned at the north by west of the first label 142, and namely reader is positioned at a D 1; If reader antenna 1222 rotates the radiofrequency signal receiving the first label 142, second label 144, the 3rd label 146 successively in the direction of the clock, i.e. θ 1, θ 2direction be clockwise direction, then reader 122 is positioned at the north by east of the first label 142, and namely reader is positioned at a D 2.

The position of angle determination reader that the radiofrequency signal that said method receives these three reference label according to the coordinate position of get three reference label and reader antenna rotates and the position of smart machine, can effectively reduce be arranged on smart machine the quantity of reference label of record coordinate position in the environment, not only can the position of accurate positioning intelligent equipment, can also greatly reduce costs.

As shown in figure 12, in one embodiment, said method is further comprising the steps of:

Step S110, at smart machine article in the environment arrange article RFID tag (hereinafter referred to as article tag), the Item Information of article tag record article.

Concrete, can smart machine article to be positioned in the environment or pending task article on article tag is set.

Step S112, receives the radiofrequency signal of article tag by reader antenna;

Step S114, obtains the angle that reader antenna rotates from the radiofrequency signal receiving the reference label adjacent with article tag to the radiofrequency signal receiving this article tag;

Step S116, the angle obtained according to the coordinate position of reference label adjacent with article tag, the coordinate position of reader and step S114 determines the positional information of this article tag.

Concrete, as shown in Figure 5, in one embodiment, the size and Orientation of angle θ that the positional information of article tag 16 can rotate to the radiofrequency signal receiving article tag 16 from the radiofrequency signal receiving reference label 148 according to the coordinate position of the coordinate position of the reference label 148 be adjacent, reader 122 and reader antenna is determined.The size of note θ is θ °, wherein, the direction of θ is counterclockwise, remember with reader 122 be end points, through the ray of reference label 148 for l, ray l is rotated counterclockwise θ ° of postscript for ray l ' centered by reader 122, then article tag 16 is on ray l ', and such article tag 16 just can determine relative to the direction of reference label 148 and reader 122.Smart machine can along the direction of ray l ' near article tag 16 to perform corresponding task.

The angle that above-mentioned intelligent robot system rotates to the radiofrequency signal receiving this article tag from the radiofrequency signal receiving the reference label adjacent with article tag according to the coordinate position of reference label adjacent with article tag, the coordinate position of reader and reader antenna, determine the relative position of article tag, effectively can reduce and be arranged on the quantity that smart machine records the reference label of coordinate position in the environment, reduce system cost.

In another embodiment, as shown in Figure 5, the coordinate position obtaining the adjacent reference label 148 in article tag 16 both sides and reference label 140 by reader determines the positional information of article tag 16.After the coordinate information getting the adjacent reference label 148 in article tag 16 both sides and reference label 140, because article tag 16 is between reference label 148 and reference label 140, then can determine the approximate region at article tag 16 place.

In one embodiment, Item Information comprises article mark and goods attribute information.Preferably, article mark comprises classification, subclass, the article ID of article; Preferably, goods attribute information comprises Item Title, physical attribute, geometric attribute, other attribute; Physical attribute comprises article material, can be stressed; Geometric attribute comprises the length, diameter, width, shape etc. of article; Other attribute comprises dependent event, position relationship etc.Wherein, article tag can be passive label also can be active label.

As shown in figure 13, said method is further comprising the steps of:

Step S118, according to the Item Information of the radio frequency signal acquisition article tag record that reader antenna receives;

Step S120, arranges the task object information corresponding with article mark and goods attribute information, and store tasks target information.

Such as, the task object information corresponding with No. 0001 cup is set: capture No. 0001 cup.

In one embodiment, the detailed process of step S120 is: the positional information according to the positional information of task object information, article tag, Item Information and smart machine generates action executing instruction.Such as, execute the task according to the positional information of smart machine and the positional information determination smart machine of article tag and need the direction of movement; And generate concrete task in conjunction with task object information and Item Information, as task object information is: capture No. 0001 cup, Item Information is: article ID, and---0001, Item Title---cup, diameter---10 centimetres, then can generate concrete task is: capture No. 0001 cup that diameter is 10 centimetres.

Said method generates concrete task and corresponding action executing instruction thereof according to the attribute information of the article got, and improves the dirigibility that smart machine 12 formulates specific tasks as the case may be, so that generate more accurate action executing instruction.

In another embodiment, said method also comprises the action executing instruction that the step S120 performed in above-described embodiment generates

As shown in figure 14, in one embodiment, said method is further comprising the steps of:

Step S122, smart machine arranges sensor.

Step S124, obtains the Distance geometry directional information of smart machine movement by sensor;

Step S126, according to the position of the Distance geometry directional information determination smart machine of the smart machine movement of sensor acquisition.

Preferably, sensor comprises scrambler, electronic compass.Wherein scrambler is for obtaining the distance of smart machine movement, and electronic compass is for obtaining the direction of smart machine movement, and gyroscope is for obtaining the angle of smart machine rotation.Concrete, the reference position before can moving according to the Distance geometry direction of smart machine movement and smart machine, the final position after computational intelligence equipment moving; The final position of last movement is the reference position of movement next time.

The displacement of the smart machine that scrambler obtains has error, and along with the growth of smart machine displacement, the error of accumulation also can increase; And the location comparison of smart machine that the coordinate position of the angle that rotates according to reader antenna of step S108 and reference label is determined is accurate, so when error accumulation is to time a certain amount of, the current location of smart machine is calibrated in the position of the smart machine can determined according to step S108, as the reference position of smart machine movement next time.

Preferably, sensor also comprises gyroscope, is detected the angle of smart machine rotation by gyroscope.When smart machine is from current directional steering target direction, the angle detecting smart machine rotation by gyroscope correctly can turn to target direction to make smart machine.

As shown in figure 15, in one embodiment, said method is further comprising the steps of:

Step S128, smart machine arranges distance measuring equipment;

Preferably, distance measuring equipment can adopt any one or a few the combination in infrared distance sensor, laser measuring apparatus, Ultrasonic ranging device.

Step S130, detects whether have obstacle signal in preset distance by distance measuring equipment, if so, then performs step S132; If not, then step S134 is performed;

Distance measuring equipment needs must obstacle signal be detected in the certain limit in the region of executing the task at smart machine, such as, the task object information of smart machine is: capture No. 0001 cup, so must there be the object of carrying cup in the region at cup place, the object of cup and carrying cup can regard barrier as, distance measuring equipment enter into barrier region and barrier in a distance time, distance measuring equipment just can detect obstacle signal.

Step S132, starts the positional information that radio-frequency identification reader obtains smart machine; The detailed process of step S132 is and performs step S104, step S106, step S108;

Step S134, start sensor obtains the positional information of smart machine; The detailed process of step S134 is and performs step S124, step S126.

Although the positional information that sensor obtains has error, sensor is low relative to cost radio frequency identification equipment (i.e. radio-frequency identification reader, RFID tag), radiation is few.Said method detects in preset distance have obstacle signal at distance measuring equipment, namely when smart machine enters the region needing to execute the task, start the positional information that reader obtains smart machine, and when distance measuring equipment does not detect in preset distance have obstacle signal, namely, when smart machine does not enter the region needing to execute the task, start sensor obtains the positional information of smart machine.Therefore, adopt said method effectively can reduce system cost, reduce radiation, accurate positioning intelligent equipment in the region can executed the task at needs again.

The above embodiment only have expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.

Claims (15)

1. an intelligent robot system, is characterized in that, comprising: smart machine and be arranged on smart machine the reference RFID tag of record coordinate position in the environment; Described smart machine and described reference RFID tag are carried out alternately; Described smart machine comprises:
Radio-frequency identification reader, comprises reader antenna and microprocessor; Described reader antenna is for receiving the described radiofrequency signal with reference to RFID tag; Described microprocessor is used for the coordinate position with reference to RFID tag record according to described radio frequency signal acquisition, also receives the described angle rotated with reference to the radiofrequency signal of RFID tag for obtaining described reader antenna;
Processor, comprises radio-frequency information processing module, for the angle that rotates according to described reader antenna and the position determining described smart machine with reference to the coordinate position of RFID tag;
Wherein:
Described reference RFID tag comprises the first label, the second label and the 3rd label;
Described reader antenna receives the radiofrequency signal of described first label, the second label and the 3rd label, and described microprocessor is according to the coordinate position of described radio frequency signal acquisition first label, the second label and the 3rd label record; Described microprocessor is also for obtaining described reader antenna from the radiofrequency signal receiving described first label to the second angle receiving the first angle that the radiofrequency signal of described second label rotates, described reader antenna rotates from the radiofrequency signal receiving described second label to the radiofrequency signal receiving described 3rd label;
Described radio-frequency information processing module is used for the position calculating described smart machine according to the coordinate position of described first angle, the second angle and the first label, the second label and the 3rd label.
2. intelligent robot system according to claim 1, is characterized in that, described reader antenna can only receive the radiofrequency signal on a direction at one time, and described reader antenna is by the radiofrequency signal on Rotation of receiver different directions.
3. intelligent robot system according to claim 1, is characterized in that, also comprise be arranged on smart machine article RFID tag on article in the environment, the Item Information of article described in described article RFID tag record; Described reader antenna is also for receiving the radiofrequency signal of described article RFID tag.
4. intelligent robot system according to claim 3, it is characterized in that, described microprocessor is also for obtaining the angle that described reader antenna rotates from the radiofrequency signal receiving the reference RFID tag adjacent with described article RFID tag to the radiofrequency signal receiving this article RFID tag;
Described radio-frequency information processing module also determines the positional information of this article RFID tag for the coordinate position of reference RFID tag, the coordinate position of radio-frequency identification reader and the described angle adjacent according to described and described article RFID tag.
5. intelligent robot system according to claim 4, it is characterized in that, the microprocessor of described radio-frequency identification reader is also for the Item Information of article RFID tag record according to the radio frequency signal acquisition of described article RFID tag, and described Item Information comprises article mark and goods attribute information; Described processor also comprises:
For arranging the mission planning module of the task object information corresponding with article mark and goods attribute information;
Described smart machine also comprise be connected with described processor for storing the data management module with described article mark and task object information corresponding to goods attribute information.
6. intelligent robot system according to claim 5, is characterized in that, described mission planning module also generates action executing instruction for the positional information of the positional information according to described task object information, article tag, Item Information and smart machine;
Described system also comprises the action executing device performing corresponding actions according to described action executing instruction.
7. intelligent robot system according to claim 1, is characterized in that, described smart machine also comprises: sensor, for obtaining the Distance geometry directional information of described smart machine movement, and sends described processor to;
Described processor also comprises sensor information processing module, the position after moving for the Distance geometry directional information determination smart machine of the smart machine movement obtained according to described sensor.
8. intelligent robot system according to claim 7, is characterized in that, described smart machine also comprises:
Distance measuring equipment, for detecting whether have obstacle signal in preset distance, if so, then starting described radio-frequency identification reader to obtain the positional information of smart machine, if not, then starting described sensor to obtain the positional information of smart machine.
9. the method utilizing radio-frequency (RF) identification to locate, comprises the following steps:
The reference RFID tag of multiple record coordinate position is set in the environment at smart machine, smart machine arranges the radio-frequency identification reader comprising reader antenna;
By the described radiofrequency signal with reference to RFID tag of described reader antenna reception and with reference to the coordinate position of RFID tag record according to described radio frequency signal acquisition;
Obtain described reader antenna and receive the described angle rotated with reference to the radiofrequency signal of RFID tag;
The coordinate position of the angle rotated according to described reader antenna and reference RFID tag determines the position of described smart machine;
Wherein:
Described reference RFID tag comprises the first label, the second label and the 3rd label;
The radiofrequency signal of described first label, the second label and the 3rd label is received, the coordinate position of the first label, the second label and the 3rd label according to described radio frequency signal acquisition by reader antenna;
Described reader antenna is obtained from the radiofrequency signal receiving described first label to the second angle receiving the first angle that the radiofrequency signal of described second label rotates, described reader antenna rotates from the radiofrequency signal receiving described second label to the radiofrequency signal receiving described 3rd label by reader;
The position of described smart machine is determined according to the coordinate position of described first angle, the second angle and the first label, the second label and the 3rd label.
10. the method utilizing radio-frequency (RF) identification to locate according to claim 9, is characterized in that, described reader antenna can only receive the radiofrequency signal on a direction at one time, and described reader antenna is by the radiofrequency signal on Rotation of receiver different directions.
11. methods utilizing radio-frequency (RF) identification to locate according to claim 9, it is characterized in that, described method also comprises:
At smart machine article in the environment arrange article RFID tag, the Item Information of article described in described article RFID tag record;
The radiofrequency signal of described article RFID tag is received by described reader antenna;
Obtain the angle that described reader antenna rotates from the radiofrequency signal receiving the reference RFID tag adjacent with described article RFID tag to the radiofrequency signal receiving this article RFID tag;
The coordinate position of reference RFID tag, the coordinate position of radio-frequency identification reader and the described angle adjacent according to described and described article RFID tag determine the positional information of this article RFID tag.
12. methods utilizing radio-frequency (RF) identification to locate according to claim 11, it is characterized in that, described method also comprises:
The Item Information of article RFID tag record according to the radio frequency signal acquisition of described article RFID tag, described Item Information comprises article mark and goods attribute information;
The task object information corresponding with article mark and goods attribute information is set, and stores described task object information.
13. methods utilizing radio-frequency (RF) identification to locate according to claim 12, it is characterized in that, described method also comprises:
Positional information according to the positional information of described task object information, article tag, Item Information and smart machine generates action executing instruction and performs described action executing instruction.
14. methods utilizing radio-frequency (RF) identification to locate according to claim 9, it is characterized in that, described method also comprises:
Smart machine arranges sensor;
The Distance geometry directional information of described smart machine movement is obtained by sensor;
The position of the Distance geometry directional information determination smart machine of the smart machine movement obtained according to described sensor.
15. methods utilizing radio-frequency (RF) identification to locate according to claim 14, it is characterized in that, described method also comprises:
Smart machine arranges distance measuring equipment;
Detect whether have obstacle signal in preset distance by distance measuring equipment, if so, then start the positional information that described radio-frequency identification reader obtains smart machine; If not, then start sensor obtains the positional information of smart machine.
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