CN110161527A - A kind of three-dimensional map reconfiguration system and method based on RFID and laser radar - Google Patents
A kind of three-dimensional map reconfiguration system and method based on RFID and laser radar Download PDFInfo
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- CN110161527A CN110161527A CN201910464704.7A CN201910464704A CN110161527A CN 110161527 A CN110161527 A CN 110161527A CN 201910464704 A CN201910464704 A CN 201910464704A CN 110161527 A CN110161527 A CN 110161527A
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/10009—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves
- G06K7/10297—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves arrangements for handling protocols designed for non-contact record carriers such as RFIDs NFCs, e.g. ISO/IEC 14443 and 18092
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Abstract
The invention belongs to three-dimensional maps to construct field, and disclose a kind of three-dimensional map reconfiguration system and method based on RFID and laser radar.The reconfiguration system includes: RFID card reader, RFID label tag, laser radar, mobile platform and controller, wherein: RFID label tag is arranged on object to be identified, RFID card reader for identification RFID label tag and determine RFID label tag position, be then passed to controller；Laser radar passes to controller for scanning to reconstruction region and constructing two-dimensional map with this；Controller found in its database according to RFID label tag with the matched threedimensional model of the RFID label tag, threedimensional model is then mapped to the corresponding position in two-dimensional map according to the position of object to be identified, the three-dimensional map to reconstruction region is generated with this.The invention also discloses the methods that above system generates three-dimensional map.Through the invention, the building of three-dimensional map at low cost is realized, it is convenient and efficient.
Description
Technical field
The invention belongs to three-dimensional maps to construct field, more particularly, to a kind of three-dimensional based on RFID and laser radar
Map reconfiguration system and method.
Background technique
With the proposition of intelligence manufacture, to improve productivity and quality, intelligent chemical plant is come into being.Suitable for intelligence
The mobile platform in chemical plant especially AGV trolley plays very important stage among these.AGV mobile platform has been at present
It is widely used in the transport of material, the carrier of mobile mechanical arm.Realize that rail is realized in the positioning to AGV, work in-process in transit
Mark planning requires to consider the building of environmental map.How high efficiency is realized, high-precision, flexibility, inexpensive map structuring
Mode is of great significance to actual production.
Patent CN201580039495.1 proposes a kind of positioning based on RFID and map constructing method, suitable for setting
There is the area to be targeted of at least one RFID label tag to carry out real-time map building, this method is using first RFID as initial bit
It sets, carries out map structuring using the position that odometer information calculates barrier, but this method is only applicable to two-dimensional space and precision
It is lower；Patent CN201710374040.6 proposes one kind based on RFID label tag matrix positioning map, on the cushion of square
The RFID label tag with same size is spaced apart according to X；The label of each RFID has the ID number of oneself, to form one
The matrix of a number, the technical solution is simple, and the map cushion with RFID label tag matrix is easy to carry, but for big type ring
Scene this method of border, especially irregular structure is obviously more troublesome；Patent CN201710128306.9 proposes that one kind is based on
The large-scale intermittent manufacture workshop holographic map of RFID and UWB, this method acquire manufaturing data by RFID, UWB and are positioned,
But the information that map process does not use RFID is established, only the plane figure of production environment and threedimensional model are known
In the case where be just able to achieve the program.In short, in the method for the three-dimensional map of existing building or using 3 D laser scanning
Equipment price needed for generating the method for three-dimensional map is expensive, computationally intensive, calculates time length or can only obtain two-dimensional map
Three-dimensional map can not be obtained, demand when being unable to satisfy the processing in workshop to three-dimensional map.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the present invention provides a kind of based on RFID and laser radar
Three-dimensional map reconfiguration system and method, by the ingenious layout and combination to its key component laser radar and RFID reader,
It realizes the threedimensional model for mapping object to be identified on two-dimensional map, three-dimensional map is generated with this, thus solve at high cost, calculating
Amount is big, and it is long to calculate the time, and cannot achieve the technical issues of three-dimensional map generates.
To achieve the above object, according to one aspect of the present invention, a kind of three based on RFID and laser radar are provided
Map reconfiguration system is tieed up, which includes: RFID card reader, RFID label tag, laser radar, mobile platform and controller,
Wherein:
The RFID label tag is arranged on object to be identified, and the RFID reader is connect with the controller, for knowing
The not described RFID label tag and the position for determining the RFID label tag, the i.e. corresponding RFID label tag of acquisition object to be identified and position,
Then the corresponding RFID label tag of the object to be identified of acquisition and position are passed into the controller；
The laser radar is connect with the controller, for scan to reconstruction region and construct this wait for reconstruction region two
Map is tieed up, and the two-dimensional map is passed into the controller；
The RFID card reader and laser radar are arranged on the mobile platform, and the mobile platform is to reconstruction region
Interior movement drives the laser radar and RFID card reader mobile, the laser radar and RFID card reader respectively will be two-dimentional
After map and the corresponding RFID label tag of object to be identified and position pass to the controller, the controller is according to RFID label tag
Find in its database with the matched threedimensional model of the RFID label tag, then by the threedimensional model according to the object to be identified
Position be mapped to the corresponding position in the two-dimensional map, the three-dimensional map to reconstruction region is generated with this.
It is further preferred that the scanning range of the laser radar is preferably 10m~30m.
It is further preferred that the RFID card reader is when identifying the RFID label tag, distance between the two is preferably 0
~10m.
It is further preferred that it is additionally provided with processing unit (plant) on the mobile platform, it is described after the three-dimensional map generates
Mobile platform drives the processing unit (plant) to be moved to object to be identified attachment and processes to it.
It is further preferred that the laser radar preferably uses two dimensional laser scanning radar.
It is further preferred that the RFID reader preferably uses ultrahigh frequency reader-writer, type, frequency range is preferred
For 920mhz~925mhz.
It is another aspect of this invention to provide that providing a kind of three-dimensional using described above based on RFID and laser radar
The method of map reconfiguration system progress three-dimensional map reconstruct, which is characterized in that this method comprises:
(a) for reconstruction region, the mobile platform waits for moving in reconstruction region at this, and the laser radar waits for this
Reconstruction region is scanned, and is generated the two-dimensional map for waiting for reconstruction region and is passed to the controller, meanwhile, the RFID is read
It is described to the RFID label tag in reconstruction region to write device identification, obtains the RFID label tag and position on object to be identified and passes to institute
State controller；
(b) controller finds three-dimensional corresponding with the RFID label tag according to the RFID label tag received in its database
Then the threedimensional model is mapped to the corresponding position in the two-dimensional map according to the position of the object to be identified by model,
The three-dimensional map to reconstruction region is generated with this.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, can obtain down and show
Beneficial effect:
1, the mode that the present invention is combined by using laser radar and RFID reader, realizes the life of three-dimensional map
At, in the existing mode for simply using three-dimensional laser radar scanning acquisition three-dimensional map, three-dimensional laser radar is expensive,
Computationally intensive, the calculating time is long, and the present invention is cheap using two-dimensional laser radar and RFID reader, and cost is far below
Three-dimensional laser radar can be obtained three-dimensional map in addition, need to only map to threedimensional model in two-dimensional map in the present invention, count
It calculates simply, the calculating time is short, when being applied in workshop using system of the invention, after obtaining the three-dimensional map in workshop, processing
Device can find part to be processed according to the map, process to it, convenient and efficient, and intelligent；
2, system provided by the invention, structure is simple, can effectively construct the three-dimensional map of scene, such three-dimensional map
Construction method realizes independent navigation and the positioning of mobile platform by laser SLAM and RFID technique, enables autonomous mobile platform
It is enough to be effectively moved to designated position interior on a large scale, guarantee is provided for three-dimensional reconstruction process, entire map building process is logical
It is stronger with property, general indoor scene can be widely suitable for.
Detailed description of the invention
Fig. 1 is to reconstruct to be based on the three-dimensional map of RFID and laser radar constructed by preferred embodiment according to the invention
The schematic diagram of system；
Fig. 2 is the flow chart that three-dimensional map is generated constructed by preferred embodiment according to the invention；
Fig. 3 is the three-dimensional map of generation constructed by preferred embodiment according to the invention；
Fig. 4 is the three-view diagram of mobile platform constructed by preferred embodiment according to the invention.
In all the appended drawings, identical appended drawing reference is used to denote the same element or structure, in which:
1-RFID card reader, 2-RFID label, 3- laser radar, 4- mobile platform, 5- object to be identified.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
Fig. 1 is to reconstruct to be based on the three-dimensional map of RFID and laser radar constructed by preferred embodiment according to the invention
The schematic diagram of system, as shown in Figure 1, a kind of three-dimensional map reconfiguration system based on RFID and laser radar, comprising: RFID card reader
1, RFID label tag 2, laser radar 3, mobile platform 4 and controller are stored with the three of object to be identified 5 in the database of controller
Dimension module, such as three-dimensional CAD model.
RFID card reader 1 and laser radar 3 are fixed on a mobile platform, and RFID label tag 2, which is fixed on, needs three-dimensional reconstruction
Target that is, on object to be identified 5, is compiled in matching algorithm using three-dimensional CAD model of the ID of each label to target
Number.
RFID card reader 1 controls mobile platform reality by RFID servo algorithm according to RFID label tag strength information, controller
Now traversal formula navigation, while laser radar 2 is being led using positioning immediately and the real-time constructing environment two-dimensional map of map structuring technology
During boat builds figure, when RFID reader 1 has been able to accurately navigate to the location information of RFID label tag, controller will
The corresponding three-dimensional CAD model of ID number of RFID is imported in the two-dimensional map constructed, is reflected with the two-dimensional map constructed
Splicing is penetrated, realizes the building of processing environment three-dimensional map.
Before establishing map, by RFID card reader 1 and the fixed position suitable on a mobile platform of laser radar 3, and carry out
Calibration, multiple RFID label tags 2 are attached to respectively in different targets, and hardware starts to acquire data after fixing and establishes two dimensional field
Scape map, RFID card reader 1 take the strength information of RFID label tag 2 to refer to as the direction of motion, and controller passes through RFID servo
Algorithm control mobile platform realize traversal formula navigation, Fig. 2 be generation constructed by preferred embodiment according to the invention dimensionally
The flow chart of figure, as shown in Fig. 2, the process for generating three-dimensional map includes: that laser radar 3 utilizes positioning immediately and map structuring skill
Art constructing environment two-dimensional map when RFID card reader 1 recognizes the information in RFID label tag 2, and accurately obtains RFID label tag 2
Position when, controller searched for from database with the matched three-dimensional CAD model of the ID number of RFID label tag 2, using to be identified right
As 5 three-dimensional CAD model extends two-dimensional map to three-dimensional map, realization three-dimensional map reconstruct.
Fig. 3 is the three-dimensional map of generation constructed by preferred embodiment according to the invention, as shown in figure 3, being to adopt in figure
With the three-dimensional map in the workshop that method of the invention obtains, multiple threedimensional models in figure are object to be identified.
Fig. 4 is the three-view diagram of mobile platform constructed by preferred embodiment according to the invention, as shown in figure 4, in figure
Mobile platform is dandy horse, is also provided with manipulator above, passes through manipulator clamping processing unit (plant), such as polishing dress
Set, milling attachment etc., after forming three-dimensional map, trolley can be moved to according to three-dimensional map around object to be identified to its into
The corresponding processing of row.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (8)
1. a kind of three-dimensional map reconfiguration system based on RFID and laser radar, which is characterized in that the reconfiguration system includes: RFID
Card reader (1), RFID label tag (2), laser radar (3), mobile platform (4) and controller, in which:
The RFID label tag (1) is arranged on object to be identified (5), and the RFID card reader (1) connect with the controller, uses
In identifying the RFID label tag (2) and determining the position of the RFID label tag, that is, obtain the corresponding RFID label tag of object to be identified
And position, the corresponding RFID label tag of the object to be identified of acquisition and position are then passed into the controller；
The laser radar (3) connect with the controller, for scan to reconstruction region and construct this wait for reconstruction region two
Map is tieed up, and the two-dimensional map is passed into the controller；
The RFID card reader (1) and laser radar (3) are arranged on the mobile platform (4), and the mobile platform is to weight
Structure moves in region, drives the laser radar and RFID card reader mobile, in the laser radar (3) and RFID card reader
(1) after two-dimensional map and the corresponding RFID label tag of object to be identified and position being passed to the controller respectively, the control
Device found in its database according to RFID label tag with the matched threedimensional model of the RFID label tag, then by the threedimensional model according to
The position of the object to be identified is mapped to the corresponding position in the two-dimensional map, is generated to reconstruction region dimensionally with this
Figure.
2. a kind of three-dimensional map reconfiguration system based on RFID and laser radar as described in claim 1, which is characterized in that institute
The scanning range for stating laser radar (3) is preferably 10m~30m.
3. a kind of three-dimensional map reconfiguration system based on RFID and laser radar as claimed in claim 1 or 2, feature exist
In for the RFID card reader (1) when identifying the RFID label tag, distance between the two is preferably 0~10m.
4. a kind of three-dimensional map reconfiguration system based on RFID and laser radar as claimed in claim 1 or 2, feature exist
In, it is additionally provided with processing unit (plant) on the mobile platform (4), after the three-dimensional map generates, mobile platform drive institute
It states processing unit (plant) and is moved to object to be identified attachment and it is processed.
5. a kind of three-dimensional map reconfiguration system based on RFID and laser radar as claimed in claim 1 or 2, feature exist
In the laser radar (3) preferably uses two dimensional laser scanning radar.
6. a kind of three-dimensional map reconfiguration system based on RFID and laser radar as claimed in claim 1 or 2, feature exist
Preferably use ultrahigh frequency reader-writer, type in, the RFID reader (1), frequency range be preferably 920mhz~
925mhz。
7. a kind of three-dimensional map reconfiguration system based on RFID and laser radar as claimed in claim 1 or 2, feature exist
In the laser radar (3) is preferably using positioning immediately and the real-time constructing environment two-dimensional map of map structuring technology.
8. a kind of carried out using claim 1-7 is described in any item based on the three-dimensional map reconfiguration system of RFID and laser radar
The method of three-dimensional map reconstruct, which is characterized in that this method comprises:
(a) for reconstruction region, the mobile platform waits for moving in reconstruction region at this, and the laser radar waits reconstructing to this
Region is scanned, and is generated the two-dimensional map for waiting for reconstruction region and is passed to the controller, meanwhile, the RFID reader
Identification is described to the RFID label tag in reconstruction region, obtains the RFID label tag and position on object to be identified and passes to the control
Device processed；
(b) controller finds three-dimensional mould corresponding with the RFID label tag according to the RFID label tag received in its database
Then the threedimensional model is mapped to the corresponding position in the two-dimensional map according to the position of the object to be identified by type, with
This generates the three-dimensional map to reconstruction region.
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