CN110161527B - Three-dimensional map reconstruction system and method based on RFID and laser radar - Google Patents
Three-dimensional map reconstruction system and method based on RFID and laser radar Download PDFInfo
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- CN110161527B CN110161527B CN201910464704.7A CN201910464704A CN110161527B CN 110161527 B CN110161527 B CN 110161527B CN 201910464704 A CN201910464704 A CN 201910464704A CN 110161527 B CN110161527 B CN 110161527B
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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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- 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 the field of three-dimensional map construction, and discloses a three-dimensional map reconstruction system and method based on RFID and a laser radar. The reconstruction system includes: RFID card reader, RFID label, laser radar, moving platform and controller, wherein: the RFID tag is arranged on the object to be identified, and the RFID card reader is used for identifying the RFID tag, determining the position of the RFID tag and transmitting the position to the controller; the laser radar is used for scanning an area to be reconstructed, constructing a two-dimensional map according to the area to be reconstructed, and transmitting the two-dimensional map to the controller; the controller finds a three-dimensional model matched with the RFID tag in a database of the controller according to the RFID tag, and then maps the three-dimensional model to a corresponding position in a two-dimensional map according to the position of the object to be identified so as to generate the three-dimensional map of the area to be reconstructed. The invention also discloses a method for generating the three-dimensional map by using the system. By the method and the device, the construction of the three-dimensional map at low cost is realized, and the method and the device are convenient and quick.
Description
Technical Field
The invention belongs to the field of three-dimensional map construction, and particularly relates to a three-dimensional map reconstruction system and method based on RFID and a laser radar.
Background
With the proposal of intelligent manufacturing, intelligent factories are in operation for improving production efficiency and quality. The moving platform suitable for the intelligent factory, especially the AGV car, plays a very important role in the process. At present, an AGV moving platform is widely applied to material transportation and carriers of moving mechanical arms. The construction of an environment map is required to be considered when the positioning of the AGV is realized in transportation and the track planning is realized in processing. How to realize a map construction mode with high efficiency, high precision, flexibility and low cost has important significance for actual production.
The patent CN201580039495.1 proposes a positioning and mapping method based on RFID, which is suitable for real-time mapping of an area to be positioned with at least one RFID tag, and the method uses the first RFID as an initial position, and uses odometer information to calculate the position of an obstacle for mapping, but the method is only suitable for two-dimensional space and has low precision; patent CN201710374040.6 proposes a positioning map based on RFID tag matrix, placing RFID tags with the same size on a square mat at X intervals; each RFID tag has an ID number, so that a numbered matrix is formed, the technical scheme is simple, the map mat with the RFID tag matrix is convenient to carry, but the method is obviously troublesome for large-scale environments, particularly scenes with irregular structures; patent CN201710128306.9 proposes a RFID and UWB-based large-scale discrete manufacturing shop holographic map, in which manufacturing data are collected and located by RFID and UWB, but the information of RFID is not used in the process of establishing the map, and the scheme can be implemented only when the plane layout and three-dimensional model of the production environment are known. In short, in the existing method for constructing the three-dimensional map, equipment required by the method for generating the three-dimensional map by three-dimensional laser scanning is expensive, large in calculation amount and long in calculation time, or the three-dimensional map cannot be obtained only by obtaining the two-dimensional map, and the requirement of a workshop on the three-dimensional map during processing cannot be met.
Disclosure of Invention
Aiming at the defects or the improvement requirements in the prior art, the invention provides a three-dimensional map reconstruction system and a three-dimensional map reconstruction method based on RFID and a laser radar.
To achieve the above object, according to one aspect of the present invention, there is provided a three-dimensional map reconstruction system based on RFID and lidar, the reconstruction system including: RFID card reader, RFID label, laser radar, moving platform and controller, wherein:
the RFID tag is arranged on an object to be identified, and the RFID reader-writer is connected with the controller and used for identifying the RFID tag and determining the position of the RFID tag, namely, the RFID tag and the position corresponding to the object to be identified are obtained, and then the obtained RFID tag and the position corresponding to the object to be identified are transmitted to the controller;
the laser radar is connected with the controller and used for scanning an area to be reconstructed, constructing a two-dimensional map of the area to be reconstructed and transmitting the two-dimensional map to the controller;
the RFID card reader and the laser radar are arranged on the mobile platform, the mobile platform moves in a region to be reconstructed to drive the laser radar and the RFID card reader to move, after the laser radar and the RFID card reader respectively transmit the RFID labels and positions corresponding to a two-dimensional map and an object to be identified to the controller, the controller finds a three-dimensional model matched with the RFID labels in a database of the controller according to the RFID labels, and then maps the three-dimensional model to corresponding positions in the two-dimensional map according to the positions of the object to be identified, so that the three-dimensional map of the region to be reconstructed is generated.
Further preferably, the scanning range of the laser radar is preferably 10m to 30 m.
Further preferably, when the RFID reader identifies the RFID tag, the distance between the RFID reader and the RFID tag is preferably 0-10 m.
Further preferably, a processing device is further arranged on the mobile platform, and after the three-dimensional map is generated, the mobile platform drives the processing device to move to the accessory of the object to be identified so as to process the accessory of the object to be identified.
Further preferably, the laser radar is preferably a two-dimensional laser scanning radar.
Further preferably, the RFID reader is preferably an ultra high frequency reader, and the frequency range of the ultra high frequency reader is preferably 920mhz to 925 mhz.
According to another aspect of the present invention, there is provided a method for three-dimensional map reconstruction using the RFID and lidar based three-dimensional map reconstruction system, the method comprising:
(a) for an area to be reconstructed, the mobile platform moves in the area to be reconstructed, the laser radar scans the area to be reconstructed to generate a two-dimensional map of the area to be reconstructed and transmits the two-dimensional map to the controller, and meanwhile, the RFID reader identifies the RFID tag in the area to be reconstructed to obtain the RFID tag and the position of the object to be identified and transmits the RFID tag and the position to the controller;
(b) and the controller finds a three-dimensional model corresponding to the RFID tag in a database of the controller according to the received RFID tag, and then maps the three-dimensional model to a corresponding position in the two-dimensional map according to the position of the object to be identified so as to generate the three-dimensional map of the area to be reconstructed.
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:
1. the invention has realized the generation of the three-dimensional map by adopting the mode that laser radar and RFID read write line combine together, in the existing mode of obtaining the three-dimensional map by simply adopting three-dimensional laser radar to scan, the three-dimensional laser radar is expensive, the calculated amount is large, the calculation time is long, the invention adopts two-dimensional laser radar and RFID read write line both cheap, the cost is far lower than the three-dimensional laser radar, in addition, the invention only needs to map the three-dimensional model to the two-dimensional map, can obtain the three-dimensional map, the calculation is simple, the calculation time is short, when utilizing the system of the invention to apply to workshop, after obtaining the three-dimensional map of workshop, the processing unit can find the part to be processed according to the map, process it, convenient and fast, and it is intelligent;
2. the system provided by the invention has a simple structure, can effectively construct the three-dimensional map of the scene, and the three-dimensional map construction method realizes the autonomous navigation and positioning of the mobile platform through the laser SLAM and RFID technology, so that the autonomous mobile platform can effectively move to the specified position in a large range, thereby providing guarantee for the three-dimensional reconstruction process.
Drawings
FIG. 1 is a schematic diagram of an RFID and lidar based three-dimensional map reconstruction system constructed in accordance with a preferred embodiment of the invention;
FIG. 2 is a flow chart of generating a three-dimensional map constructed in accordance with a preferred embodiment of the present invention;
FIG. 3 is a generated three-dimensional map constructed in accordance with a preferred embodiment of the present invention;
fig. 4 is a three-view illustration of a mobile platform constructed in accordance with a preferred embodiment of the present invention.
The same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein:
1-RFID card reader, 2-RFID label, 3-laser radar, 4-mobile platform, and 5-object to be identified.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Fig. 1 is a schematic diagram of a three-dimensional map reconstruction system based on RFID and lidar according to a preferred embodiment of the present invention, as shown in fig. 1, a three-dimensional map reconstruction system based on RFID and lidar comprising: the system comprises an RFID reader 1, an RFID tag 2, a laser radar 3, a mobile platform 4 and a controller, wherein a three-dimensional model, such as a three-dimensional CAD model, of an object 5 to be identified is stored in a database of the controller.
The RFID card reader 1 and the laser radar 3 are fixed on a mobile platform, the RFID tag 2 is fixed on a target needing three-dimensional reconstruction, namely an object 5 to be identified, and the three-dimensional CAD model of the target is numbered by using the ID of each tag in a matching algorithm.
According to the strength information of the RFID label, the RFID card reader 1 controls the mobile platform through an RFID servo algorithm to realize traversing navigation, meanwhile, the laser radar 3 utilizes the instant positioning and map building technology to build an environment two-dimensional map in real time, and in the process of navigation map building, when the RFID card reader 1 can accurately position the position information of the RFID label, the controller guides a three-dimensional CAD model corresponding to the ID number of the RFID into the built two-dimensional map and maps and splices the three-dimensional CAD model with the built two-dimensional map to realize the building of a processing environment three-dimensional map.
Before a map is established, an RFID card reader 1 and a laser radar 3 are fixed at proper positions on a mobile platform and are calibrated, a plurality of RFID tags 2 are respectively attached to different targets, data acquisition is started after hardware is fixed, a two-dimensional scene map is established, the RFID card reader 1 takes the strength information of the RFID tags 2 as a motion direction reference, a controller controls the mobile platform through an RFID servo algorithm to realize traversal navigation, FIG. 2 is a flow chart for generating a three-dimensional map, which is established according to the preferred embodiment of the invention, and as shown in FIG. 2, the flow for generating the three-dimensional map comprises the following steps: the laser radar 3 utilizes the instant positioning and map building technology to build an environment two-dimensional map, when the RFID card reader 1 identifies information on the RFID label 2 and accurately obtains the position of the RFID label 2, the controller searches a three-dimensional CAD model matched with the ID number of the RFID label 2 from a database, and the three-dimensional CAD model of the object 5 to be identified is utilized to expand the two-dimensional map to the three-dimensional map, so that the reconstruction of the three-dimensional map is realized.
Fig. 3 is a generated three-dimensional map constructed according to a preferred embodiment of the present invention, and as shown in fig. 3, the generated three-dimensional map is a three-dimensional map of a workshop obtained by the method of the present invention, and a plurality of three-dimensional models in the map are objects to be identified.
Fig. 4 is a three-dimensional view of a mobile platform constructed according to a preferred embodiment of the present invention, as shown in fig. 4, the mobile platform is a two-wheeled cart, and a robot may be further disposed thereon, and after a three-dimensional map is formed, the cart may be moved to the periphery of an object to be recognized according to the three-dimensional map to perform corresponding processing on the object to be recognized by a robot clamping processing device, such as a grinding device, a milling device, etc.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (8)
1. A three-dimensional map reconstruction system based on RFID and laser radar is characterized by comprising: RFID card reader (1), RFID label (2), laser radar (3), mobile platform (4) and controller, wherein:
the RFID tag (2) is arranged on an object to be identified (5), the RFID card reader (1) is connected with the controller and is used for identifying the RFID tag (2) and determining the position of the RFID tag, namely, the RFID tag and the position corresponding to the object to be identified are obtained, and then the obtained RFID tag and the position corresponding to the object to be identified are transmitted to the controller;
the laser radar (3) is connected with the controller and used for scanning an area to be reconstructed, constructing a two-dimensional map of the area to be reconstructed and transmitting the two-dimensional map to the controller;
the RFID card reader (1) and the laser radar (3) are arranged on the mobile platform (4), the mobile platform moves in a region to be reconstructed to drive the laser radar and the RFID card reader to move, after the laser radar (3) and the RFID card reader (1) respectively transmit a two-dimensional map and an RFID label and a position corresponding to an object to be identified to the controller, the controller finds a three-dimensional model matched with the RFID label in a database of the controller according to the RFID label, and then maps the three-dimensional model to a corresponding position in the two-dimensional map according to the position of the object to be identified, so that a three-dimensional map of the region to be reconstructed is generated.
2. The RFID and lidar based three-dimensional map reconstruction system of claim 1, wherein the scanning range of the lidar (3) is preferably 10m to 30 m.
3. The RFID and lidar based three-dimensional map reconstruction system according to claim 1 or 2, wherein the RFID reader (1) is preferably 0-10 m away from the RFID tag when recognizing the RFID tag.
4. The RFID and lidar based three-dimensional map reconstruction system according to claim 1 or 2, wherein a processing device is further disposed on the mobile platform (4), and when the three-dimensional map is generated, the mobile platform drives the processing device to move to an accessory of an object to be identified to process the three-dimensional map.
5. An RFID and lidar based three-dimensional map reconstruction system according to claim 1 or 2, wherein the lidar (3) is preferably a two-dimensional lidar.
6. The three-dimensional map reconstruction system based on RFID and lidar according to claim 1 or 2, wherein the RFID reader (1) is preferably an ultra high frequency reader, preferably of the type having a frequency range of 920mhz to 925 mhz.
7. 3-the system for three-dimensional map reconstruction based on RFID and lidar according to claim 1 or 2, characterized in that the lidar (3) is adapted to construct an environmental two-dimensional map in real time, preferably using instant positioning and mapping techniques.
8. A method for three-dimensional map reconstruction using the RFID and lidar based three-dimensional map reconstruction system of any of claims 1-7, the method comprising:
(a) for an area to be reconstructed, the mobile platform moves in the area to be reconstructed, the laser radar scans the area to be reconstructed to generate a two-dimensional map of the area to be reconstructed and transmits the two-dimensional map to the controller, and meanwhile, the RFID reader identifies the RFID tag in the area to be reconstructed to obtain the RFID tag and the position of the object to be identified and transmits the RFID tag and the position to the controller;
(b) and the controller finds a three-dimensional model corresponding to the RFID tag in a database of the controller according to the received RFID tag, and then maps the three-dimensional model to a corresponding position in the two-dimensional map according to the position of the object to be identified so as to generate the three-dimensional map of the area to be reconstructed.
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| CN112819956A (en) * | 2020-12-30 | 2021-05-18 | 南京科沃斯机器人技术有限公司 | Three-dimensional map construction method, system and server |
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