CN110297493A - It is a kind of based on robot to the method for tracking and positioning and its device of electronic tag - Google Patents
It is a kind of based on robot to the method for tracking and positioning and its device of electronic tag Download PDFInfo
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- CN110297493A CN110297493A CN201910624152.1A CN201910624152A CN110297493A CN 110297493 A CN110297493 A CN 110297493A CN 201910624152 A CN201910624152 A CN 201910624152A CN 110297493 A CN110297493 A CN 110297493A
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- 230000000149 penetrating effect Effects 0.000 claims 1
- 231100000572 poisoning Toxicity 0.000 description 4
- 230000000607 poisoning effect Effects 0.000 description 4
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- 230000009286 beneficial effect Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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- Aviation & Aerospace Engineering (AREA)
- Radar Systems Or Details Thereof (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention relates to the tracking and positioning technical fields based on robot to electronic tag, a kind of method for tracking and positioning and its device based on robot to electronic tag are disclosed, Step 1: the building of positioning and map in strange place；Step 2: obtaining ID, position coordinates and the power of radio frequency identification electronic label；Step 3: the calculating of radio frequency identification electronic label relative position；Step 4: reducing position error by constantly iterative calculation.It is this based on robot to the method for tracking and positioning and its device of electronic tag, substantially increase the positioning accuracy to RFID electronic label, position error is reduced, while the RFID antenna array that realizes that no setting is required, RFID electronic label can be accurately positioned, tracking.
Description
Technical field
The present invention relates to the tracking and positioning technical fields based on robot to electronic tag, more particularly to one kind to be based on machine
Method for tracking and positioning and its device of the people to electronic tag.
Background technique
(radio frequency identification) is a kind of communication technology, and specific objective can be identified by radio signals and reads and writes dependency number
According to without establishing mechanical or optical contact between identifying system and specific objective.SLAM(synchronous superposition) it can
It is moved since a unknown position with being interpreted as robot in circumstances not known, according to location estimation and ground in moving process
Figure carries out self poisoning, while increment type map is built on the basis of self poisoning, realizes the autonomous positioning of robot and leads
Boat.
RFID electronic label positioning in the prior art and tracer technique, generally use two kinds of technologies.One kind is largely to set
RFID antenna is set, by the power for the RFID electronic label that different RFID antennas measure, obtains the position of RFID electronic label.
Second is the array collectively constituted by the way that multiple RFID antennas are arranged, is scanned simultaneously to RFID electronic label, according to day
Line obtain scanning signal intensity, power, determine the estimated distance of RFID electronic label Yu each antenna, further according in array not
With the distance that antenna obtains, the exact position of target RFID electronic label is estimated.
At present due to the particular community of RFID, RFID electronic label is easy to influence (such as water, metal) by other materials, or pendulum
Position difference is put, the power that RFID electronic label scans is will lead to and generates biggish fluctuation, so as to cause existing RFID positioning
The positioning accuracy of technology is very limited.Simultaneously in a biggish space, the positioning of all RFID electronic label is realized, need
More RFID antenna is set.Inventor is based on defect in the prior art and has developed one kind based on robot to electronic tag
Method for tracking and positioning and its device, above-mentioned problems of the prior art can be well solved.
Summary of the invention
The purpose of the present invention is to solve above-mentioned problems of the prior art, provide a kind of based on robot pair
The method for tracking and positioning and its device of electronic tag, the invention is scientific and reasonable, and step is simple；The present invention is being moved by robot
Positioning accuracy can be improved by the iterative calculation of multiple bearing data in continuous measurement in the process, reduces position error.Together
When only need to be arranged a set of RFID antenna detector, realized by the movement of robot to magnanimity RFID electronics mark in larger place
Sign locating and tracking.
It is provided by the present invention it is a kind of based on robot to the tracing positioning apparatus of electronic tag, including locating and tracking machine
People, electronic tag；Locating and tracking robot is fixed at the center in place, and radio frequency identification electronic label magnanimity is set
It sets in the surrounding position of locating and tracking robot；Locating and tracking robot includes driving wheel, and driving wheel is fixed at chassis bottom
The corner location in portion, the left and right openning shape that movable stand is welded by connecting rod and top square plate, Module of aerial fixation are set
It sets in the right upper portion middle position of movable stand, Module of aerial is fixedly connected with the top square plate of movable stand, antenna mounting
Bar be two round tubes be welded into it is cross, Module of aerial to movable stand top extend；Drive control module is fixed at
The upper position on chassis, synchronous superposition module are fixed at the upper position of drive control module, iteration meter
It calculates module and is fixed at the right positions of drive control module and synchronous superposition module, drive control module,
Synchronous superposition module is fixedly connected integrally with iterative calculation module by outer housing；Movable stand top it is rectangular
Plate is fixedly connected by link block with the upper body of synchronous superposition module, and the bottom four corners fixation of movable stand is set
It is equipped with universal wheel；Laser radar is fixed at the cross junction of Module of aerial, and antenna detector is fixed at day
The top position of line support rod, radio frequency identifying antenna are fixed at the upper position of antenna detector, and power-supply battery is solid
The middle position of drive control module and synchronous superposition module is set calmly.
The drive control module is connected to driving wheel by conducting wire fixation, while being connected with power-supply battery by the way that conducting wire is fixed
It is logical.
The synchronous superposition module, iterative calculation module, laser radar, antenna detector and less radio-frequency
Identification antenna is connected to by conducting wire with power-supply battery fixation.
The present invention provides a kind of method for tracking and positioning based on robot to electronic tag:
Step 1: the building of positioning and map in strange place: will be carried out accurate positioning tracking robot and be placed on four
The radio frequency identification electronic label center of Zhou Hailiang setting；Known using the laser radar of locating and tracking robot, less radio-frequency
Other antenna and antenna detector are scanned the magnanimity radio frequency identification electronic label of surrounding, obtain each less radio-frequency
Identify the unique ID of electronic tag and plane coordinates X, Y location in place, and fixed by synchronizing for locating and tracking robot
Position positions each radio frequency identification electronic label with map structuring module and constructs and can constantly update incrementally
Figure；
Step 2: obtaining ID, position coordinates and the power of radio frequency identification electronic label: locating and tracking robot is according to step
The ID and position coordinates of constructed map and each radio frequency identification electronic label obtained in one, in place constantly
Constantly radio frequency identification electronic label is scanned in motion process, obtain radio frequency identification electronic label ID,
Position coordinates and power；
Step 3: the calculating of radio frequency identification electronic label relative position: locating and tracking robot constantly moves in place
When, the scanning information of different location radio frequency identification electronic label, setting first scan to radio frequency identification electricity are arrived in scanning
Position coordinates are X1, Y1, power P1 when subtab ID；Same radio frequency identification electronic label ID is arrived in second of scanning of setting
When position coordinates be X2, Y2, power be P2 according to fries formula:
It is directly proportional to the square root of power loss that estimated distance R can be obtained；It, can will be by function due to the uncertainty of power loss
The maximum distance that rate calculates is as current radius, using 0-R as all possible error distance ranges；
Then this estimated position result are as follows: two o'clock distance D=sqrt ((X1-X2) 2+ (Y1-Y2) 2)；Set radio frequency identification
Electronic tag and the 1st point of distance are D1, coordinate are as follows: X ', Y ', worst error distance are R '；Its radio frequency identification electronic label 2
With the 1st point distance: D1=(R1*R1-R2*R2)/(2*D)+D/2；
Coordinate X '=(X1+X2)/2+ (X2-X1) (R12-R22)/(2D2)；
Coordinate Y '=(Y1+Y2)/2+ (Y2-Y1) (R12-R22)/(2D2)；
Worst error distance R '=sqrt (R12-D12)；
Step 4: reducing position error by constantly iterative calculation: by first scan radio frequency identification electronic in step 3
The coordinate of label, the evaluation of worst error distance R scan known numeric value as next time, utilize changing for locating and tracking robot
It is constantly iterated to calculate for computing module, it is final using constantly iterative calculation, it reduces radio frequency identification electronic label positioning and misses
Difference.
Wherein in step 1, it will be carried out being accurately positioned the less radio-frequency that tracking robot is placed on the setting of surrounding magnanimity
Identify electronic tag center；Utilize the laser radar, radio frequency identifying antenna and antenna detector pair of locating and tracking robot
The magnanimity radio frequency identification electronic label of surrounding is scanned, and obtains the unique ID of each radio frequency identification electronic label
With plane coordinates X, the Y location in place, and by the synchronous superposition module of locating and tracking robot to every
One radio frequency identification electronic label positions and constructs the incremental map that can be constantly updated；The main purpose done so is
In order to pass through the radio frequency identification electronic label coordinate position of magnanimity, the synchronous positioning of locating and tracking robot and map are utilized
The automatic tracking location movement that building modular structure incremental map is locating and tracking robot in place provides navigation directions
Effect.
Wherein in step 2, locating and tracking robot is wireless according to each of map constructed in step 1 and acquisition
The ID and position coordinates of radio frequency recognizing electronic label, constantly to radio frequency identification electronic in continuous motion process in place
Label is scanned, and obtains the ID, position coordinates and power of radio frequency identification electronic label；The main purpose done so be
ID, position coordinates and the power of multiple and different position measurement radio frequency identification electronic labels, to calculate in the next steps
The more exact position of iteration acquisition radio frequency identification electronic label.
Wherein in step 3, the main purpose done so is by two different locations to radio frequency identification electronic label
Measurement result, using fries formula calculate update radio frequency identification electronic label position coordinates, and reduce wirelessly penetrate
The error range of the position coordinates of frequency identification electronic tag.According to the formula principle of step 3, the update position for calculating acquisition is sat
Target error range is the error range being necessarily smaller than equal to before each calculating, therefore passes through the calculating of step 3, error model
Enclosing constantly to reduce.
Wherein in step 4, by the coordinate of first scan radio frequency identification electronic label in step 3, worst error away from
Evaluation from R utilizes the iterative calculation module constantly iteration of locating and tracking robot as scanning next time known numeric value
It calculates, it is final using constantly iterative calculation, reduce radio frequency identification electronic label position error；The main purpose done so is
A kind of calculating process and ending method are set, to obtain the position coordinates and error range that meet demand accuracy.
Wherein the fries formula in step 3 is most important antenna theory formula, it by transimission power, antenna gain,
Distance, wavelength are connected with power is received.Fries formula is for calculating the reception from an antenna to second antenna
Power.
Wherein the ID of radio frequency identification electronic label is the abbreviation of English IDentity, the meaning of identity number.
Also referred to as sequence number or account number are relatively unique codings in some system, are the equal of a kind of " identity card " a certain specific
Things in, ID number be usually it is constant, as what is identified the things with, then come by the self-ordained rule of designer true
It is fixed.In general, this rule has certain subjectivity according to specific use environment in design, such as: " employee's work number ",
" ID card No. " " computer network address " etc..
Wherein the locating and tracking robot in step 1 is moved since a unknown position in circumstances not known, in movement
Self poisoning is carried out according to location estimation and map in the process, while building increment type map on the basis of self poisoning, it is real
The autonomous positioning and navigation of existing robot, are the scopes for belonging to the prior art.
Beneficial effects of the present invention: the present invention provides a kind of based on robot to the method for tracking and positioning of electronic tag and
Its device, the invention is scientific and reasonable, and step is simple；The positioning accuracy to RFID electronic label is substantially increased, positioning is reduced
Error, while the RFID antenna array that realizes that no setting is required, can be accurately positioned RFID electronic label, tracking.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the robot of the present invention to the tracing positioning apparatus of electronic tag；
Fig. 2 is location Calculation schematic diagram of the Gao Tu robot of the present invention to the method for tracking and positioning of electronic tag；
Marked in the figure: 1, locating and tracking robot, 101, driving wheel, 102, chassis, 103, movable stand, 104, Module of aerial,
105, drive control module, 106, synchronous superposition module, 107, iterative calculation module, 108, laser radar,
109, radio frequency identifying antenna, 1010, antenna detector, 1011, power-supply battery, 2, radio frequency identification electronic label.
Specific embodiment
The present invention is described further below in conjunction with specific embodiment, these embodiments be merely to illustrate the present invention without
For limiting the scope of the invention.
As shown, it is provided by the present invention it is a kind of based on robot to the tracing positioning apparatus of electronic tag, including it is fixed
Position tracking robot 1, electronic tag 2；Locating and tracking robot 1 is fixed at the center in place, radio frequency identification
The surrounding position of locating and tracking robot 1 is arranged in 2 magnanimity of electronic tag；Locating and tracking robot 1 includes driving wheel 101, is driven
Driving wheel 101 is fixed at the corner location of 102 bottom of chassis, and movable stand 103 is welded by connecting rod and top square plate
Left and right openning shape, Module of aerial 104 is fixed at the right upper portion middle position of movable stand 103, Module of aerial 104
It is fixedly connected with the top square plate of movable stand 103, Module of aerial 104 is that two round tubes are welded into cross, antenna branch
Strut 104 extends to 103 top of movable stand；Drive control module 105 is fixed at the upper position on chassis 102, and it is fixed to synchronize
Position is fixed at the upper position of drive control module 105 with map structuring module 106, and the iterative calculation fixation of module 107 is set
The right positions in drive control module 105 and synchronous superposition module 106 are set, drive control module 105 synchronizes
Positioning is fixedly connected integrally with map structuring module 106 and iterative calculation module 107 by outer housing；103 top of movable stand
Square plate be fixedly connected by link block with the upper body of synchronous superposition module 106, the bottom of movable stand 103
Portion's Corner Strapped is provided with universal wheel；Laser radar 108 is fixed at the cross junction of Module of aerial 104, antenna
Detector 1010 is fixed at the top position of Module of aerial 104, and radio frequency identifying antenna 109 is fixed at antenna
The upper position of detector 1010, power-supply battery 1011 are fixed at drive control module 105 and synchronous positioning and map structure
Model the middle position of block 106.
The drive control module 105 is connected to driving wheel 101 by conducting wire fixation, while being passed through with power-supply battery 1011
The fixed connection of conducting wire.
The synchronous superposition module 106, iterative calculation module 107, laser radar 108, antenna detector
1010 and radio frequency identifying antenna 109 fixed and be connected to by conducting wire and power-supply battery 1011.
The present invention provides a kind of method for tracking and positioning based on robot to electronic tag:
Step 1: the building of positioning and map in strange place: will be carried out accurate positioning tracking robot 1 and be placed on four
2 center of radio frequency identification electronic label of Zhou Hailiang setting；Using the laser radar 108 of locating and tracking robot 1, wirelessly penetrate
The magnanimity radio frequency identification electronic label 2 of 1010 pairs of surroundings of frequency identification antenna 109 and antenna detector is scanned, and is obtained every
One unique ID of radio frequency identification electronic label 2 and plane coordinates X, Y location in place, and pass through locating and tracking machine
The synchronous superposition module 106 of device people 1 positions each radio frequency identification electronic label 2 and constructs can be with
The incremental map of continuous renewal；
Step 2: obtaining ID, position coordinates and the power of radio frequency identification electronic label: locating and tracking robot 1 is according to step
The ID and position coordinates of constructed map and each radio frequency identification electronic label 2 obtained in rapid one, in place
Constantly radio frequency identification electronic label 2 is scanned in continuous motion process, obtains radio frequency identification electronic label 2
ID, position coordinates and power；
Step 3: the calculating of radio frequency identification electronic label relative position: locating and tracking robot 1 constantly moves in place
When, the scanning information of different location radio frequency identification electronic label 2, setting first scan to radio frequency identification electricity are arrived in scanning
Position coordinates are X1, Y1, power P1 when subtab 2ID；Same radio frequency identification electronic label is arrived in second of scanning of setting
Position coordinates are X2, Y2 when 2ID, and power is P2 according to fries formula:
It is directly proportional to the square root of power loss that estimated distance R can be obtained；It, can will be by due to the uncertainty of power loss
The maximum distance of power calculation is as current radius, using 0-R as all possible error distance ranges；
Then this estimated position result are as follows: two o'clock distance D=sqrt ((X1-X2) 2+ (Y1-Y2) 2)；Set radio frequency identification
Electronic tag 2 and the 1st point of distance are D1, coordinate are as follows: X ', Y ', worst error distance are R '；Its radio frequency identification electronic label
2 and the 1st point distance: D1=(R1*R1-R2*R2)/(2*D)+D/2；
Coordinate X '=(X1+X2)/2+ (X2-X1) (R12-R22)/(2D2)；
Coordinate Y '=(Y1+Y2)/2+ (Y2-Y1) (R12-R22)/(2D2)；
Worst error distance R '=sqrt (R12-D12)；
Step 4: reducing position error by constantly iterative calculation: by first scan radio frequency identification electronic in step 3
The coordinate of label 2, the evaluation of worst error distance R scan known numeric value as next time, utilize locating and tracking robot 1
Iterative calculation module 107 constantly iterates to calculate, final using constantly iterative calculation, reduces radio frequency identification electronic label 2
Position error.
The foregoing description of the disclosed embodiments is that professional and technical personnel in the field can be realized or using the present invention.
A variety of modifications of above-described embodiment will be readily apparent to those skilled in the art, it is as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (4)
1. it is a kind of based on robot to the method for tracking and positioning of electronic tag, it is characterised in that: Step 1: determining in strange place
The building of position and map: it will be carried out being accurately positioned the radio frequency identification electricity that tracking robot is placed on the setting of surrounding magnanimity
Subtab center；Using the laser radar, radio frequency identifying antenna and antenna detector of locating and tracking robot to surrounding
Magnanimity radio frequency identification electronic label is scanned, and obtains the unique ID of each radio frequency identification electronic label and on the scene
Plane coordinates X, Y location in ground, and by the synchronous superposition module of locating and tracking robot to each nothing
Line radio frequency recognizing electronic label positions and constructs the incremental map that can be constantly updated；Step 2: obtaining radio frequency identification electricity
ID, position coordinates and the power of subtab: locating and tracking robot is each according to map constructed in step 1 and acquisition
The ID and position coordinates of a radio frequency identification electronic label constantly know less radio-frequency in continuous motion process in place
Other electronic tag is scanned, and obtains the ID, position coordinates and power of radio frequency identification electronic label；Step 3: wirelessly penetrating
Frequency identifies the calculating of electronic tag relative position: when locating and tracking robot constantly moves in place, different location is arrived in scanning
The scanning information of radio frequency identification electronic label, position coordinates when setting first scan is to radio frequency identification electronic label ID
For X1, Y1, power P1；Position coordinates is X2, Y2 when setting second scanning to same radio frequency identification electronic label ID,
Power is P2 according to fries formula:
It is directly proportional to the square root of power loss that estimated distance R can be obtained；It, can will be by function due to the uncertainty of power loss
The maximum distance that rate calculates is as current radius, using 0-R as all possible error distance ranges；
Then this estimated position result are as follows: two o'clock distance D=sqrt ((X1-X2)2+(Y1-Y2)2)；Set radio frequency identification
Electronic tag and the 1st point of distance are D1, coordinate are as follows: X ', Y ', worst error distance are R '；Its radio frequency identification electronic label
2 and the 1st point distance: D1=(R1*R1-R2*R2)/(2*D)+D/2；
Coordinate X '=(X1+X2)/2+ (X2-X1) (R12-R22)/(2D2)；
Coordinate Y '=(Y1+Y2)/2+ (Y2-Y1) (R12-R22)/(2D2)；
Worst error distance R '=sqrt (R12-D12)；Step 4: reducing position error by constantly iterative calculation: will walk
The evaluation of the coordinate of first scan radio frequency identification electronic label, worst error distance R are as scanning next time in rapid three
Known numeric value is constantly iterated to calculate using the iterative calculation module of locating and tracking robot, final to be iterated to calculate using continuous,
Reduce radio frequency identification electronic label position error.
2. it is according to claim 1 it is a kind of based on robot to the method for tracking and positioning equipment therefor of electronic tag, it is special
Sign is: including locating and tracking robot, radio frequency identification electronic label；Locating and tracking robot is fixed at place
The surrounding position of locating and tracking robot is arranged in center, radio frequency identification electronic label magnanimity；Locating and tracking machine
People includes driving wheel, and driving wheel is fixed at the corner location of tray bottom, and movable stand is welded by connecting rod and top square plate
Left and right openning shape made of connecing, Module of aerial are fixed at the right upper portion middle position of movable stand, Module of aerial with
The top square plate of movable stand is fixedly connected, and it is cross that Module of aerial is that two round tubes are welded into, and Module of aerial is to shifting
Moving frame top extends；Drive control module is fixed at the upper position on chassis, and synchronous superposition module is fixed
The upper position of drive control module is set, and iterative calculation module is fixed at drive control module and synchronous positioning and ground
The right positions of figure building module, drive control module, synchronous superposition module and iterative calculation module pass through outer
Shell is fixedly connected integrally；The square plate on movable stand top passes through the top of link block and synchronous superposition module
Shell is fixedly connected, and the bottom four corners of movable stand are fixedly installed universal wheel；Laser radar is fixed at Module of aerial
Cross junction, antenna detector are fixed at the top position of Module of aerial, and radio frequency identifying antenna fixation is set
The upper position in antenna detector is set, power-supply battery is fixed at drive control module and synchronous superposition mould
The middle position of block.
3. it is according to claim 2 it is a kind of based on robot to the method for tracking and positioning equipment therefor of electronic tag, it is special
Sign is: drive control module is connected to driving wheel by conducting wire fixation, while being connected to power-supply battery by conducting wire fixation.
4. it is according to claim 2 it is a kind of based on robot to the method for tracking and positioning equipment therefor of electronic tag, it is special
Sign is: synchronous superposition module, iterative calculation module, laser radar, antenna detector and radio frequency identification
Antenna is connected to by conducting wire with power-supply battery fixation.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111413989A (en) * | 2020-04-13 | 2020-07-14 | 苏州华兴源创科技股份有限公司 | AGV-based laser positioning system and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111413989A (en) * | 2020-04-13 | 2020-07-14 | 苏州华兴源创科技股份有限公司 | AGV-based laser positioning system and method |
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|---|---|
| CN110297493B (en) | 2022-04-12 |
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