CN110824461B - Positioning method - Google Patents
Positioning method Download PDFInfo
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- CN110824461B CN110824461B CN201911128929.1A CN201911128929A CN110824461B CN 110824461 B CN110824461 B CN 110824461B CN 201911128929 A CN201911128929 A CN 201911128929A CN 110824461 B CN110824461 B CN 110824461B
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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
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
- G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
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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
- G06K7/0008—General problems related to the reading of electronic memory record carriers, independent of its reading method, e.g. power transfer
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- General Physics & Mathematics (AREA)
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- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a positioning method, which comprises the following steps: placing UWB base stations according to the floor layout; placing RFID tags according to the size of a room; the robot determines the position according to the signal strength of the UWB base station and/or the RFID label. The positioning method can reduce the data volume, improve the positioning precision and reduce the cost.
Description
Technical Field
The embodiment of the invention relates to the technical field of positioning, in particular to a positioning method.
Background
With the increasing popularity of robot construction applications, the operation of robots across floors in buildings has become a major trend.
The positioning in the working process is to establish a picture through the whole building and determine the current position of the robot through the x, y and z three-axis coordinates of the robot. However, the method has huge and redundant data, and must acquire the current height value of the robot, and the acquisition of the current height value is generally measured by adopting an air pressure sensor, but the air pressure sensor is sensitive to temperature and humidity and is easy to generate errors, and the measurement can be performed by a high-precision sensor, but the cost is high.
Disclosure of Invention
The embodiment of the invention aims to provide a positioning method which can reduce the data volume, improve the positioning precision and reduce the cost.
To achieve the purpose, the embodiment of the invention adopts the following technical scheme:
the embodiment of the invention provides a positioning method, which comprises the following steps:
placing UWB base stations according to the floor layout;
placing RFID tags according to the size of a room;
the robot determines the position according to the signal strength of the UWB base station and/or the RFID label.
Further, the robot determines the position according to the signal strength of the UWB base station and/or the RFID tag, including:
determining a floor number where the UWB base station is located according to the signal intensity of the UWB base station;
determining the floor number and the room number of the RFID tag according to the signal intensity of the RFID tag;
and if the UWB floor number is the same as the RFID floor number, the position is the floor number and the room number of the RFID tag.
Further, the determining the floor number where the UWB base station is located according to the signal intensity of the UWB base station includes:
selecting a base station closest to the base station according to the signal intensity of each base station;
and acquiring the floor number corresponding to the base station according to the number of the base station closest to the base station.
Further, the selecting a base station closest to the base station according to the signal strength of each base station includes:
if the difference value obtained by subtracting the signal strength of any base station from the received total signal strength is smaller than a preset value, judging that the base station is in a line-of-sight state;
and selecting the base station closest to the line-of-sight state.
Further, the determining the floor number and the room number where the RFID tag is located according to the signal strength of the RFID tag includes:
selecting the label with the maximum intensity according to the signal intensity of each label;
and acquiring the floor number and the room number corresponding to the label according to the number of the label with the maximum strength.
Further, selecting the label with the maximum strength according to the signal strength of each label comprises:
summarizing the received signal strength of the tags according to the rooms to which the tags belong;
and selecting the label corresponding to the maximum intensity in the plurality of aggregated total signal intensities.
Further, the method for acquiring the floor number corresponding to the base station according to the number of the base station closest to the base station further comprises the following steps:
determining the base station in the executive component or the floor according to the number of the base station closest to the base station;
correspondingly, the step of obtaining the floor number corresponding to the base station according to the number of the base station closest to the base station comprises the following steps:
if the number is determined to be in the floor, acquiring the floor number according to the number of the base station closest to the floor;
obtaining the floor number corresponding to the base station according to the number of the base station closest to the base station, and then further comprising:
and if the position is determined to be in the execution piece, the position is in the execution piece.
Further, determining within the implement or within the floor includes:
and adding the base station in the executive.
Further, the adding of the base station in the executive component includes:
and setting the UWB base stations in the executive component and the floor respectively by taking a boundary line between the executive component and the floor as a symmetry axis.
Further, after the robot determines the location according to the signal strength of the UWB base station and/or the RFID tag, the method further includes:
calling a corresponding map according to the position;
and carrying out secondary positioning and/or navigation according to the map.
The embodiment of the invention has the beneficial effects that:
according to the embodiment of the invention, the position of the robot is determined by combining UWB and RFID, so that the data volume can be reduced, the precision influence caused by temperature and humidity can be avoided, the positioning precision is improved, the cost can be reduced, and the robot can know the current floor number and room number when awakening the robot at any position.
Drawings
Fig. 1 is a schematic flowchart of a positioning method according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of placing an RFID tag in a positioning method according to an embodiment of the present invention.
Fig. 3 is a flowchart illustrating a positioning method according to a second embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a base station in an additional actuator in the positioning method according to the second embodiment of the present invention.
Detailed Description
In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments.
Example one
The embodiment provides a positioning method, which can reduce the data volume and avoid the precision influence caused by the temperature and humidity, thereby improving the positioning precision, reducing the cost, and ensuring that when the robot is awakened at any position, the robot knows the floor number and the room number where the robot is located currently.
Fig. 1 is a schematic flowchart of a positioning method according to an embodiment of the present invention. As shown in fig. 1, the positioning method includes the following steps:
and S11, placing the UWB base stations according to the floor layout. The base stations can be arranged at known coordinate points as reference points according to the layout of floors, so that the base stations only have requirements on the positions without knowing the current coordinates of the base stations, and the implementation is convenient.
And S12, placing RFID tags according to the size of the room.
Fig. 2 is a schematic structural diagram of placing an RFID tag in a positioning method according to an embodiment of the present invention. The room size as shown in fig. 2 is taken as an example to place RFID tags in conjunction with the characteristics of the RFID devices and to enable the robot to detect the tag's signal in any area within the floor, i.e. without a blind spot.
Optionally, the method further includes: and S13, establishing an embedded database. The database comprises two tables, one table is a corresponding relation table of the number of the UWB base station and the floor number, and the table comprises: UWB base station number, floor number. The other table is a corresponding relation table of the serial number of the RFID label, the floor number and the room number, and the table comprises: RFID tag number, floor number, room number.
And S14, the robot determines the position according to the signal strength of the UWB base station and/or the RFID label.
The robot is provided with a UWB tag and an RFID reader-writer. The UWB tag and the RFID reader-writer are connected to the robot through a serial port-USB line.
Specifically, S141 determines the floor number where the UWB base station is located according to the signal strength of the UWB base station.
Preferably, the base station closest to the base station is selected based on the signal strength of each base station.
And acquiring the detected signal intensity of the UWB base station from the data frame of the UWB tag, if the difference value obtained by subtracting the signal intensity of any base station from the received total signal intensity is smaller than a preset value, judging that the base station is in a line-of-sight state, and then selecting the base station closest to the base station in the line-of-sight state. In the present embodiment, the preset value is 6 dB.
And acquiring the floor number corresponding to the base station according to the number of the base station closest to the base station. And obtaining the corresponding floor number through the corresponding relation table.
And S142, determining the floor number and the room number of the RFID tag according to the signal intensity of the RFID tag.
Preferably, the tag with the highest intensity is selected according to the signal strength of each tag.
And acquiring the signal intensity of the detected RFID tag from the data frame of the RFID reader, and summarizing the received signal intensity of the tag according to the room to which the tag belongs, namely summarizing the received signal intensity of the tags belonging to the same floor number and the same room number. And then selecting the label corresponding to the maximum strength in the aggregated multiple total signal strengths, namely taking the floor number and the room number where the strongest signal strength is located, thereby preventing misjudgment and improving the accuracy.
And acquiring the floor number and the room number corresponding to the label according to the number of the label with the maximum strength. And obtaining the floor number and the room number through the corresponding relation table.
And S143, if the UWB floor number is the same as the RFID floor number, the location is the floor number and the room number where the RFID tag is located. And comparing the floor number transmitted by the base station with the floor number analyzed from the label, and giving the current floor number and room number of the robot when the floor numbers are the same.
Optionally, the method further includes: and S15, calling a corresponding map according to the position, and performing secondary positioning and/or navigation according to the map. Therefore, the problems of navigation positioning and map retrieval are effectively solved.
The location information is published in the form of an ROS message. And simultaneously, the position information and the position information after secondary positioning are fused and then uploaded to a server together in the form of MQTT (message queue telemetry transmission) messages so as to be used for the cross-floor construction of the dispatching robot and for the display of a terminal.
The position that the robot place is confirmed through UWB and RFID's combination to this embodiment, can reduce the data bulk and avoid the precision influence that the humiture brought to improve positioning accuracy, and can reduce cost, can also guarantee when the robot is awaken up in optional position, the robot knows floor number and the room number at present place.
Example two
On the basis of the above embodiments, the present embodiment further optimizes the method for determining the position of the robot. Fig. 3 is a flowchart illustrating a positioning method according to a second embodiment of the present invention. As shown in fig. 3, determining the floor number where the UWB base station is located according to the signal strength of the UWB base station specifically includes the following steps:
s21, selecting the closest base station according to the signal strength of each base station.
And S22, determining whether the base station is in the executive component or in the floor according to the number of the base station closest to the base station.
Specifically, the base station in the executive component is added. Fig. 4 is a schematic structural diagram of a base station in an additional actuator in the positioning method according to the second embodiment of the present invention. As shown in fig. 4, the UWB base stations are provided in the actuators and in the floors, respectively, with the boundary between the actuators and the floors as the axis of symmetry. Namely, 1 UWB base station is arranged in each floor elevator, and 1 UWB base station is arranged at the exit of each floor elevator.
Preferably, the actuating member is an elevator, but not limited thereto.
In this embodiment, the correspondence table between the UWB base station number and the floor number further includes: whether it is a base station within the executive.
And S23a, if the mobile terminal is determined to be in the floor, acquiring the floor number according to the number of the base station closest to the mobile terminal. And determining the building according to the corresponding relation table, acquiring the RFID building number after acquiring the UWB building number, judging whether the UWB building number is the same as the RFID building number, and giving the current building number and room number of the robot if the UWB building number is the same as the RFID building number.
And S23b, if the position is determined to be in the execution piece, the position is in the execution piece. And after the robot is determined to be in the executive component through the corresponding relation table, the floor number is ignored, and then the current position of the robot in the executive component is given.
This embodiment is through setting up UWB basic station in the executive and in the floor respectively to can distinguish the robot in the executive still in the floor, and then improve the location precision.
The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.
Claims (9)
1. A method of positioning, comprising:
placing UWB base stations according to the floor layout;
placing RFID tags according to the size of a room;
the robot determines the position according to the signal strength of the UWB base station and/or the RFID label;
the robot confirms the position according to UWB basic station and/or RFID label's signal strength, includes:
determining a floor number where the UWB base station is located according to the signal intensity of the UWB base station;
determining the floor number and the room number of the RFID tag according to the signal intensity of the RFID tag;
and if the UWB floor number is the same as the RFID floor number, the position is the floor number and the room number of the RFID tag.
2. The method according to claim 1, wherein said determining the floor number of the UWB base station according to the signal strength of the UWB base station comprises:
selecting a base station closest to the base station according to the signal intensity of each base station;
and acquiring the floor number corresponding to the base station according to the number of the base station closest to the base station.
3. The method according to claim 2, wherein the selecting the nearest base station according to the signal strength of each base station comprises:
if the difference value obtained by subtracting the signal strength of any base station from the received total signal strength is smaller than a preset value, judging that the base station is in a line-of-sight state;
and selecting the base station closest to the line-of-sight state.
4. The method for locating according to claim 1, wherein the determining the floor number and the room number where the RFID tag is located according to the signal strength of the RFID tag comprises:
selecting the label with the maximum intensity according to the signal intensity of each label;
and acquiring the floor number and the room number corresponding to the label according to the number of the label with the maximum strength.
5. The method of claim 4, wherein selecting the tag with the highest strength according to the signal strength of each tag comprises:
summarizing the received signal strength of the tags according to the rooms to which the tags belong;
and selecting the label corresponding to the maximum intensity in the plurality of aggregated total signal intensities.
6. The method according to claim 2, wherein the step of obtaining the floor number corresponding to the base station according to the number of the nearest base station further comprises:
determining the base station in the executive component or the floor according to the number of the base station closest to the base station;
correspondingly, the step of obtaining the floor number corresponding to the base station according to the number of the base station closest to the base station comprises the following steps:
if the number is determined to be in the floor, acquiring the floor number according to the number of the base station closest to the floor;
obtaining the floor number corresponding to the base station according to the number of the base station closest to the base station, and then further comprising:
and if the position is determined to be in the execution piece, the position is in the execution piece.
7. The method of claim 6, wherein determining within an implement or within a floor comprises:
and adding the base station in the executive.
8. The method according to claim 7, wherein the adding of the executing intra-element base station comprises:
and setting the UWB base stations in the executive component and the floor respectively by taking a boundary line between the executive component and the floor as a symmetry axis.
9. The positioning method according to claim 1, wherein the robot further comprises, after determining the position according to the signal strength of the UWB base station and/or the RFID tag:
calling a corresponding map according to the position;
and carrying out secondary positioning and/or navigation according to the map.
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