CN112947411B - Intelligent inspection system and method for museum collection based on RFID and ROS-Slam - Google Patents
Intelligent inspection system and method for museum collection based on RFID and ROS-Slam Download PDFInfo
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- 238000007689 inspection Methods 0.000 title claims abstract description 67
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- 238000004088 simulation Methods 0.000 claims description 3
- 241001233863 rosids Species 0.000 claims description 2
- 238000013461 design Methods 0.000 abstract description 12
- 238000007726 management method Methods 0.000 abstract description 10
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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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
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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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
- G06K17/0029—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device the arrangement being specially adapted for wireless interrogation of grouped or bundled articles tagged with wireless record carriers
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Abstract
The invention discloses an intelligent inspection system and method for museum collections based on RFID and ROS-Slam, which are used for the collection information maintenance and intelligent inspection of a museum and comprehensively improve the intelligent and informatization level and collection management efficiency of the collection management of the museum. The system of the invention comprises: the software and hardware system combination of the inspection robot, namely the RFID and the scanning terminal thereof are integrated into the software and hardware comprehensive design of the inspection robot system, so that the inspection robot has the functions of movement, slam, RFID scanning identification, information communication and storage, path planning, navigation obstacle avoidance and the like; the method mainly comprises the following steps: in an electronic map built through Slam, RFID scanning information and recorded corresponding trolley position coordinate information are subjected to geometric method calculation and probability model verification to obtain RFID positions, a stable scanning distance range is defined, labeling and recording are carried out in the electronic map, a comprehensive collection information base is built, and the two parts are coordinated and matched to jointly realize management matters such as daily inventory, information maintenance and the like of a museum collection.
Description
Technical Field
The invention relates to the field of museum collection management informatization and the technical field of ROS, in particular to an intelligent inspection system and method for museum collections based on RFID and ROS-Slam.
Background
In recent years, with the increase of importance of cultural relics and collectibles in museums and their value, a place of a museum, which has multiple functions such as collection protection, historical information development and display, has rapidly progressed, and the level of informatization has also been gradually increased.
However, at present, the information management of the museum collection is mainly carried out by adopting a paper label information labeling and manual counting recording and comparison mode, the digital informatization management of the collection is stopped in the process of inputting statistical information into an electronic information system after manual counting, the informatization and intelligent level is low, and the daily maintenance management efficiency is low.
Disclosure of Invention
In order to solve the problems, the invention provides an intelligent inspection system and an intelligent inspection method for museum collections based on RFID and ROS-Slam, wherein the RFID system is applied to the museum collection map drawing and inventory inspection process, so that the digitizing level of a museum and the collection information maintenance efficiency are improved.
The technical scheme adopted by the invention is as follows:
the intelligent museum collection inspection system based on RFID and ROS-Slam is characterized in that:
the system comprises a PC end and a patrol trolley;
the inspection trolley comprises a chassis, a suspension system and a driving device are arranged below the chassis, the driving device is connected with the chassis through the suspension system, the driving device comprises a Mecanum wheel, a motor and a motor bracket, the motor is fixed on the motor bracket, and the motor drives the Mecanum wheel to rotate;
the chassis is provided with a central control board, a driving board, a laser radar and an RFID scanning terminal;
the laser radar is used for Slam and navigation, the RFID scanning terminal has a read-write function, and the driving plate controls the motor to move;
the PC end is in communication connection with the central control board;
the central control board carries an ROS system and is a comprehensive calculation and information center, and the function of the central control board is as follows: and receiving an instruction from the PC end, performing motion control by matching with the driving plate, and processing the acquired laser radar data to complete navigation obstacle avoidance operation and motion control in Slam and operation, processing signals of the RFID scanning terminal, determining the RFID position and constructing an RFID position information base.
Preferably, the intelligent control system further comprises a battery, wherein the battery supplies power for a motor, a central control board, a driving board, a laser radar and the like.
Preferably, the device further comprises a laser radar support, wherein the laser radar is fixed on the laser radar support and used for lifting the laser radar to a height at a certain distance from the chassis, so that other devices connected with the chassis and physical connecting lines of the devices are prevented from interfering scanning point cloud data of the radar, and Slam and navigation obstacle avoidance are prevented from being influenced.
Preferably, the suspension system comprises two universal joint couplings and two spring shock absorbers;
the two universal joint couplings are assembled in parallel and form a parallelogram with the plane where the chassis and the motor bracket are positioned; one end of the two springs for damping is connected with one end of the coupler, and the other end of the two springs is connected with the chassis to form the tripod type supporting structure. When the intelligent patrol trolley encounters an uneven road surface and passes through a small obstacle, the suspension system can buffer and eliminate vibration and impact brought to the chassis and the whole vehicle, so that data faults are caused when the laser radar scans data, and further the Slam process and the navigation obstacle avoidance function are affected.
Preferably, the Mecanum wheel follows the principle of Mecanum wheel vector kinematics, is driven to rotate by a four-way direct-current gear motor, and completes movement and posture adjustment through vector superposition. The rotation of the motor is controlled by the resolved and vector split motion signal from the drive plate. In the rotation process, the code wheel of the direct current gear motor collects the rotation pulse information of the motor and wheels, transmits the rotation pulse information to the driving plate, performs vector motion synthesis and calculation, restores the real rotation condition of the motor and the motion condition of the vehicle body, and forms closed loop feedback control of the four-wheel motion chassis through PID differential adjustment.
Preferably, the motor is a direct current (dc) reduction motor.
In addition, the invention also provides a method for inspecting the intelligent inspection system of the museum collection based on RFID and ROS-Slam, which is characterized by comprising the following steps:
step 1: and (3) remotely logging in and controlling, and establishing communication connection between the PC end and the patrol trolley.
Step 2: and the patrol trolley traverses a specific area of the museum to finish the laser radar Slam, and a 2D/3D map is obtained and stored.
Step 3: and in the area of the step 2, traversing the map drawing area again, scanning the RFID at high frequency, keeping communication with the central control board, and recording the coordinates of the patrol trolley at the moment when a certain RFID is first identified and the RFID signal is lost.
Step 4: the differentiation repeats step 3.
Step 5: and comprehensively judging the RFID coordinate information by means of geometric model calculation and probability model verification, and defining a distance range capable of stably identifying the RFID.
Step 6: and (3) fusing and matching the RFID coordinate information with the electronic map, and marking the RFID position on the map.
Step 7: and establishing a collection information base, and finishing the task of inspection and checking as required.
Preferably, the step 1 specifically includes: the PC end and the raspberry group 3B+ of the central control board are communicated and controlled in a ssh remote login mode, the raspberry group 3B+ and the raspberry group 3B+ are deployed under the same network segment of the same local area network, and a link is established in a mode of searching the raspberry group 3B+ROSID and the occupied IP thereof, so that remote login control is realized.
Preferably, the step 2 specifically includes: the laser radar Slam algorithm adopts common drawing algorithms such as Hector_Slam, gmaging (and Cartgrapier) and the like to match different application conditions. And a mode of manually and remotely controlling the movement of the trolley is adopted at the PC end, so that the patrol trolley traverses the area, and the Slam map construction is completed. After the map is built, checking and saving the integrity of the map, the definition of the boundary, the objective and real situation of the map and the like for later recall.
Preferably, the step 3 specifically includes: in the same area, the trolley is driven to traverse the area again, so that the RFID scanning terminal is ensured to carry out full coverage scanning on the collection with the electronic tag. In the method, an FRID scanning terminal scans at a higher frequency, and in the scanning process of a plurality of RFID, the time record of first receiving/signal disconnection and a specific mark are respectively sent to an ROS system in the scanning process of each RFID, and the ROS system searches and records the position coordinates of the two time point patrol trolley in an electronic map.
The identifiable distance of the RFID scanning terminal is limited, and in order to meet the design requirement, the scanning distance of the RFID scanning terminal needs to be limited in the type selection process. Too long a scan distance or a short distance/contact scan may result in a failure to perform a position resolution by the method of step 5. Meanwhile, in the design, a plurality of RFID scanning terminals are not used, and the position calculation cannot be performed through peak value comparison of the signal intensity.
Preferably, the step 4 specifically includes: repeating step 3 2-3 times requires that the paths in different groups in the repeat process have large differences and can ensure that all RFID in the area are scanned.
Preferably, the step 5 specifically includes: the coordinate data obtained by repeating the step 4 for three times are respectively taken [ (x) based on the theory that circle centers are determined by three points on a circle i1 ，y i1 ) And (x) i2 ，y i2 )]And point (x) jk ，y jk ) (wherein i is not equal to j, i, j=1, 2,3, and k=1, 2), calculating center coordinates, taking an arithmetic average value of 12 center coordinates, and recording the arithmetic average value as RFID position coordinates; meanwhile, in order to improve the reliability, a probability model is established to verify the coordinate calculation result, and simulation is carried out through MATLAB: the possible RFID location points are plotted at (x ik ，y ik ) In a circle with a center of a circle, r=3σ is taken in the right half part of a radius of 0-R (equal probability density or probability density proportional to radius square) and R-R+r (non-standard normal distribution N (R, σ), and has) In the range of (2), random drawing points are carried out along the radius with corresponding probability, the total drawing is carried out for 12 times, and the common area in the 12 drawings is compared with the position coordinates determined by the geometric method for verification. Meanwhile, the distance between the point in the overlapped area and the RFID position of the geometric method is calculated, the maximum distance is d, and the obvious d<R is defined as the formula. In order to ensure stable establishment of the link between the RFID scanning terminal and the RFID, possible errors are eliminated, a scannable distance range is defined as (R 0 ，R-d)，R 0 For the safety distance between the inspection trolley and the collection in the RFID scanning process, adjustment is required according to actual conditions such as collection occupation and the like.
Preferably, the step 6 specifically includes: in order to intuitively display the position information of the college in the map obtained by the Slam, the position coordinates of the RFID obtained in the step 5 are fused with the information of the Slam map, the position coordinates of the RFID are marked on the map in a dot form, and meanwhile, in order to accurately distinguish and identify information of a plurality of RFID, a position coordinate information base of the RFID is established.
Preferably, the step 7 specifically includes: and the RFID position coordinate information base is fused with RFID collection information, a comprehensive collection information base is established, when a specific inventory task exists or information maintenance is required to be carried out on the specific collection, after receiving an instruction, the routing inspection trolley automatically realizes path planning and dynamic obstacle avoidance, and the routing inspection trolley reaches a scannable distance range and performs scanning, inventory and information reading through an RFID scanning terminal.
The invention has the beneficial effects that:
the invention provides an intelligent inspection system and method for museum collections based on RFID and ROS-Slam, which introduces RFID and ROS-Slam technology into intelligent inspection of museum collections, focuses on the contents of inspection trolley design scheme, combination and collocation design of the whole set of system, map drawing algorithm with RFID position information, working mode of the inspection trolley and the like from the function requirement, so as to comprehensively improve the informatization and intelligent management level of the museum collections and improve the maintenance efficiency of the museum collections.
Drawings
FIG. 1 is a schematic view of the structure and components of a patrol trolley;
FIG. 2 is a front view of the intelligent patrol trolley spring suspension system;
FIG. 3 is a left side view of the intelligent patrol trolley spring suspension system;
FIG. 4 is a block diagram of the inspection system and method of the present invention;
FIG. 5 is a schematic diagram of a method for geometrically determining RFID location coordinates;
FIG. 6 is a graph of probability density along radius;
FIG. 7 is a schematic diagram of a probabilistic verification model of RFID location.
Wherein: 1. chassis, 2, mecanum wheel, 3, motor, 4, motor support, 5, well accuse board, 6, drive plate, 7, laser radar, 8, RFID scanning terminal, 9, laser radar support, 10, universal joint shaft coupling, 11, spring shock attenuation, 12 batteries.
Detailed Description
The present invention will be described in further detail with reference to the following examples in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The invention provides an intelligent inspection system and method for museum collections based on RFID and ROS-Slam, comprising the combination and collocation design of an inspection robot software and hardware system, an RFID positioning method and map drawing thereof, and also comprising the integration application between the two parts.
Referring to fig. 1, an intelligent inspection system for museum collection based on RFID and ROS-Slam comprises a PC end and an inspection trolley; the inspection trolley comprises a chassis 1, a suspension system and a driving device are arranged below the chassis 1, the driving device is connected with the chassis 1 through the suspension system, the driving device comprises a Mecanum wheel 2, a motor 3 and a motor bracket 4, the motor 3 is fixed on the motor bracket 4, and the motor 3 drives the Mecanum wheel 2 to rotate; the chassis 1 is provided with a central control board 5, a driving board 6, a laser radar 7 and an RFID scanning terminal 8; the laser radar 7 is used for Slam and navigation, the RFID scanning terminal 8 has a read-write function, and the driving board 6 controls the movement of the motor 3.
The PC end is in communication connection with the central control board 5; the central control board 5 is provided with an ROS system and is a comprehensive calculation and information center, and the function of the central control board is as follows: and receiving an instruction from a PC end, performing motion control by matching with the driving board 6, and processing the acquired laser radar 7 data to complete navigation obstacle avoidance operation and motion control in Slam and operation, and simultaneously processing signals of the RFID scanning terminal 8, determining RFID positions and constructing an RFID position information base.
Preferably, a battery 12 is also included, and the battery 12 supplies power to the motor 3, the central control board 5, the driving board 6, the laser radar 7 and the like. The motor 3 is a direct current gear motor.
The combination and collocation design of the software and hardware systems of the inspection robot (the hardware collocation and assembly conditions are shown in figure 1) is based on a common standard laser radar 7Slam inspection robot, which comprises a Mecanum wheel 2, a direct-current gear motor, a chassis 1, a central control board 5, a driving board 6, a battery 12, a laser radar 7 and a laser radar bracket 9, and an RFID tag and an RFID scanning terminal 8 are fused and applied. Meanwhile, in order to prevent the influence of ground flatness and small obstacles on the vehicle body in the working process from causing faults in the point cloud data acquired by the laser radar 7, the invention designs a suspension system with buffering and shock absorbing functions for the intelligent inspection trolley system. In a standard laser radar Slam inspection trolley, a PC end is matched with the inspection trolley, and an instruction is issued and executed. In the design, the PC end operating system is Ubuntu 16.04 LTS, the central control board 5 adopts raspberry group 3B+, the carrying system is Ubuntu 16.04Mate+ROS Kinetic, the laser radar 7 is RPLidar A1, and the driving board 6, the direct-current gear motor, the Mecanum wheel 2, the battery 12 and other parts and common equipment can be selected as required.
As a preferred embodiment of the present invention, the mecanum wheel 2 follows the principle of vector kinematics of the mecanum wheel, and is driven to rotate by a four-way direct-current gear motor, and motion and posture adjustment are completed through vector superposition. The rotation of the motor 3 is controlled by the resolved and vector split motion signal from the drive plate 6. In the rotation process, the code wheel of the direct current gear motor collects the rotation pulse information of the motor 3 and wheels, transmits the rotation pulse information to the driving plate 6, performs vector motion synthesis and calculation, restores the real rotation condition of the motor 3 and the motion condition of a vehicle body, and forms closed loop feedback control of the four-wheel motion chassis 1 through PID differential adjustment.
As a preferred embodiment of the invention, the coupling spring suspension system consists of two universal coupling 10 and two spring damper 11 (as shown in fig. 2, 3). The two universal joint couplings 10 are assembled in parallel, form a parallelogram with the plane where the chassis 1 and the motor bracket 4 are located, and the two spring shock absorbers 11 are connected with the top end of one of the couplings to form a tripod type supporting structure. The suspension both ends are connected with direct current gear motor right angle mount and chassis 1 respectively, when intelligent inspection dolly runs into uneven road surface and passes through small-size barrier, buffer and clear up vibrations and the impact that bring chassis 1 and whole car, cause data fault when preventing laser radar 7 scanning data, and then influence Slam process and navigation obstacle avoidance function.
As a preferred embodiment of the invention, the chassis 1 is relatively fixed in height by the support of the suspension system on the one hand, and on the other hand, provides a fixed and supported position for other equipment, with all components assembled together.
As a preferred embodiment of the present invention, the central control board 5 is a comprehensive calculation and information center of the inspection robot system: receiving an instruction from a PC end, performing motion control by matching with a driving plate 6, and processing the acquired depth data of the laser radar 7 to finish navigation obstacle avoidance operation in Slam and operation; and meanwhile, acquiring coordinate information related to the RFID position, calculating the RFID position and storing the RFID position in a position information base, thereby comprehensively constructing a collection information base.
As a preferred embodiment of the present invention, the lidar 7 is fixed to the lidar support 9, so as to raise the lidar 7 to a height that is a certain distance from the chassis 1, so as to prevent other devices connected to the chassis 1 and physical connection lines thereof from interfering with the scan point cloud data of the radar, and affecting Slam and navigation obstacle avoidance.
As a preferred embodiment of the present invention, the RFID scanning terminal 8 performs a read-write function during the use of the electronic tag of the collection, maintains collection information, maintains a high-frequency scanning state of the RFID scanning terminal 8 and maintains communication with the central control board 5 during the process of performing each task by the inspection trolley, and performs time confirmation with the central control board 5 at a time point when the connection of the RFID scanning identification signal is first received and disconnected, so that the central control board 5 searches and records the position information of the inspection trolley in the electronic map, thereby realizing the positioning of the RFID; meanwhile, when checking or maintaining tasks exist, information reading and writing are carried out on the specific RFID according to the instruction sent by the central control board 5.
Referring to fig. 4, an inspection method of an intelligent inspection system for museum collections based on RFID and ROS-Slam comprises the following steps:
step 1: and (3) remotely logging in and controlling, and establishing communication connection between the PC and the patrol trolley.
The method comprises the steps that a PC end is a control end, and a patrol robot trolley is an execution end. The PC end Ubuntu 16.04 LTS system and Ubuntu 16.04Mate (Kinetic) of raspberry group 3B+ are connected and communicated in a ssh remote login mode, and the PC end Ubuntu 16.04 LTS system and the raspberry group 3B+ are deployed in the same network segment of the same local area network. When the connection is established, an information channel can be established by a PC end in a mode of searching a main control ROS ID of raspberry group 3B+ and occupying IP in a local area network, so that remote login control is realized.
Step 2: and the patrol trolley traverses a specific area of the museum to finish the laser radar Slam, and a 2D/3D map is obtained and stored.
In particular, in view of the multiple factors such as the raspberry group 3b+ computing power, the laser radar 7 scanning distance and frequency, etc., the Slam algorithm adopts a Hector_slam and Gmaging (and a Cartgrapher) to match different application conditions. In order to realize the complete map construction of a specific area, the complete construction of the map is realized in a mode of traversing the area by a patrol trolley through a PC end control and a manual control driving mode and a remote motion control mode. After the complete map is constructed, the quality of the map needs to be manually controlled, specifically including the integrity of the map, the definition of boundaries, the objective and real situation of the map and the like, so as to ensure the usability of the map. After the map is constructed, the map is saved for calling.
Step 3: in the area of the step 2, the map drawing area is traversed again, RFID high-frequency scanning is carried out, communication is kept between the RFID high-frequency scanning and the central control part, and the coordinates of the patrol trolley at the moment when a certain RFID is first identified and the RFID signal is lost are recorded.
In the same area in the step 2, the trolley is driven to traverse the area again, so that the RFID scanning terminal 8 is ensured to carry out full coverage scanning on the collection with the electronic tag. In the method, an FRID scanning terminal scans at a higher frequency, and in the scanning process of a plurality of RFID, a time point mark of first receiving/signal disconnection is respectively sent to an ROS system for each RFID scanning process, and the ROS system searches and records the position coordinates of the two time point patrol trolley in an electronic map. When the RFID scanning terminal 8 acquires the RFID signal of a collection for the first time, a signal is sent to the central control, and the system records the position coordinates of the patrol trolley in the electronic map constructed in the step 2; the patrol trolley continues to move, the FRID scanning terminal continues to scan at a higher frequency, and when the RFID signal is lost for the first time, a signal is sent to the central control system, and the central control system records the position coordinates of the patrol trolley in the electronic map constructed in the step 2 at the moment. The signal is in the form of the characteristic number of RFID and the RFID identification success/disconnection flag signal.
Remarks: in this embodiment, the scannable distance of the RFID scanning terminal 8 is limited (let the scanning radius of the RFID be r+r, where R is the scanning radius for determining the scan that can be completed, and R is the probable additional scanning distance), and in order to meet the system requirement, the scanning distance needs to be limited in the process of selecting the type. Too long a scanning distance can result in that the RFID scanning terminal 8 can acquire the information of the RIFID no matter where in the area, so as to realize reading, and cannot perform position calculation by the method in step 5. Too short a scan distance results in a very large error or incapacity of calculation. Meanwhile, in the present design, a plurality of RFID scanning terminals 8 are not used, and the position calculation cannot be performed by the peak value comparison of the signal intensity.
Step 4: the differentiation repeats step 3.
This step is specifically repeated 3 times (or more) step 3. Meanwhile, in order to ensure that the coordinate data used for calculating the RFID position in the step 5 has a difference, the paths of different groups in the repeated process are required to have a large difference, and all RFID in the area can be ensured to be scanned.
Step 5: and comprehensively judging the RFID coordinate information by means of geometric model calculation and probability model verification, and defining a distance range capable of stably identifying the RFID.
The method specifically comprises the steps of setting the coordinate sequence obtained by repeating the step 4 three times as [ (x) 11 ，y 11 ) And (x) 12 ，y 12 )]、[(x 21 ，y 21 ) And (x) 22 ，y 22 )]、[(x 31 ，y 31 ) And (x) 32 ，y 32 )]Based on the theory of determining the circle center of three points on a circle (as shown in figure 5), [ (x) is taken respectively i1 ，y i1 ) And (x) i2 ，y i2 )]And point (x) jk ，y jk ) (where i is not equal to j and i, j=1, 2,3 and k=1, 2), the center coordinates are calculated to obtain 12 center coordinates 3×4, and a (x) is set as a (x) n ，y n ) (n=1, 2,3 …, the same applies below), the 12 center coordinates are averaged, i.e. the final center coordinate is aLet it be the location coordinates of the RFID.
In this embodiment, in order to improve the reliability of the RFID position coordinates determined by the geometric method, a set of probability models is set up for verification, and simulation is performed by MATLAB: the possible RFID location points are plotted at (x ik ，y ik ) In a circle with a center of a circle, r=3σ is taken in the right half part of a radius of 0-R (equal probability density or probability density proportional to radius square) and R-R+r (non-standard normal distribution N (R, σ), and has) Random drawing points along the radius with corresponding probability (probability density is represented by color shades as shown in fig. 7) for 12 times, and comparing the common area in 12 times with the geometrically determined position coordinates for verification. Meanwhile, the distance between the point in the overlapped area and the RFID position point in the geometric method is calculated, the maximum distance is d, and the obvious d is that<R is defined as the formula. To ensure RFID scanning accuracy, eliminate possible errors, define a scannable distance range (R 0 ，R-d)，R 0 For the safety distance between the inspection trolley and the collection in the RFID scanning process, adjustment is required according to actual conditions such as collection occupation and the like.
Step 6: and (3) fusing and matching the RFID coordinate information with the electronic map, and marking the RFID position on the map.
In order to intuitively display the position information of the college in the map obtained by the Slam, after the position coordinates of the RFID are obtained in the step 5, the position coordinates of the RFID are fused with the Slam map in information, the position coordinates of the RFID are highlighted in a dot form, and meanwhile, in order to accurately distinguish and identify information of a plurality of RFID, a position coordinate information base of the RFID is established.
Step 7: and establishing a collection information base, and finishing the task of inspection and checking as required.
The method comprises establishing RFID position information base, and comparing with the RFID position information baseThe information of the RFID scanning terminal 8 is fused to realize data matching (RFID storage data and position coordinate data in a position information base) of the collection. When a specific inventory task exists or information maintenance is needed for specific collection, museum management personnel can control the inspection trolley through the PC end, the inspection trolley can automatically realize path planning and dynamic obstacle avoidance by inputting an inventory target, and the inspection trolley reaches a scannable range: in the process, point coordinates in a position coordinate information base are taken as target coordinate positions, and the distance between the central coordinate point of the inspection trolley and a target position point is calculated in real time in the motion process, wherein the distance reaches (R) 0 At a certain set value in R-d) (R-d is the extreme value of the dashed line in fig. 7), scanning, checking and information reading are performed by the RFID scanning terminal 8.
In summary, the system and the method introduce RFID and ROS-Slam technology into intelligent inspection of the museum collection, and focus on the contents of inspection trolley design scheme, combination and collocation design of the whole set of system, map drawing algorithm with RFID position information, working mode of the inspection trolley and the like from the function requirement, so that the informatization and intelligent management level of the museum collection is comprehensively improved, and the maintenance efficiency of the museum collection is improved.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.
Claims (6)
1. An inspection method of an intelligent inspection system for museum collections based on RFID and ROS-Slam,
the intelligent museum collection inspection system based on RFID and ROS-Slam comprises a PC end and an inspection trolley; the inspection trolley comprises a chassis, a suspension system and a driving device are arranged below the chassis, the driving device is connected with the chassis through the suspension system, the driving device comprises a Mecanum wheel, a motor and a motor bracket, the motor is fixed on the motor bracket, and the motor drives the Mecanum wheel to rotate; the chassis is provided with a central control board, a driving board, a laser radar and an RFID scanning terminal; the laser radar is used for Slam and navigation, the RFID scanning terminal has a read-write function, and the driving plate controls the motor to move; the PC end is in communication connection with the central control board; the central control board carries an ROS system and is a comprehensive calculation and information center, and the function of the central control board is as follows: receiving an instruction from a PC end, performing motion control by matching with a driving plate, and processing the acquired laser radar data to complete navigation obstacle avoidance operation and motion control in Slam and operation, and simultaneously processing signals of an RFID scanning terminal, determining an RFID position and constructing an RFID position information base;
the method is characterized by comprising the following steps of:
step 1: remote login control is carried out, and communication connection between the PC end and the patrol trolley is established;
step 2: the patrol trolley traverses a specific area of the museum to finish the laser radar Slam, and a 2D/3D map is obtained and stored;
step 3: in the area of the step 2, traversing the map drawing area again, scanning the RFID at high frequency, keeping communication with the central control board, and recording the coordinates of the patrol trolley at the moment when a certain RFID is first identified and the RFID signal is lost;
step 4: step 3 is repeated in a differentiated mode;
step 5: comprehensively judging RFID coordinate information by means of geometric model calculation and probability model verification, and defining a distance range capable of stably identifying RFID;
the step 5 specifically comprises the following steps: the coordinate data obtained by repeating the step 4 for three times are respectively taken [ (x) based on the theory that circle centers are determined by three points on a circle i1 ，y i1 ) And (x) i2 ，y i2 )]And point (x) jk ，y jk ) (wherein i is not equal to j, i, j=1, 2,3, and k=1, 2), calculating center coordinates, taking an arithmetic average value of 12 center coordinates, and recording the arithmetic average value as RFID position coordinates; meanwhile, in order to improve the reliability, a probability model is established to verify the coordinate calculation result, and simulation is carried out through MATLAB: the possible RFID location points are plotted at (x ik ，y ik ) In a circle with the center of the circle and the radius of 0-R (equal probability density or probability density proportional to radius square) and R-r+r (right half of non-normal distribution N x (R, σ), taking r=3σ and havingIn the range of (2), carrying out random drawing on points along the radius with corresponding probability for 12 times, and comparing and verifying the public area in 12 drawings with the position coordinates determined by the geometric method; meanwhile, the distance between the point in the overlapped area and the RFID position of the geometric method is calculated, the maximum distance is d, and the obvious d<R is R; in order to ensure stable establishment of the link between the RFID scanning terminal and the RFID, possible errors are eliminated, a scannable distance range is defined as (R 0 ，R-d)，R 0 For the safety distance between the inspection trolley and the collection in the RFID scanning process, adjustment is required according to actual conditions such as collection occupation and the like;
step 6: the RFID coordinate information is fused and matched with the map, and the RFID position is marked on the map;
step 7: and establishing a collection information base, and finishing the task of inspection and checking as required.
2. The inspection method of the intelligent inspection system for the museum collections based on RFID and ROS-Slam according to claim 1, which is characterized in that:
the step 1 specifically comprises the following steps: the PC end and the raspberry group 3B+ of the central control board are communicated and controlled in a ssh remote login mode, the raspberry group 3B+ and the raspberry group 3B+ are deployed under the same network segment of the same local area network, and a link is established in a mode of searching the raspberry group 3B+ROSID and the occupied IP thereof, so that remote login control is realized.
3. The inspection method of the intelligent inspection system for the museum collections based on RFID and ROS-Slam according to claim 2, which is characterized in that:
the step 2 specifically comprises the following steps: the Slam algorithm of the laser radar adopts a Hector_Slam and Gmaging and a Cartographer drawing algorithm to match different application conditions, and a manual remote control trolley moving mode is adopted at a PC end to enable the patrol trolley to traverse the area, so that the construction of a Slam map is completed, and after the map is built, the integrity of the map, the definition of the boundary, the objective real condition of the map and the like are checked and stored for later recall.
4. The inspection method of the intelligent inspection system for museum collections based on RFID and ROS-Slam according to claim 3, wherein the method comprises the following steps:
the step 3 is specifically as follows: in the same area, the trolley is driven to traverse the area again, so that the RFID scanning terminal is ensured to carry out full coverage scanning on the collection with the electronic tag; the RFID scanning terminal scans at a higher frequency, and in the scanning process of a plurality of RFID, the time record of first receiving/signal disconnection and a specific mark are respectively sent to the ROS system in the scanning process of each RFID, and the ROS system searches and records the position coordinates of the two time point patrol trolley in the electronic map.
5. The inspection method of the intelligent inspection system for museum collections based on RFID and ROS-Slam according to claim 4, which is characterized in that:
the step 4 specifically comprises the following steps: repeating step 3 2-3 times requires that the paths in different groups in the repeat process have large differences and can ensure that all RFID in the area are scanned.
6. The inspection method of the intelligent inspection system for museum collections based on RFID and ROS-Slam according to claim 5, which is characterized in that:
the step 6 specifically comprises the following steps: in order to intuitively display the position information of the college in the map obtained by the Slam, the position coordinates of the RFID obtained in the step 5 are fused with the information of the Slam map, the position coordinates of the RFID are marked on the map in the form of points, and meanwhile, in order to accurately distinguish and identify the information of a plurality of RFID, a position coordinate information base of the RFID is established;
the step 7 specifically comprises the following steps: and the RFID position coordinate information base is fused with RFID collection information, a comprehensive collection information base is established, when a specific inventory task exists or information maintenance is required to be carried out on the specific collection, after receiving an instruction, the routing inspection trolley automatically realizes path planning and dynamic obstacle avoidance, and the routing inspection trolley reaches a scannable distance range and performs scanning, inventory and information reading through an RFID scanning terminal.
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