CN203349835U - Mobile robot locating device based on RFID (Radio Frequency Identification) and electronic compass - Google Patents
Mobile robot locating device based on RFID (Radio Frequency Identification) and electronic compass Download PDFInfo
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- CN203349835U CN203349835U CN2013204374090U CN201320437409U CN203349835U CN 203349835 U CN203349835 U CN 203349835U CN 2013204374090 U CN2013204374090 U CN 2013204374090U CN 201320437409 U CN201320437409 U CN 201320437409U CN 203349835 U CN203349835 U CN 203349835U
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- rfid
- electronic compass
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- positioning ring
- blanket
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Abstract
The utility model discloses a mobile robot locating device based on an RFID (Radio Frequency Identification) and an electronic compass. The mobile robot locating device comprises an RFID coordinate blanket, an RFID card reader and an electronic compass, wherein the RFID coordinate blanket is arranged on the ground on which a robot moves, the RFID card reader and the electronic compass are respectively arranged on the robot, and the RFID card reader and the electronic compass are respectively externally connected with a main controller of the robot through serial ports. The mobile robot locating device based on the RFID and the electronic compass is simple in structure, and is well improved in locating effect in comparison with a conventional locating device; and the defects of high cost and low locating precision of the conventional locating device are effectively overcome.
Description
Technical field
The utility model relates to mobile robot's location technology, particularly a kind of localization for Mobile Robot device based on RFID and electronic compass.
Background technology
For indoor mobile robot (as guide to visitors robot etc.), if only rely on internal sensor, after moving a certain distance, accumulative total due to error, can be offset gradually route, for guaranteeing the normal operation of robot, generally need to there is outside locating device to position and error correction robot.
Location technology commonly used has following several mode: infrared technique, GPS navigation technology and image processing techniques etc., but in these modes, the cost of infrared technique and image processing techniques is high, and equipment is also complicated, is unfavorable for the cost control of robot; The precision of civilian GPS navigation technology can only reach several meters, and gps signal is difficult to receive satellite-signal under indoor environment, is not suitable for being applied in Indoor Robot.
Radio RF recognition technology (Radio Frequency Identification, RFID) be that of rising from nineteen nineties utilizes radiofrequency signal to carry out contactless two-way communication, automatically identify destination object and obtain the wireless communication technology of relevant information data.The RFID technology has that precision is high, accommodative ability of environment is strong, read distance, anti-interference strong, the advantage such as application is convenient, can realize the contact-free operation, the machinery-free wearing and tearing, the life-span is long, without visible light source, penetrability is good, and contamination resistance and permanance are strong, and can under rugged surroundings, work, support writes certificate, reusable, and used the Anti-knocking technology, can identify a plurality of high-speed moving objects simultaneously.Electronic compass, also be digital compass, is a kind of method of utilizing the Lai Ding arctic, terrestrial magnetic field.Therefore, if radio RF recognition technology and electronic compass combination can be applied to robot, its locating effect must have improvement preferably, also can effectively overcome the defect that traditional positioning equipment cost is high, positioning precision is low simultaneously.
The utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art, and a kind of simple in structure, localization for Mobile Robot device based on RFID and electronic compass that positioning precision is higher is provided.
The technical solution of the utility model is: a kind of localization for Mobile Robot device based on RFID and electronic compass, comprise RFID coordinate blanket, RFID card reader and electronic compass, RFID coordinate blanket is installed on the ground that robot moves, RFID card reader and electronic compass are installed on respectively in robot, and RFID card reader and electronic compass are respectively by the master controller of the outer welding robot of serial ports.
Wherein, RFID coordinate blanket detects certainly in the position of RFID coordinate blanket for robot, and the pose data of coordinate blanket in world coordinate system are provided; The RFID card reader, for obtaining the coordinate of robot at RFID coordinate blanket, by the pose of RFID coordinate blanket in world coordinate system, converses the pose of robot in world coordinate system; Electronic compass is for revising the attitude angle of robot.
The chassis that described RFID card reader and electronic compass are installed on respectively the chassis Shang， robot of robot is disk, and RFID card reader and electronic compass are centrosymmetric and are located on disk.
The distance of described RFID card reader and circle disk center is 180mm.According to true form and the size on robot chassis, the installation site of RFID card reader and electronic compass also can correspondingly be adjusted.
Also be provided with scrambler on the chassis of described robot, scrambler is for calculating the motion track of robot.
Described RFID coordinate blanket is provided with coarse positioning ring and fine positioning ring, and coarse positioning ring and fine positioning ring are formed by multiple RFID label tilings respectively; Fine positioning is located in the coarse positioning ring, and the space in the fine positioning ring also is provided with multiple RFID labels.
The passive label that described RFID label is rectangle, the length of RFID label is 85.5mm, the width of RFID label is 54mm.According to actual needs, the RFID label also can be selected the passive label of other shape, and its concrete size can be selected according to actual needs.
On described RFID coordinate blanket, coarse positioning ring and fine positioning ring are square, and by multiple RFID label tilings, are formed respectively, between two adjacent RFID labels, partly overlap.
Between described adjacent two RFID labels, the width of lap is 2mm; Distance between coarse positioning ring and fine positioning ring is 293.6mm; RFID coordinate blanket is square, and the length of side of RFID coordinate blanket is 1000mm.
On described RFID coordinate blanket, coarse positioning ring and fine positioning ring are square;
The coarse positioning ring comprises inner ring and the outer ring joined, and inner ring and outer ring are formed by multiple RFID label tilings respectively; In outer ring and inner ring, between adjacent two the RFID labels in same circle, be provided with interval, between adjacent two the RFID labels in the difference circle, be provided with lap;
The fine positioning ring is joined to tiling by multiple RFID labels and forms.
In described fine positioning ring, the distribution situation of multiple RFID labels is: at RFID coordinate Tan center, a RFID label is set; Take RFID coordinate Tan center is the center of circle, gets the circle that radius is 60mm, is uniformly distributed several RFID labels on circle.
The actual needs moved according to robot, RFID coordinate blanket also can be selected the coordinate blanket of circle or other shape, and on RFID coordinate blanket, the shape of coarse positioning ring and fine positioning ring also can be made as the shapes such as rectangle, circle, ellipse according to actual needs.
When this localization for Mobile Robot device based on RFID and electronic compass is used, its principle of work comprises the following steps:
(1) first determine the pose of coordinate blanket in world coordinate system, generally 0 degree direction of electronic compass and the X-axis of RFID coordinate blanket are overlapped, the coordinate of RFID coordinate blanket according to it in the situation that the position on the robot motion track determine (for only needing a coordinate blanket, the coordinate blanket can be placed on to the reference position that robot moves, the true origin of coordinate blanket and the initial point of world coordinate system overlap);
(2) when robot need to locate, the initial point of coordinate blanket of take is target, at first move on the coarse positioning ring of RFID coordinate blanket, now read the coordinate figure of RFID label, then according to this label, the coordinate in RFID coordinate blanket calculates distance and the angle of current robot range coordinate blanket initial point, and then robot moves to RFID coordinate blanket initial point; When the RFID card reader is read the RFID label on the fine positioning ring or in the fine positioning ring, stop mobile, converse the current coordinate on robot chassis according to the installation site of the coordinate of RFID label now and RFID card reader, and this coordinate figure is set to the current coordinate of robot;
(3) numerical value of the master controller read electric compass of robot, obtain the angle of current robot in world coordinate system, and this angle value is set to the current angle of robot.
The utility model, with respect to prior art, has following beneficial effect:
This localization for Mobile Robot apparatus structure based on RFID and electronic compass is simple, and with respect to traditional positioning equipment, its locating effect has improvement preferably, has also effectively overcome the defect that traditional positioning equipment cost is high, positioning precision is low simultaneously.
The accompanying drawing explanation
The principle schematic that Fig. 1 is this localization for Mobile Robot device based on RFID and electronic compass.
The chassis structure schematic diagram that Fig. 2 is robot.
The structural representation that Fig. 3 is RFID coordinate blanket in embodiment 1.
The structural representation that Fig. 4 is RFID coordinate blanket in embodiment 2.
Embodiment
Below in conjunction with embodiment and accompanying drawing, the utility model is described in further detail, but embodiment of the present utility model is not limited to this.
A kind of localization for Mobile Robot device based on RFID and electronic compass of the present embodiment, comprise RFID coordinate blanket, RFID card reader and electronic compass, RFID coordinate blanket is installed on the ground that robot moves, RFID card reader and electronic compass are installed on respectively in robot, and RFID card reader and electronic compass are respectively by the master controller of the outer welding robot of serial ports.
Wherein, RFID coordinate blanket detects certainly in the position of RFID coordinate blanket for robot, and the pose data of coordinate blanket in world coordinate system are provided; The RFID card reader, for obtaining the coordinate of robot at RFID coordinate blanket, by the pose of RFID coordinate blanket in world coordinate system, converses the pose of robot in world coordinate system; Electronic compass is for revising the attitude angle of robot.
As shown in Figure 2, the chassis that RFID card reader 76 and electronic compass 77 are installed on respectively the chassis 78Shang， robot of robot is disk, and RFID card reader and electronic compass are centrosymmetric and are located on disk.
The distance L of RFID card reader and circle disk center is 180mm.
As shown in Figure 2, also be provided with scrambler 79 on the chassis of robot, scrambler is for calculating the motion track of robot.In the present embodiment, scrambler 79 has 2, and correspondence is located at the inboard of 2 driving wheels 80.
As shown in Figure 3, RFID coordinate blanket is provided with coarse positioning ring 81 and fine positioning ring 82, and coarse positioning ring and fine positioning ring are formed by multiple RFID label tilings respectively; Fine positioning is located in the coarse positioning ring, and the space in the fine positioning ring also is provided with multiple RFID labels.In Fig. 3, label 1,2 ... 56 correspond to a RFID label, No. two RFID labels that form the coarse positioning ring ... 50 No. six RFID labels, label 57,58 ... 68 correspond to 50 No. seven RFID labels, the 50 No. eight RFID labels that form the fine positioning ring ... 60 No. eight labels.
The passive label that the RFID label is rectangle, the length of RFID label is 85.5mm, the width of RFID label is 54mm.
On RFID coordinate blanket, coarse positioning ring and fine positioning ring are square, and by multiple RFID label tilings, are formed respectively, between two adjacent RFID labels, partly overlap (lap is as shown in the dash area in Fig. 3).
Between adjacent two RFID labels, the width of lap is 2mm; Distance b between coarse positioning ring and fine positioning ring is 293.6mm; RFID coordinate blanket is square, and the length of side a of RFID coordinate blanket is 1000mm.
In the fine positioning ring, the distribution situation of multiple RFID labels is: at RFID coordinate Tan center, a RFID label is set; Take RFID coordinate Tan center is the center of circle, gets the circle that radius R is 60mm, is uniformly distributed several RFID labels on circle.In Fig. 3, label 0 is for being positioned at the center RFID label at RFID coordinate blanket center, and label 72,73,74,75 corresponds to 70 No. two RFID labels, 70 No. three RFID labels, 70 No. four RFID labels, the 70 No. five RFID labels of being located in the fine positioning ring.
When this localization for Mobile Robot device based on RFID and electronic compass is used, as shown in Figure 1, its principle of work specifically comprises the following steps:
(1) first determine the pose of coordinate blanket in world coordinate system, generally 0 degree direction of electronic compass and the X-axis of RFID coordinate blanket are overlapped, the coordinate of RFID coordinate blanket according to it in the situation that the position on the robot motion track determine (for only needing a coordinate blanket, the coordinate blanket can be placed on to the reference position that robot moves, the true origin of coordinate blanket and the initial point of world coordinate system overlap);
(2) when robot need to locate, the initial point of coordinate blanket of take is target, at first move in the coarse positioning ring of RFID coordinate blanket, now read the coordinate figure of RFID label, then according to this label, the coordinate in RFID coordinate blanket calculates distance and the angle of current robot range coordinate blanket initial point, and then robot moves to RFID coordinate blanket initial point; When the RFID card reader is read the RFID label on the fine positioning ring or in the fine positioning ring, stop mobile, converse the current coordinate on robot chassis according to the installation site of the coordinate of RFID label now and RFID card reader, and this coordinate figure is set to the current coordinate of robot;
(3) numerical value of the master controller read electric compass of robot, obtain the angle of current robot in world coordinate system, and this angle value is set to the current angle of robot.
A kind of localization for Mobile Robot device based on RFID and electronic compass of the present embodiment, compare with embodiment 1, and its difference is, as shown in Figure 4, on RFID coordinate blanket, coarse positioning ring 81 and fine positioning ring 82 are square;
The coarse positioning ring comprises inner ring and the outer ring joined, and inner ring and outer ring are formed by multiple RFID label tilings respectively; In outer ring and inner ring, be provided with interval between adjacent two RFID labels in same circle, be provided with lap (in Fig. 4 between adjacent two RFID labels in the difference circle, label 1,2 ... 59 correspond to a RFID label, No. two RFID labels that form the coarse positioning ring ... 50 No. nine RFID labels, wherein, the RFID label of odd number forms outer ring, and the RFID label of even number forms inner ring; Label 60,61 ... 71 correspond to six No. ten RFID labels, the six ride on Bus No. 11 RFID labels that form the fine positioning ring ... seven ride on Bus No. 11 labels);
The fine positioning ring is joined to tiling by multiple RFID labels and forms.
In the fine positioning ring, the distribution situation of multiple RFID labels is: at RFID coordinate Tan center, a RFID label is set; Take RFID coordinate Tan center is the center of circle, gets the circle that radius is 60mm, is uniformly distributed several RFID labels on circle.In Fig. 4, label 0 is for being positioned at the center RFID label at RFID coordinate blanket center, and label 72,73,74,75 corresponds to 70 No. two RFID labels, 70 No. three RFID labels, 70 No. four RFID labels, the 70 No. five RFID labels of being located in the fine positioning ring.
As mentioned above, just can realize preferably the utility model, above-described embodiment is only preferred embodiment of the present utility model, not is used for limiting practical range of the present utility model; Be that all equalizations of doing according to the utility model content change and modify, all contained by the utility model claim scope required for protection.
Claims (10)
1. the localization for Mobile Robot device based on RFID and electronic compass, it is characterized in that, comprise RFID coordinate blanket, RFID card reader and electronic compass, RFID coordinate blanket is installed on the ground that robot moves, RFID card reader and electronic compass are installed on respectively in robot, and RFID card reader and electronic compass are respectively by the master controller of the outer welding robot of serial ports.
2. a kind of localization for Mobile Robot device based on RFID and electronic compass according to claim 1, it is characterized in that, described RFID card reader and electronic compass are installed on respectively on the chassis of robot, the chassis of robot is disk, and RFID card reader and electronic compass are centrosymmetric and are located on disk.
3. a kind of localization for Mobile Robot device based on RFID and electronic compass according to claim 2, is characterized in that, the distance of described RFID card reader and circle disk center is 180mm.
4. a kind of localization for Mobile Robot device based on RFID and electronic compass according to claim 2, is characterized in that, also is provided with scrambler on the chassis of described robot.
5. a kind of localization for Mobile Robot device based on RFID and electronic compass according to claim 1, is characterized in that, described RFID coordinate blanket is provided with coarse positioning ring and fine positioning ring, and coarse positioning ring and fine positioning ring are formed by multiple RFID labels tilings respectively; Fine positioning is located in the coarse positioning ring, and the space in the fine positioning ring also is provided with multiple RFID labels.
6. a kind of localization for Mobile Robot device based on RFID and electronic compass according to claim 5, is characterized in that, the passive label that described RFID label is rectangle, and the length of RFID label is 85.5mm, the width of RFID label is 54mm.
7. a kind of localization for Mobile Robot device based on RFID and electronic compass according to claim 5, it is characterized in that, on described RFID coordinate blanket, coarse positioning ring and fine positioning ring are square, and formed by multiple RFID label tilings respectively, partly overlap between two adjacent RFID labels.
8. a kind of localization for Mobile Robot device based on RFID and electronic compass according to claim 7, is characterized in that, between described adjacent two RFID labels, the width of lap is 2mm; Distance between coarse positioning ring and fine positioning ring is 293.6mm; RFID coordinate blanket is square, and the length of side of RFID coordinate blanket is 1000mm.
9. a kind of localization for Mobile Robot device based on RFID and electronic compass according to claim 5, is characterized in that, on described RFID coordinate blanket, coarse positioning ring and fine positioning ring are square;
The coarse positioning ring comprises inner ring and the outer ring joined, and inner ring and outer ring are formed by multiple RFID label tilings respectively; In outer ring and inner ring, between adjacent two the RFID labels in same circle, be provided with interval, between adjacent two the RFID labels in the difference circle, be provided with lap;
The fine positioning ring is joined to tiling by multiple RFID labels and forms.
10. a kind of localization for Mobile Robot device based on RFID and electronic compass according to claim 5, is characterized in that, in described fine positioning ring, the distribution situation of multiple RFID labels is: at RFID coordinate Tan center, a RFID label is set; Take RFID coordinate Tan center is the center of circle, gets the circle that radius is 60mm, is uniformly distributed several RFID labels on circle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2013204374090U CN203349835U (en) | 2013-07-22 | 2013-07-22 | Mobile robot locating device based on RFID (Radio Frequency Identification) and electronic compass |
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| CN2013204374090U CN203349835U (en) | 2013-07-22 | 2013-07-22 | Mobile robot locating device based on RFID (Radio Frequency Identification) and electronic compass |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106419442A (en) * | 2016-08-30 | 2017-02-22 | 软控股份有限公司 | Plane storage location management system based on RFID (radio frequency identification) ground mats |
| CN106813665A (en) * | 2017-01-17 | 2017-06-09 | 四川理工学院 | Position Method for Indoor Robot and system based on electronic compass and infrared sensor |
| CN107883941A (en) * | 2017-10-31 | 2018-04-06 | 西安科锐盛创新科技有限公司 | Sweeping robot intelligent guidance system |
| WO2024016196A1 (en) * | 2022-07-20 | 2024-01-25 | 郑汉彬 | System and method for moving and positioning target object |
-
2013
- 2013-07-22 CN CN2013204374090U patent/CN203349835U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106419442A (en) * | 2016-08-30 | 2017-02-22 | 软控股份有限公司 | Plane storage location management system based on RFID (radio frequency identification) ground mats |
| CN106813665A (en) * | 2017-01-17 | 2017-06-09 | 四川理工学院 | Position Method for Indoor Robot and system based on electronic compass and infrared sensor |
| CN107883941A (en) * | 2017-10-31 | 2018-04-06 | 西安科锐盛创新科技有限公司 | Sweeping robot intelligent guidance system |
| WO2024016196A1 (en) * | 2022-07-20 | 2024-01-25 | 郑汉彬 | System and method for moving and positioning target object |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131218 Termination date: 20160722 |