CN205247210U - Robot control system based on RFID location - Google Patents
Robot control system based on RFID location Download PDFInfo
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- CN205247210U CN205247210U CN201521070458.0U CN201521070458U CN205247210U CN 205247210 U CN205247210 U CN 205247210U CN 201521070458 U CN201521070458 U CN 201521070458U CN 205247210 U CN205247210 U CN 205247210U
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Abstract
The utility model discloses a robot control system based on RFID location belongs to instant location robot control system technical field. The utility model aims to provide a can overcome GPS location and the not enough robot control system based on RFID location of bar code locate mode, including mainboard control system, sensor system, data acquisition system, mainboard control system includes master control MCU unit, RFID reads the ware module, a control circuit arranged in the inner cavity of th, RFID reads the ware module, a control circuit arranged in the inner cavity of th, sensor system, data acquisition system all connects master control MCU unit, data acquisition system includes the encoder, gyroscope and accelerometer module, RFID reads the ware module and is connected with the active RFID electronic tags communication of one or more on the robot operation route. The utility model discloses a control system installation is easy and simple to handle, the location is accurate, strong adaptability, is applicable to the robot that especially the service environment condition is complicated of various robots and uses.
Description
Technical field
The utility model is specifically related to a kind of robot control system based on RFID location, belongs to instant positioning robotControl system technical field.
Background technology
The location of mobile device and map structuring are robot field's hot research problems. For moving in known environmentThe map building of the autonomous location of moving device and known machine people position has had practical solution. But, at a lot of ringsIn border, mobile device can not utilize overall navigation system to position, and the map that obtains in advance mobile device working environment veryDifficulty, or even impossible. At this moment mobile device need to be under the uncertain condition of self-position, in complete circumstances not knownBuild map, utilize map independently locate and navigate simultaneously. Here it is so-called instant location and map structuring (SLAM).In instant location and map structuring (SLAM), mobile device utilizes the spy in self-contained sensor identification circumstances not knownLevy mark, then estimate mobile device and spy according to the reading of the relative position between mobile device and characteristic indication and encoderLevy the world coordinates of mark.
At present, in the location technology of present automatic walking robot or equipment, common are:
1), GPS location; The general principle of GPS location is as known according to the satellite instantaneous position of high-speed motionStart at data, adopt the method for space length resection, determine the position of tested point.
2), bar code locate mode. To convert the bar code that compiles out according to certain rule to significant information,Need experience scanning and two processes of decoding. The color of object is by its catoptrical type decided, and white object can reflectThe visible ray of various wavelength, black object absorbs the visible ray of various wavelength, so send when bar code scanner light sourceAfter light reflects on bar code, reverberation is irradiated on the optical-electrical converter of barcode scanner inside, and optical-electrical converter is according to strongWeak different reflected light signal, converts the corresponding signal of telecommunication to. According to the difference of principle, scanner can be divided into light pen, CCD,Three kinds of laser. After the signal of telecommunication outputs to the amplifying circuit enhancing signal of barcode scanner, then deliver to shaping circuit and will simulate letterNumber convert data signal to. The width difference of informal voucher, secret note, corresponding signal of telecommunication duration length is also different. Then decodingDevice is differentiated bar and empty number by the number of ranging pulse digital electric signal 0,1. By measure 0,1 signal lasting timeBetween differentiate bar and empty width. The data that now obtained remain rambling, know the letter that bar code comprisesBreath, needs for example,, according to corresponding coding rule (: EAN-8 code), to change bar symbol into corresponding numeral, character information.Finally, carry out data processing and management by computer system, the details of article have just been identified.
Each location technology relative complex in automatic walking robot or automatic running device implementation procedure, respectively has not aboveSame shortcoming: GPS locates because signal problem is indoor impracticable. Bar code positioning mode, because of the easily contaminated nothing of shining into of bar codeIt is restricted that method reads use occasion.
Localization for Mobile Robot airmanship in indoor environment has that positioning accuracy request is high, the feature of circumstance complication,These methods are all inapplicable above.
RFID (RadioFrequencyIdentification) RF identification is a kind of contactless automatic identificationTechnology, it is automatically identified destination object and is obtained related data by radiofrequency signal, and identification work need not manual intervention, can workIn various adverse circumstances, RFID technology can be identified high-speed moving object and can identify multiple labels simultaneously, swift and convenient to operate.Therefore it is very necessary in conjunction with this kind of technology, existing localization for Mobile Robot air navigation aid being improved.
In the existing automatic walking robot location technology based on RFID, as number of patent application isThe only one China utility model application patent of CN201320438818.2, it discloses a kind of RFID indoor locating system, concreteBy multiple electronic tags, and electronic tag is arranged in locating area according to the mode of equilateral triangle, by wirelessSignal strength signal intensity is calculated and is located. Although the method can effective location indoor environment, registration is higher, weak pointBe to carry out wireless signal emission by least three electronic tags, and the arrangement mode of three electronic tags is fixed as equilateral threeDihedral, restricted many, and adaptability is not strong.
In the Chinese patent application patent that is CN201080034870.0 at another number of patent application, its disclosed RFIDThe RFID label with positional information is affixed on building somewhere by navigation system, determines position by reading RFID label informationPut. The method does not need the arrangement mode that limits electronic tag to be fixed as equilateral triangle, and still, this method needs first essenceThe information such as the true size of measuring building, then write inserting RFID tags by positional information by rfid interrogator, operate comparatively numerousTrivial, and need multiple RFID labels could effectively realize locating effect.
Utility model content
Therefore, the purpose of this utility model is to provide a kind of can overcome GPS location and Bar code positioning mode deficiency,Simultaneously easy, the accurate positioning of fitting operation, the adaptable robot control system based on RFID location, comprise mainboard controlSystem, sensing system, data collecting system, described mainboard control system comprise main control MCU unit, RFID reader module,Control circuit, described RFID reader module, control circuit, sensing system, data collecting system all connect main control MCU listUnit, described data collecting system comprises encoder, gyroscope and accelerometer module, described RFID reader module and robotOne or more type active RFID electronic label communication on running route connects.
Further, described sensing system comprises that robot is with regard to level sensor, shatter-resistant sensor, along limit sensor, anti-Crash sensor, unsettled sensor, infrared induction sensor, auxiliary charging sensor, described robot is red with regard to level sensorOuter line sensor, described shatter-resistant sensor, is ultrasonic sensor along limit sensor, and described unsettled sensor is switch sensingDevice, described auxiliary charging sensor is combined by infrared sensor and ultrasonic sensor.
Further, described robot control system also comprises the WIFI module and the bluetooth mould that are connected with main control MCU unitPiece.
Further, described control circuit comprises crystal oscillating circuit, clock control circuit, charging control circuit, job controlCircuit, circuit for controlling motor. Described control circuit can also comprise voice playing circuit.
The beneficial effects of the utility model are: a kind of control system of robot based on RFID location of the present utility modelSystem, improves by RFID reader and control system hardware configuration are set, and utilization is non-based on reading at a distance and penetrating of RFIDThe characteristics such as metal material are controlled the motion of robot. Here a kind of sensor using RFID as robot entersRow data acquisition and processing (DAP). Electronic tag is the external information amount of robot, and robot gathers RFID by RFID readerThe information of electronic tag, thus robot is controlled more accurately. Control system fitting operation of the present utility model is easy, fixedPosition is accurate, strong adaptability, is applicable to the especially robot use of environment for use complicated condition of various robots.
Brief description of the drawings
Fig. 1 is the structural representation of a kind of robot control system based on RFID location of the present utility model.
Detailed description of the invention
Below in conjunction with accompanying drawing, detailed description of the invention of the present utility model is described:
As shown in Figure 1, to use the Intelligent robot for sweeping floor of environmental condition complexity as the tool of example explanation the utility modelBody embodiment,
Clock control circuit is by the parallel resonance electricity circuit of 32.768kHz crystal oscillator and two electric capacity compositions, its effectThe fundamental frequency (32768Hz) that is real-time clock that system is provided carries out frequency multiplication, while exporting accurately system to main control MCU unitClock, is convenient to the accurate timing controlled in main control MCU unit.
Crystal oscillating circuit is by 8M crystal oscillator and two parallel resonance electricity circuit that electric capacity forms. Provide basic to main control MCUStable clock signal accurately, for main control MCU steady operation.
Sweeping robot left and right two-wheeled in the robot control system of the location of the utility model based on RFID is direct currentMotor drives, and direct current generator adopts metal-oxide-semiconductor H bridge to drive, and provides PWM by robot main control MCU cell mesh motion control functionThe speed of signal control motor and advance or retreat. This motor is realized coding with code-disc and is accurately controlled motor. Meanwhile, this H bridgeDetect with current signal, run into the situations such as winding or stall, can feed back to robot main control MCU, main control MCU is sent controlSignal stops two-wheeled operation or reversion, processes the problem running into.
When operation, first type active RFID electronic label that robot gets for the first time in the time that certain movement locus movesThe position of first type active RFID electronic label when information is as the origin of coordinates of coordinate system, and records first active RFIDElectronic labeling information and coordinate figure thereof. Gyroscope and accelerometer are for (comprising the attitude data of robot motion's processAngle, acceleration, add that left and right motor, with encoder, can gather the distance that motor is advanced, and builds map) gather,Data after collection make the robot can be with in advance by the running of power ratio control drive circuit control motor after main control MCU computingIf travel path walking. The barrier that infrared induction sensor runs in the middle of traveling process for perception robot, makes machineDevice people can take reliable obstacle measure to barrier in advance, and robot perceives within the scope of 180 °, front in the process of walkingBarrier, the infrared signal that the infrared receiving sensor on correspondence direction receives can strengthen, by the electric current/electricity on circuitThe A/D change-over circuit of voltage conversion circuit and microcontroller inside can be converted to data signal by the infrared signal detecting,Microcontroller just can be judged robot front by this data signal and have barrier, then exports corresponding power defeatedGoing out signal controls and makes robot take corresponding obstacle measure motor. Anticollision sensor passes for auxiliary infrared inductionThe infrared sensor such as tiny and firm, color is darker that sensor detection robot traveling process may run into is difficult for detectingBarrier, collaborative infrared induction sensor detects and the signal detecting is passed through the various barriers that may occurThereby the processes such as A/D conversion convert the running orbit of the required data signal control of microcontroller to.
Motor and round brush motor are inhaled by limit, circuit for controlling motor control left and right brush motor, vacuum by this robot, start clearWhile sweeping away rubbish by robot main control MCU unit respectively to each corresponding drive circuit control that transmits control signalLimit, left and right brush, vacuum are inhaled motor and round brush motor operation.
This robot can be by gathering wall edge detectable signal to robot main control MCU along limit sensor in the time of cleaningUnit, robot main control MCU unit is controlled accurately and is calculated the two-wheeled motion of wall angle control left and right, presses automatically along limitProgram cleaning, without intervening with remote controller again.
This robot is by gathering many group shatter-resistant sensor signals in the time of operation, and the height fall in induction path, if highDegree drop exceedes desired extent, and device people main control MCU cell mesh sends signal controlling machine people and takes shatter-resistant measure, controllerThe two-wheeled motion of device people left and right, by default shatter-resistant measure operation, is avoided dropping.
This robot is provided with the unsettled sensor of two-wheeled wheel, and when the unsettled inductor of wheels of robot, to collect wheel unsettled,This signal feedback is to robot main control MCU unit, and related measure is taked to protect in robot main control MCU unit, out of service, and profitSending sound/optical signal with voice playing circuit points out.
When the numerical value that detects of voltage signal is surveyed in the manual inspection of this machine lower than default threshold value, robot main control MCU unit rootAccording to built map, can the shortest time and control under the guiding of auxiliary charging sensor along nearest path fromThe moving intelligent charge base of finding goes back to charge, and is full of after electricity, and robot main control MCU unit controls stops charging.
Whether this robot is used for responding to dustbin with regard to level sensor in place, and as not in place, robot main control MCU unit justCan utilize voice playing circuit to send the prompting of sound/optical signal dustbin is installed.
This robot also utilizes the full detecting sensor induction of dustbin dustbin whether to fill rubbish, in the time filling,Sensor is to robot main control MCU unit transmitted signal, and output signal will be controlled in main control MCU unit, sends sound/optical signal and carriesShow that dustbin filled rubbish, need cleaning rubbish.
Type active RFID electronic label combines with robot, utilizes the remote non-contacting feature of RFID and accurately readsThe ability of electronic tag relevant information, robot reader obtains relevant information and is sent to robot main control MCU part, robotMain control MCU part determines next step action scheme.
This robot can also be equipped with WIFI module, by WIFI or any IP network, be equipped with APP with WIFIThe smart mobile phone of function and robot seamless link, can realize Remote Wake Up robot, realizes the object of control. IntelligenceCan send various instructions by APP to robot by mobile phone, WIFI receives after instruction, is transferred to main control MCU section processes, thenMain control MCU part, to each corresponding control system transmitted signal, completes smart mobile phone and controls accordingly function.
This robot can also be equipped with bluetooth module, by APP and the intelligence with the Bluetooth function of corresponding pairing are housedMobile phone, with after robot bluetooth is connected, is realized the object of control. Smart mobile phone sends various by APP to robotInstruction, bluetooth module receives after instruction, is transferred to main control MCU section processes, and then main control MCU part is controlled accordingly to eachSystem transmitted signal processed, completes smart mobile phone and controls accordingly function.
In this detailed description of the invention, control system is used on the Intelligent robot for sweeping floor of environmental condition complexity, and this practicality is newThe robot control system of type is equally applicable to the positioning control of other various robots.
The above is preferred embodiment of the present utility model, it should be pointed out that the ordinary skill for the artPersonnel, not departing under the prerequisite of principle described in the utility model, can also make some improvements and modifications, these improvementAlso should be considered as protection domain of the present utility model with retouching.
Claims (5)
1. the robot control system based on RFID location, comprises mainboard control system, sensing system, data acquisition systemSystem, is characterized in that, described mainboard control system comprises main control MCU unit, RFID reader module, control circuit, described inRFID reader module, control circuit, sensing system, data collecting system all connect main control MCU unit, described data acquisitionSystem comprises encoder, gyroscope and accelerometer module, one on described RFID reader module and robot running routeIndividual or more than one type active RFID electronic label communication connects.
2. the robot control system based on RFID location as claimed in claim 1, is characterized in that described sensing systemComprise that robot is with regard to level sensor, shatter-resistant sensor, pass along limit sensor, anticollision sensor, unsettled sensor, infrared inductionSensor, auxiliary charging sensor, described robot is infrared ray sensor with regard to level sensor, described shatter-resistant sensor, passes along limitSensor is ultrasonic sensor, and described unsettled sensor is switch sensor, and described auxiliary charging sensor is by infrared sensorCombine with ultrasonic sensor.
3. the robot control system based on RFID location as claimed in claim 1, is characterized in that the control of described robotSystem also comprises the WIFI module and the bluetooth module that are connected with main control MCU unit.
4. the robot control system based on RFID location as claimed in claim 1, is characterized in that described control circuit bagDraw together crystal oscillating circuit, clock control circuit, charging control circuit, working control circuit, circuit for controlling motor.
5. the robot control system based on RFID location as claimed in claim 4, is characterized in that, described control circuit alsoComprise voice playing circuit.
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| CN201521070458.0U CN205247210U (en) | 2015-12-21 | 2015-12-21 | Robot control system based on RFID location |
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| CN201521070458.0U CN205247210U (en) | 2015-12-21 | 2015-12-21 | Robot control system based on RFID location |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105856235A (en) * | 2016-06-08 | 2016-08-17 | 江苏若博机器人科技有限公司 | Wireless transmission two-core six-axis crawler type natural gas pipeline robot control system |
| CN105881537A (en) * | 2016-06-08 | 2016-08-24 | 江苏若博机器人科技有限公司 | Three-core four-shaft crawler type high speed natural gas pipeline robot control system |
| CN105881538A (en) * | 2016-06-12 | 2016-08-24 | 江苏若博机器人科技有限公司 | Three-core six-shaft crawler type rapid natural gas pipeline robot control system |
| CN105922259A (en) * | 2016-06-08 | 2016-09-07 | 江苏若博机器人科技有限公司 | Three-core four-axis crawler rapid natural gas pipeline robot control system |
| CN105953026A (en) * | 2016-06-08 | 2016-09-21 | 江苏若博机器人科技有限公司 | Three-core two-shaft crawler type rapid natural gas pipeline robot control system |
| CN106003058A (en) * | 2016-06-08 | 2016-10-12 | 江苏若博机器人科技有限公司 | Two-nuclear and four-shaft track type natural gas pipe robot control system |
| CN106051378A (en) * | 2016-06-12 | 2016-10-26 | 江苏若博机器人科技有限公司 | Dual-core eight-axis crawler-type natural gas pipeline robot control system |
| CN106526535A (en) * | 2016-11-08 | 2017-03-22 | 北京创想智控科技有限公司 | Indoor robot positioning method and device |
| CN106814736A (en) * | 2017-01-09 | 2017-06-09 | 东北石油大学 | The controlling of path thereof and system of a kind of robot |
| CN106950967A (en) * | 2017-04-28 | 2017-07-14 | 湖南格兰博智能科技有限责任公司 | Improvement type sweeps the method and Improvement type that device returns cradle with it and sweeps group |
| CN107256020A (en) * | 2017-06-27 | 2017-10-17 | 苏州美天网络科技有限公司 | The multi-tag identifying system of intelligent carrier |
| CN107260192A (en) * | 2017-07-28 | 2017-10-20 | 艾迪森海安数字医疗装备有限公司 | Medical multifunctional unmanned mobile high frequency shadowgraph system and its implementation |
| CN108897323A (en) * | 2018-07-23 | 2018-11-27 | 福建（泉州）哈工大工程技术研究院 | The control method of mobile robot self alignment recharging base |
| CN109765904A (en) * | 2019-02-28 | 2019-05-17 | 上海木木聚枞机器人科技有限公司 | A kind of guidance control method and mobile device of mobile device disengaging narrow space |
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- 2015-12-21 CN CN201521070458.0U patent/CN205247210U/en active Active
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| CN105856235A (en) * | 2016-06-08 | 2016-08-17 | 江苏若博机器人科技有限公司 | Wireless transmission two-core six-axis crawler type natural gas pipeline robot control system |
| CN105881537A (en) * | 2016-06-08 | 2016-08-24 | 江苏若博机器人科技有限公司 | Three-core four-shaft crawler type high speed natural gas pipeline robot control system |
| CN106003058B (en) * | 2016-06-08 | 2018-11-13 | 江苏若博机器人科技有限公司 | A kind of four axis crawler type natural gas line robot control system of dinuclear |
| CN105922259A (en) * | 2016-06-08 | 2016-09-07 | 江苏若博机器人科技有限公司 | Three-core four-axis crawler rapid natural gas pipeline robot control system |
| CN105953026A (en) * | 2016-06-08 | 2016-09-21 | 江苏若博机器人科技有限公司 | Three-core two-shaft crawler type rapid natural gas pipeline robot control system |
| CN106003058A (en) * | 2016-06-08 | 2016-10-12 | 江苏若博机器人科技有限公司 | Two-nuclear and four-shaft track type natural gas pipe robot control system |
| CN105953026B (en) * | 2016-06-08 | 2019-04-09 | 江苏若博机器人科技有限公司 | A kind of quick natural gas line robot control system of three core, two axis crawler type |
| CN105856235B (en) * | 2016-06-08 | 2018-06-29 | 江苏若博机器人科技有限公司 | A kind of wireless transmission six axis crawler type natural gas line robot control system of dinuclear |
| CN106051378A (en) * | 2016-06-12 | 2016-10-26 | 江苏若博机器人科技有限公司 | Dual-core eight-axis crawler-type natural gas pipeline robot control system |
| CN106051378B (en) * | 2016-06-12 | 2019-04-09 | 江苏若博机器人科技有限公司 | A kind of eight axis crawler type natural gas line robot control system of dinuclear |
| CN105881538B (en) * | 2016-06-12 | 2018-11-13 | 江苏若博机器人科技有限公司 | A kind of quick natural gas line robot control system of three core, six axis crawler type |
| CN105881538A (en) * | 2016-06-12 | 2016-08-24 | 江苏若博机器人科技有限公司 | Three-core six-shaft crawler type rapid natural gas pipeline robot control system |
| CN106526535A (en) * | 2016-11-08 | 2017-03-22 | 北京创想智控科技有限公司 | Indoor robot positioning method and device |
| CN106814736A (en) * | 2017-01-09 | 2017-06-09 | 东北石油大学 | The controlling of path thereof and system of a kind of robot |
| CN106950967A (en) * | 2017-04-28 | 2017-07-14 | 湖南格兰博智能科技有限责任公司 | Improvement type sweeps the method and Improvement type that device returns cradle with it and sweeps group |
| CN107256020A (en) * | 2017-06-27 | 2017-10-17 | 苏州美天网络科技有限公司 | The multi-tag identifying system of intelligent carrier |
| CN107260192A (en) * | 2017-07-28 | 2017-10-20 | 艾迪森海安数字医疗装备有限公司 | Medical multifunctional unmanned mobile high frequency shadowgraph system and its implementation |
| CN108897323A (en) * | 2018-07-23 | 2018-11-27 | 福建（泉州）哈工大工程技术研究院 | The control method of mobile robot self alignment recharging base |
| CN108897323B (en) * | 2018-07-23 | 2021-06-29 | 福建（泉州）哈工大工程技术研究院 | Control method for automatically aligning mobile robot to charging base |
| CN109765904A (en) * | 2019-02-28 | 2019-05-17 | 上海木木聚枞机器人科技有限公司 | A kind of guidance control method and mobile device of mobile device disengaging narrow space |
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Effective date of registration: 20210122 Address after: 510555 room 621, No.2, Tengfei 1st Street, Huangpu District, Guangzhou City, Guangdong Province Patentee after: Guangzhou Xiaoluo robot Co.,Ltd. Address before: 510000 Room 201, 12 Xiaoping south road, Xinshi street, Baiyun District, Guangzhou City, Guangdong Province Patentee before: GUANGZHOU AIROB ROBOT TECHNOLOGY Co.,Ltd. |
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| CP03 | Change of name, title or address |
Address after: 315100 East 1st Road, Science Park, Jiangshan Town, Yinzhou District, Ningbo City, Zhejiang Province Patentee after: Zhejiang Qiyuan Robot Co.,Ltd. Address before: 510555 room 621, No.2, Tengfei 1st Street, Huangpu District, Guangzhou City, Guangdong Province Patentee before: Guangzhou Xiaoluo robot Co.,Ltd. |
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| CP03 | Change of name, title or address |