CN206953021U - A kind of robot of the precise positioning based on radio frequency sensor - Google Patents
A kind of robot of the precise positioning based on radio frequency sensor Download PDFInfo
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- CN206953021U CN206953021U CN201720320779.4U CN201720320779U CN206953021U CN 206953021 U CN206953021 U CN 206953021U CN 201720320779 U CN201720320779 U CN 201720320779U CN 206953021 U CN206953021 U CN 206953021U
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- robot
- card reader
- rfid
- radio
- reception cavity
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Abstract
The utility model discloses a kind of robot of the precise positioning based on radio frequency sensor.In the utility model：Inner side installing RFID card reader module, the control mainboard module of robot body, the bottom side of RFID card reader is reception cavity configuration, horizontally disposed RF antenna structures are installed in installing on the reception cavity of bottom side, UART interface is installed on the Single port of RFID card reader, RFID card reader is connected by UART interface and control mainboard.The utility model by card reader and radio-frequency antenna by being arranged on robot bottom, and radio-frequency antenna is installed in the reception cavity of plastics enclosed, prevent outside dust and it is water stain wait enter reception cavity configuration in, the distance between the radio-frequency antenna in reception cavity and RFID label tag are reduced in the range of high signal intensity simultaneously, the signal transmission quality that frequency is penetrated between antenna and RFID is improved, further improves the positioning accurate parasexuality of mobile robot.
Description
Technical field
The utility model belongs to Mobile Robotics Navigation positioning field, more particularly to a kind of essence based on radio frequency sensor
The certainly robot of position.
Background technology
In recent years, robot technology fast development, start to make extensively in numerous occasions such as food and drink, market, exhibition, bank
With robot, robot instead of the manual labor of the mankind to a certain extent.However, robot needs clearly to know itself institute
The position at place could normally and preferably work with target location, and this just needs robot that there is accurate indoor navigation to position
Function.Positioning method used in existing robot generally comprises ultrasonic wave positioning, laser positioning, optical point position, inertial positioning
Deng.
Laser, ultrasonic wave and optical alignment method rely primarily on specific object of reference distance and carry out position calculating, so if
In more changeable environment, such as the influence of other robot be present or in the case that barrier changes, its position calculates
Very big deviation will be produced, therefore be mainly used in the occasions such as avoidance.
Inertial positioning generally relies on high-precision gyroscope, and its cost is very high, and inertial navigation meeting under longtime running
Drift about, so as to cause positioning to make a mistake, therefore be typically used as auxiliary positioning means.
Above robot localization mode can not meet the pinpoint demand of indoor movable robot, in the prior art
Being used cooperatively in mobile robot of RFID card reader and RFID label tag so that the positioning of mobile robot is more accurate,
But during RFID Card Readers, radio-frequency antenna occupies critical role in the transmitting-receiving process of whole label signal, how to improve frequency and penetrate day
Signal transmission quality between line and RFID, turn into the important channel for the positioning accurate parasexuality for further improving mobile robot.
Utility model content
The purpose of this utility model is to provide a kind of robot of the precise positioning based on radio frequency sensor, by will be with
The radio-frequency antenna being connected of RFID card reader and the cooperation of reception cavity, RFID label tag, improve frequency and penetrate between antenna and RFID
Signal transmission quality, further improve the positioning accurate parasexuality of mobile robot.
In order to solve the above technical problems, the utility model is achieved through the following technical solutions：
The utility model is a kind of robot of the precise positioning based on radio frequency sensor, including robot body：
Inner side installing RFID card reader module, the control mainboard module of robot body, the bottom side of RFID card reader is to connect
Cavity configuration is received, horizontally disposed RF antenna structures are installed on the reception cavity of bottom side, are filled on the Single port of RFID card reader
If UART interface, RFID card reader is connected by UART interface and control mainboard；
The left and right sides plate of reception cavity is arc plate structure, in the cavity of reception cavity for ABS plastic shell mechanism and
Install sealing shell structure in reception cavity bottom；
Predetermined trajectory structure is installed in the lower section of robot body, and several anchor point structures are installed on predetermined trajectory, positions
RFID label tag is set in point structure；
Include Power convert part, radio-frequency antenna receiving circuit, radiofrequency signal process part and UART in RFID card reader
Communicate change-over circuit.
Each RFID label tag one card number information of memory storage, the card number information of the RFID label tag memory storage of diverse location is not
Together.
RFID card reader working frequency compatibility 134.2k and 125K.
The horizontal range of radio-frequency antenna and RFID label tag is less than 15cm, and the card reading speed of RFID card reader is 30ms, i.e. machine
During device people 2 meters of -3 meter per seconds of translational speed, Card Reader is stable.
Power convert part is successively comprising circuit for preventing reverse connection of power supply, input filter circuit, voltage conversion circuit, output filtering
Circuit.
UART communication change-over circuits are UART RS 232 telecommunication circuits, and RS232 versatilities are stronger, have a wide range of application.
The utility model has the advantages that：
Radio-frequency antenna is installed in modeling by the utility model by the way that card reader and radio-frequency antenna are arranged on into robot bottom
In the reception cavity for expecting enclosed, it is therefore prevented that outside dust and water stain wait enter in reception cavity configuration, while by reception cavity
The distance between radio-frequency antenna and RFID label tag are reduced in the range of high signal intensity, improve the letter that frequency is penetrated between antenna and RFID
Number transmission quality, further improve the positioning accurate parasexuality of mobile robot.
Certainly, implement any product of the present utility model to it is not absolutely required to reach all the above advantage simultaneously.
Brief description of the drawings
In order to illustrate more clearly of the technical scheme of the utility model embodiment, make required for being described below to embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the utility model,
For those of ordinary skill in the art, on the premise of not paying creative work, can also be obtained according to these accompanying drawings
Other accompanying drawings.
Fig. 1 is structural representation of the present utility model；
Fig. 2 is RFID card reader structural representation；
In accompanying drawing, the list of parts representated by each label is as follows：
1- robot bodies；2-RFID card reader；3- control mainboards；4- reception cavities；5-UART interfaces；6- radio-frequency antennas；
7- predetermined trajectories；8- anchor points；9-RFID labels.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The all other embodiment obtained, belong to the scope of the utility model protection.
In description of the present utility model, it is to be understood that term " perforate ", " on ", " under ", " thickness ", " top ",
" in ", " length ", " interior ", indicating position or the position relationship such as " surrounding ", be for only for ease of description the utility model and simplification
Description, rather than the component or element of instruction or hint meaning must have specific orientation, with specific azimuth configuration and behaviour
Make, therefore it is not intended that to limitation of the present utility model.
Referring to shown in accompanying drawing, the utility model is a kind of robot of the precise positioning based on radio frequency sensor, including
Robot body 1：
Inner side installing RFID card reader 2 module, the module of control mainboard 3 of robot body 1, the bottom side of RFID card reader 2
For the structure of reception cavity 4, on the reception cavity 4 of bottom side installing install the horizontally disposed structure of radio-frequency antenna 6, the one of RFID card reader 2
UART interface 5 is installed on port, RFID card reader 2 is connected by UART interface 5 and control mainboard 3；
The left and right sides plate of reception cavity 4 is arc plate structure, reception cavity 4 for ABS plastic shell mechanism and in reception cavity 4
Sealing shell structure is installed in bottom, so as to have preferable dustproof and waterproof function；
The structure of predetermined trajectory 7 is installed in the lower section of robot body 1, and several structures of anchor point 8 are installed on predetermined trajectory 7,
RFID label tag 9 is set in the structure of anchor point 8；
Include Power convert part, radio-frequency antenna receiving circuit, radiofrequency signal process part and UART in RFID card reader 2
Communicate change-over circuit.
Wherein, one card number information of each 9 memory storage of RFID label tag, the card number of the memory storage of RFID label tag 9 of diverse location
Information is different.
Wherein, RFID card reader 2 working frequency compatibility 134.2k and 125K.
Wherein, radio-frequency antenna 6 and the horizontal range of RFID label tag 9 are less than 15cm, and the card reading speed of RFID card reader 2 is
30ms。
Wherein, Power convert part is successively comprising circuit for preventing reverse connection of power supply, input filter circuit, voltage conversion circuit, defeated
Go out filter circuit.
Wherein, UART communications change-over circuit is UART RS 232 telecommunication circuits.
The utility model is to realize robot location's read functions based on REID, then passes through UART interface
5 are communicated with the control mainboard 3 of robot, and robot location's information of reading is sent into robot by UART interface 5
Control mainboard 3, so as to by the running orbit of the control machine people of robot control mainboard 3.
Multiple RFID label tags 9 are embedded in each anchor point 8 on the vehicle line of robot body 1, and RFID card reader 2 is with penetrating
Frequency antenna 6 is fixed on the bottom of robot body 1, the horizontal installing of radio-frequency antenna 6.RFID card reader 2 during anchor point 8 by reading
The card number information of RFID label tag 9, the corresponding card number information of each RFID label tag 9, RFID card reader 2 are connected by UART interface 5
Welding robot control mainboard 3, the RFID card signal of reading can be sent to robot control mainboard 3, robot control mainboard 3
The RFID card information of reading is contrasted with the card number information to prestore, you can draw the current location of robot.
Due to the stationarity of RFID label tag 9, therefore drifting problem as similar inertial navigation is not present in the positioning method,
Also easy changed by barrier of optics, vision guided navigation etc. is not present and the problem of Wrong localization occurs.Its positioning precision height,
Cost is cheap, and installation is simple and convenient, and it is easy to safeguard, effectively overcome the alignment system such as ultrasonic wave, optics in-site installation it is complicated,
The shortcomings such as cost is high, positioning precision is low.
In the description of this specification, the description of reference term " one embodiment ", " example ", " specific example " etc. means
It is contained in reference to specific features, structure, material or the feature that the embodiment or example describe of the present utility model at least one
In embodiment or example.In this manual, the schematic representation of above-mentioned term is not necessarily referring to identical embodiment or
Example.Moreover, specific features, structure, material or the feature of description can be in any one or more embodiments or example
In combine in an appropriate manner.
The utility model preferred embodiment disclosed above is only intended to help and illustrates the utility model.Preferred embodiment is simultaneously
There is no the details that detailed descriptionthe is all, it is only described embodiment also not limit the utility model.Obviously, according to this theory
The content of bright book, it can make many modifications and variations.This specification is chosen and specifically describes these embodiments, is in order to preferably
Principle and practical application of the present utility model is explained, so that skilled artisan can be best understood by and utilize this
Utility model.The utility model is only limited by claims and its four corner and equivalent.
Claims (6)
1. a kind of robot of the precise positioning based on radio frequency sensor, including robot body (1), it is characterised in that：
Inner side installing RFID card reader (2) module, control mainboard (3) module of the robot body (1), the RFID Card Readers
The bottom side of device (2) is reception cavity (4) structure, and horizontally disposed radio-frequency antenna (6) is installed on the reception cavity (4) of the bottom side
Structure, UART interface (5) is installed on the Single port of the RFID card reader (2), and the RFID card reader (2) passes through UART interface
(5) it is connected with control mainboard (3)；
The left and right sides plate of the reception cavity (4) is arc plate structure, and the cavity of the reception cavity (4) is the shell of ABS plastic
Structure and reception cavity (4) bottom install sealing shell structure；
Predetermined trajectory (7) structure is installed in the lower section of the robot body (1), and it is fixed that several are installed on the predetermined trajectory (7)
Site (8) structure, anchor point (8) structure is interior to set RFID label tag (9)；
Include in the RFID card reader (2) Power convert part, radio-frequency antenna receiving circuit, radiofrequency signal process part with
UART communication change-over circuits.
2. the robot of a kind of precise positioning based on radio frequency sensor according to claim 1, it is characterised in that each
One card number information of RFID label tag (9) memory storage, the card number information of RFID label tag (9) memory storage of diverse location are different.
3. the robot of a kind of precise positioning based on radio frequency sensor according to claim 1, it is characterised in that described
RFID card reader (2) working frequency compatibility 134.2k and 125K.
4. the robot of a kind of precise positioning based on radio frequency sensor according to claim 1, it is characterised in that described
Radio-frequency antenna (6) and the horizontal range of RFID label tag (9) are less than 15cm, and the card reading speed of the RFID card reader (2) is 30ms.
5. the robot of a kind of precise positioning based on radio frequency sensor according to claim 1, it is characterised in that described
Power convert part is successively comprising circuit for preventing reverse connection of power supply, input filter circuit, voltage conversion circuit, output filter circuit.
6. the robot of a kind of precise positioning based on radio frequency sensor according to claim 1, it is characterised in that described
UART communication change-over circuits are UART RS 232 telecommunication circuits.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720320779.4U CN206953021U (en) | 2017-03-30 | 2017-03-30 | A kind of robot of the precise positioning based on radio frequency sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720320779.4U CN206953021U (en) | 2017-03-30 | 2017-03-30 | A kind of robot of the precise positioning based on radio frequency sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206953021U true CN206953021U (en) | 2018-02-02 |
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ID=61372521
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720320779.4U Expired - Fee Related CN206953021U (en) | 2017-03-30 | 2017-03-30 | A kind of robot of the precise positioning based on radio frequency sensor |
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| CN (1) | CN206953021U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112129341A (en) * | 2020-09-03 | 2020-12-25 | 重庆工商大学 | Security inspection device with monitoring function and convenient to maintain for intelligent supermarket |
-
2017
- 2017-03-30 CN CN201720320779.4U patent/CN206953021U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112129341A (en) * | 2020-09-03 | 2020-12-25 | 重庆工商大学 | Security inspection device with monitoring function and convenient to maintain for intelligent supermarket |
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| GR01 | Patent grant | ||
| 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: 20180202 Termination date: 20190330 |