CN215679372U - Robot autonomous positioning system based on RFID - Google Patents
Robot autonomous positioning system based on RFID Download PDFInfo
- Publication number
- CN215679372U CN215679372U CN202121520482.5U CN202121520482U CN215679372U CN 215679372 U CN215679372 U CN 215679372U CN 202121520482 U CN202121520482 U CN 202121520482U CN 215679372 U CN215679372 U CN 215679372U
- Authority
- CN
- China
- Prior art keywords
- module
- robot
- robot body
- rfid reader
- rfid
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The utility model provides an autonomous robot positioning system based on RFID, comprising: a robot body; the rotating module is arranged on the robot body and is loaded with an RFID reader-writer antenna to rotate along with the robot body; the RFID reader-writer is arranged on the robot body and is connected with the RFID reader-writer antenna so as to collect RFID label information in the environment; the sensor module comprises an inertial sensor and a photoelectric encoder, is arranged on the robot body and is used for acquiring the motion information of the robot body and the motion information of the rotating module; and the control module is in communication connection with the RFID reader-writer and the sensor module, and receives the RFID label information, the robot body motion information and the rotation module motion information to acquire the robot position information and then sends out a corresponding control instruction to navigate the robot. The RFID reader antenna of the utility model rotates randomly without generating feeder winding, and solves the problem of increased positioning error caused by limited robot movement distance when positioning based on synthetic aperture RFID.
Description
Technical Field
The utility model relates to the field of robot positioning, in particular to an autonomous robot positioning system based on RFID.
Background
With the integration of manufacturing technology and information technology, the global manufacturing industry is rapidly upgraded to intelligent manufacturing, and intelligent factories have become the main direction of representative manufacturing strategies such as china manufacturing 2025, germany industry 4.0, and the united states industry internet. As important equipment in an intelligent factory, intelligent conveying units (also called transfer robots) such as automated Guided vehicles agvs (automated Guided vehicles) have begun to integrate information sensing, storage, and communication devices represented by RFID tags and readers. By utilizing the equipment, the intelligent conveying unit can not only accurately position the position of the intelligent conveying unit, identify the conveyed workpiece and the corresponding production process and production station, but also automatically plan the navigation route of the intelligent conveying unit according to the positions and motion states of other conveying units in an intelligent factory and send the workpiece to the corresponding production station for processing. However, the existing robot positioning system based on the RFID has the problems that effective reading records of the RFID tag are not high, and aperture position errors caused by various mobile platforms are almost unavoidable, so that the positioning error of the robot is large, and the accuracy is not high. Therefore, a new robot autonomous positioning system is needed to meet the actual requirements of intelligent manufacturing.
SUMMERY OF THE UTILITY MODEL
In view of the above-mentioned shortcomings of the prior art, the technical problem to be solved by the present invention is to provide an RFID-based robot autonomous positioning system with higher accuracy.
To achieve the above and other related objects, the present invention provides an RFID-based robot autonomous positioning system, comprising: a robot body; the rotating module is arranged on the robot body and is loaded with an RFID reader-writer antenna to rotate along with the robot body; the RFID reader-writer is arranged on the robot body and is connected with the RFID reader-writer antenna so as to collect RFID label information in the environment; the sensor module comprises an inertial sensor and a photoelectric encoder, is arranged on the robot body and is used for acquiring the motion information of the robot body and the motion information of the rotating module; and the control module is in communication connection with the RFID reader-writer and the sensor module, and receives the RFID label information, the robot body motion information and the rotation module motion information to acquire the robot position information and then sends out a corresponding control instruction to navigate the robot.
In a preferred embodiment of this embodiment, the rotation module includes: the rotary arm is connected with the robot body; and the electric slip ring is arranged at the axis of the spiral arm and is used for connecting the RFID reader-writer and the RFID reader-writer antenna.
In a preferred embodiment of this embodiment, the robot body includes: and the power module is connected with the control module and receives the control command to realize the navigation of the robot.
In a preferred embodiment of this embodiment, the robot body includes: and the obstacle avoidance module is connected with the control module and used for acquiring obstacle information in the environment and sending the obstacle information to the control module, and the control module receives the obstacle information and then controls the robot to avoid the obstacle.
In a preferred embodiment of this embodiment, the rotating module is detachably connected to the robot body.
In a preferred embodiment of this embodiment, the rotation module includes: the module is rotated 360 degrees.
In a preferred implementation manner of this embodiment, the RFID reader includes: and an ultrahigh frequency RFID reader-writer.
In a preferred implementation manner of this embodiment, the RFID reader antenna includes: a directional antenna.
In a preferred embodiment of this embodiment, the robot body includes: and the communication module is used for being in communication connection with the outside.
In a preferred implementation manner of this embodiment, the communication module includes: any one or more combination of 3G/4G/5G communication module, NB-IoT communication module, LoRa communication module, Zigbee communication module, Z-wave communication module, Wifi communication module, Bluetooth communication module and infrared communication module.
As described above, the autonomous positioning system of the robot based on the RFID according to the present invention has the following advantages: the RFID reader-writer antenna is arranged on the rotating module of the robot and connected with the RFID reader-writer arranged on the robot through the electric slip ring, so that the RFID reader-writer antenna can rotate randomly without being wound by a feeder line. And the robot can move a short distance during positioning, and more aperture point measurements are provided by utilizing the rotation of the antenna, so that the transverse and radial positioning accuracy is improved, and the problem of increased positioning error caused by limited moving distance of the robot during positioning based on the synthetic aperture RFID is effectively solved.
Drawings
Fig. 1 is a schematic structural diagram of an autonomous positioning system of a robot based on RFID according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions under which the present invention can be implemented, so that the present invention has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the purpose of the present invention. The following detailed description is not to be taken in a limiting sense, and the scope of embodiments of the present invention is defined only by the claims of the issued patent. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. Spatially relative terms, such as "upper," "lower," "left," "right," "lower," "below," "lower," "above," "upper," and the like, may be used herein to facilitate describing one element or feature's relationship to another element or feature as illustrated in the figures.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," "retained," and the like are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Also, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises," "comprising," and/or "comprising," when used in this specification, specify the presence of stated features, operations, elements, components, items, species, and/or groups, but do not preclude the presence, or addition of one or more other features, operations, elements, components, items, species, and/or groups thereof. The terms "or" and/or "as used herein are to be construed as inclusive or meaning any one or any combination. Thus, "A, B or C" or "A, B and/or C" means "any of the following: a; b; c; a and B; a and C; b and C; A. b and C ". An exception to this definition will occur only when a combination of elements, functions or operations are inherently mutually exclusive in some way.
The utility model provides an RFID-based robot autonomous positioning system to meet the actual requirements of intelligent manufacturing, and solves the problems that the effective reading record of an RFID label in an actual scene is not high, and the aperture position errors caused by various mobile platforms are almost unavoidable, so that the positioning error of a robot is larger and the precision is not high in the conventional robot positioning system based on the synthetic aperture RFID.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions in the embodiments of the present invention are further described in detail by the following embodiments in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.
As shown in fig. 1, an embodiment of the present invention provides a schematic structural diagram of an RFID-based robot autonomous positioning system 10. The robotic autonomous positioning system shown in fig. 1 comprises: a robot body 11; the rotating module 12 is arranged on the robot body 11 and is loaded with an RFID reader-writer antenna 13 to rotate along with the robot body; the RFID reader-writer 14 is arranged on the robot body 11 and connected with the RFID reader-writer antenna 13 to collect RFID label information in the environment; the sensor module 15 is arranged on the robot body 11, comprises an inertial sensor and a photoelectric encoder and is used for acquiring the motion information of the robot body and the motion information of the rotating module; and the control module 16 is in communication connection with the RFID reader-writer 14 and the sensor module 15, and receives the RFID tag information, the robot body motion information and the rotation module motion information to acquire the robot position information and then sends out a corresponding control instruction to navigate the robot.
Specifically, the robot body 11 is a main body of the robot, and various functional components required to be mounted on the main body, such as the power module 111, the communication module 112, and the like, can be mounted on the main body. The power module 111 is connected to the control module 16, and receives a control command from the control module 16, so as to adjust the motion direction, motion speed, motion acceleration, functional action, and the like of the robot, thereby implementing a navigation function of the robot. The communication module 112 is used for communication connection with the outside, including but not limited to: any one or more combination of 3G/4G/5G communication module, NB-IoT communication module, LoRa communication module, Zigbee communication module, Z-wave communication module, Wifi communication module, Bluetooth communication module and infrared communication module.
In the preferred embodiment of the present embodiment, the power module 111 includes a power source, a motor, and moving members (not shown), which in turn can be divided into any one or combination of wheeled moving members, walking moving members (single-legged, double-legged, and multi-legged), tracked moving members, crawling members, and the like. The power supply can be any one or combination of a solar power supply, a storage battery, an uninterruptible power supply and the like.
The rotating module 12 is arranged on the robot body 11, and an RFID reader antenna 13 is loaded on the rotating module to rotate along with the rotating module. The rotation angle range of the rotation module can be set before 0-360 degrees according to application scene requirements. Among them, it is preferable to rotate the module by 360 degrees, thereby expanding the reception signal range of the antenna. Further, the angle of the rotation axis of the rotation module can also be set to be adjustable, thereby facilitating the signal acquisition of the robot in uneven areas such as inclined roads.
In a preferred embodiment of the present embodiment, the rotating module 12 includes: a swing arm 121 connected to the robot body 11; and the electric slip ring 122 is arranged at the axis of the spiral arm 121 and is used for connecting the RFID reader-writer 14 and the RFID reader-writer antenna 13. In the embodiment, the RFID reader antenna can rotate randomly without winding the feeder line. And the robot can move a short distance during positioning, and more aperture point measurements are provided by utilizing the rotation of the antenna, so that the transverse and radial positioning accuracy is improved, and the problem of increased positioning error caused by limited moving distance of the robot during positioning based on the synthetic aperture RFID is effectively solved.
The RFID reader 14 is disposed on the robot body 11, and connected to the RFID reader antenna 13 to collect RFID tag information in an environment. The RFID reader-writer is preferably an Ultra High Frequency (Ultra High Frequency) RFID reader-writer, has the advantages of long communication distance and good anti-collision performance, and is particularly suitable for the utility model.
The sensor module 15 is arranged on the robot body 11, and comprises an inertial sensor and a photoelectric encoder for acquiring the motion information of the robot body and the motion information of the rotating module. The inertial sensor can be angular rate gyroscope or linear accelerometer. Wherein, the angular rate gyroscope can be selected from a mechanical dry angular rate gyroscope, a liquid floating angular rate gyroscope, a semi-liquid floating angular rate gyroscope, a gas floating angular rate gyroscope, a flexible angular rate gyroscope, an MEMS silicon angular rate gyroscope, a quartz angular rate gyroscope (including a hemispherical resonance angular rate gyroscope, etc.), and an optical fiber angular rate gyroscope; laser angular rate gyroscopes, and the like. The linear accelerometer can be selected from: mechanical linear accelerometers, flexible linear accelerometers, MEMS silicon linear accelerometers, quartz linear accelerometers (including piezoresistive and piezoelectric linear accelerometers), quartz flexible linear accelerometers, and the like. The photoelectric encoder comprises an optical encoder, a magnetic encoder, an induction encoder and/or a capacitance encoder; or include incremental, absolute, and/or hybrid encoders.
The control module 16 is in communication connection with the RFID reader-writer 14 and the sensor module 15, and receives the RFID tag information, the robot body motion information, and the rotation module motion information to acquire robot position information, and then sends out a corresponding control instruction to navigate the robot. Alternatively, the control module 16 may be located on the robotic device or may be in remote communication with the robotic device. The control module controls a plurality or all of the functions of the robotic device. The control module may include at least one processor (which may include at least one microprocessor) that executes instructions stored on a non-transitory computer-readable storage medium, such as a memory. The control module may also represent a plurality of computer devices for controlling various components or subsystems of the robotic device in a distributed manner. Wherein, the treater is optional again: a Micro Control Unit (MCU), a general Processor such as a Central Processing Unit (CPU), a Network Processor (NP), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, etc.
It should be noted that the present invention provides a set of hardware system, which specifically includes the robot body 11, the rotating module 12, the RFID reader antenna 13, the RFID reader 14, the sensor module 15, and the control module 16, and the hardware system can be used alone or in combination with the existing software program. Taking a control module in the system as an example, the system is provided with a micro-processing computer (such as an ARM processor, an FPGA processor, an MCU processor, an SOC processor and the like), the micro-processing computer can perform positioning calculation based on collected robot body motion information, rotation module motion information and signal information of an RFID tag stored in an RFID reader-writer according to a synthetic aperture positioning algorithm, perform vector superposition on the robot body motion track and the rotation motion track of the rotation module to obtain a motion track of an antenna of the RFID reader-writer, and further calculate and obtain position information of the tag, position information of the robot and the like. However, the present invention may be combined with a software program, but does not relate to any software technology update per se.
It should be noted that in the utility model, the RFID reader antenna 13 is disposed on the rotating module 12 of the robot and connected to the RFID reader 14 disposed on the robot through the electrical slip ring, so that the RFID reader antenna can rotate arbitrarily without winding the feeder. And the robot can move a short distance during positioning, and more aperture point measurements are provided by utilizing the rotation of the antenna, so that the transverse and radial positioning accuracy is improved, and the problem of increased positioning error caused by limited moving distance of the robot during positioning based on the synthetic aperture RFID is effectively solved.
In a preferred embodiment of this embodiment, the robot body includes: and the obstacle avoidance module 113 is connected with the control module and used for acquiring obstacle information in the environment and sending the obstacle information to the control module, and the control module receives the obstacle information and then controls the robot to avoid the obstacle. The obstacle avoidance module 113 may optionally include any one or a combination of a plurality of visual sensors, laser sensors, infrared sensors, ultrasonic sensors, and the like. The mobile robot acquires the information of obstacles around the mobile robot in real time through the obstacle avoidance module, wherein the information includes but is not limited to size information, shape information, position information and the like, and therefore reasonable route planning navigation is achieved. Note that this embodiment does not relate to any update of software technology.
In the preferred embodiment of the present invention, the rotating module 12 is detachably connected to the robot body 11, and there are optionally a snap connection, a screw connection, a pin connection, and the like, which is not limited in this embodiment. The detachable connection is favorable for users to replace the rotating modules with different rotating angle ranges according to application environments, and the use flexibility of the rotating modules is improved.
Optionally, the RFID reader antenna includes, but is not limited to, an omnidirectional antenna, a directional antenna, a line antenna, a surface antenna, a patch antenna, an array antenna, a horn antenna, a dish antenna, a plate antenna, and the like.
In a preferred embodiment of the present invention, the RFID reader antenna is preferably a directional antenna, which can radiate in a range of a certain angle on a horizontal directional diagram, has a large forward gain and a long coverage distance, and can obtain a coverage of 360 ° by being matched with a rotating platform of a robot.
In summary, according to the autonomous robot positioning system based on the RFID provided by the present invention, the RFID reader antenna is disposed on the rotating module of the robot and connected to the RFID reader disposed on the robot through the electrical slip ring, so that the RFID reader antenna can rotate arbitrarily without causing the winding of the feeder. And the robot can move a short distance during positioning, and more aperture point measurements are provided by utilizing the rotation of the antenna, so that the transverse and radial positioning accuracy is improved, and the problem of increased positioning error caused by limited moving distance of the robot during positioning based on the synthetic aperture RFID is effectively solved. Therefore, the utility model effectively overcomes various defects in the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the utility model. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. An RFID-based autonomous positioning system for a robot, comprising:
a robot body;
the rotating module is arranged on the robot body and is loaded with an RFID reader-writer antenna to rotate along with the robot body;
the RFID reader-writer is arranged on the robot body and is connected with the RFID reader-writer antenna so as to collect RFID label information in the environment;
the sensor module comprises an inertial sensor and a photoelectric encoder, is arranged on the robot body and is used for acquiring the motion information of the robot body and the motion information of the rotating module;
and the control module is in communication connection with the RFID reader-writer and the sensor module, and receives the RFID label information, the robot body motion information and the rotation module motion information to acquire the robot position information and then sends out a corresponding control instruction to navigate the robot.
2. The robotic autonomous positioning system of claim 1, wherein the rotation module comprises:
the rotary arm is connected with the robot body;
and the electric slip ring is arranged at the axis of the spiral arm and is used for connecting the RFID reader-writer and the RFID reader-writer antenna.
3. The robotic autonomous positioning system of claim 1, wherein the robot body comprises:
and the power module is connected with the control module and receives the control command to realize the navigation of the robot.
4. The robotic autonomous positioning system of claim 1, wherein the robot body comprises:
and the obstacle avoidance module is connected with the control module and used for acquiring obstacle information in the environment and sending the obstacle information to the control module, and the control module receives the obstacle information and then controls the robot to avoid the obstacle.
5. The robotic autonomous positioning system of claim 1 wherein the rotating module is removably connected to the robot body.
6. The robotic autonomous positioning system of claim 1, wherein the rotation module comprises: the module is rotated 360 degrees.
7. The robotic autonomous positioning system of claim 1, wherein the RFID reader comprises: and an ultrahigh frequency RFID reader-writer.
8. The robotic autonomous positioning system of claim 1, wherein the RFID reader antenna comprises: a directional antenna.
9. The robotic autonomous positioning system of claim 1, wherein the robot body comprises:
and the communication module is used for being in communication connection with the outside.
10. The robotic autonomous positioning system of claim 9, wherein the communication module comprises: any one or more combination of 3G/4G/5G communication module, NB-IoT communication module, LoRa communication module, Zigbee communication module, Z-wave communication module, Wifi communication module, Bluetooth communication module and infrared communication module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121520482.5U CN215679372U (en) | 2021-07-05 | 2021-07-05 | Robot autonomous positioning system based on RFID |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121520482.5U CN215679372U (en) | 2021-07-05 | 2021-07-05 | Robot autonomous positioning system based on RFID |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215679372U true CN215679372U (en) | 2022-01-28 |
Family
ID=79978703
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121520482.5U Active CN215679372U (en) | 2021-07-05 | 2021-07-05 | Robot autonomous positioning system based on RFID |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215679372U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114426923A (en) * | 2022-03-31 | 2022-05-03 | 季华实验室 | Environmental virus sampling robot and method |
-
2021
- 2021-07-05 CN CN202121520482.5U patent/CN215679372U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114426923A (en) * | 2022-03-31 | 2022-05-03 | 季华实验室 | Environmental virus sampling robot and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10281922B2 (en) | Method and system for mobile work system confinement and localization | |
| Park et al. | Autonomous mobile robot navigation using passive RFID in indoor environment | |
| WO2017213814A1 (en) | Sensor trajectory planning for a vehicle | |
| Patil et al. | Hardware Architecture Review of Swarm Robotics System: Self-Reconfigurability, Self-Reassembly, and Self-Replication | |
| Park et al. | Indoor localization for autonomous mobile robot based on passive RFID | |
| Cesetti et al. | A service oriented architecture supporting an autonomous mobile robot for industrial applications | |
| CN215679372U (en) | Robot autonomous positioning system based on RFID | |
| US20060037528A1 (en) | Method and apparatus for intelligent highway traffic control devices | |
| CN108536146B (en) | Intelligent control method for positioning charging base of mobile robot based on path and RSSI (received Signal Strength indicator) | |
| CN105824292A (en) | Robot distributed controller and control method | |
| Xu et al. | Design and implementation of an ROS based autonomous navigation system | |
| Park et al. | Autonomous navigation system for mobile robot using randomly distributed passive RFID tags | |
| CN112444777B (en) | Large-range and high-precision pose determining method and system | |
| Dudek et al. | Robust positioning with a multi-agent robotic system | |
| de Melo et al. | Mobile robot indoor autonomous navigation with position estimation using rf signal triangulation | |
| Shu et al. | An imu/sonar-based extended kalman filter for mini-uav localization in indoor environment | |
| US20230415342A1 (en) | Modeling robot self-occlusion for localization | |
| Park et al. | An approach for mobile robot navigation under randomly distributed passive RFID environment | |
| CN104848852A (en) | System and method for locating annular sensing array | |
| Caprari et al. | Robot navigation in centimeter range labyrinths | |
| Balasooriya et al. | Development of the smart localization techniques for low-power autonomous rover for predetermined environments | |
| TWI806429B (en) | Modular control system and method for controlling automated guided vehicle | |
| KR101339899B1 (en) | method for robot self-localization based on smart phone platform | |
| Ding et al. | Vision-Based Formation Control for a Heterogeneous Multi-Robot System | |
| Wang et al. | Research on dead-reckoning based localization for cleaning robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |