WO2016115713A1 - 基于rfid的定位与地图构建方法及其装置 - Google Patents

基于rfid的定位与地图构建方法及其装置 Download PDF

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Publication number
WO2016115713A1
WO2016115713A1 PCT/CN2015/071361 CN2015071361W WO2016115713A1 WO 2016115713 A1 WO2016115713 A1 WO 2016115713A1 CN 2015071361 W CN2015071361 W CN 2015071361W WO 2016115713 A1 WO2016115713 A1 WO 2016115713A1
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WIPO (PCT)
Prior art keywords
electronic device
rfid
rfid tag
area
obstacle
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PCT/CN2015/071361
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English (en)
French (fr)
Inventor
江玉结
Original Assignee
江玉结
Priority date (The priority date 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 date listed.)
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Publication date
Application filed by 江玉结 filed Critical 江玉结
Priority to PCT/CN2015/071361 priority Critical patent/WO2016115713A1/zh
Priority to CN201580039495.1A priority patent/CN106662631A/zh
Priority to EP15878390.2A priority patent/EP3249418A4/en
Publication of WO2016115713A1 publication Critical patent/WO2016115713A1/zh
Priority to US15/657,261 priority patent/US10656659B2/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/865—Combination of radar systems with lidar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0252—Radio frequency fingerprinting
    • G01S5/02521—Radio frequency fingerprinting using a radio-map
    • G01S5/02524—Creating or updating the radio-map
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/10009—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves
    • G06K7/10366—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves the interrogation device being adapted for miscellaneous applications
    • G06K7/10376—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves the interrogation device being adapted for miscellaneous applications the interrogation device being adapted for being moveable

Definitions

  • the invention relates to the field of real-time positioning and map construction, and particularly relates to an RFID-based positioning and map construction method and device thereof.
  • the positioning and map construction of mobile devices is a hot research topic in the field of robotics.
  • mobile devices cannot be located using a global positioning system, and it is difficult or even impossible to obtain a map of the working environment of the mobile device in advance.
  • the mobile device needs to construct a map in a completely unknown environment under the condition that its position is uncertain, and at the same time utilize the map for autonomous positioning and navigation. This is called Instant Location and Map Construction (SLAM).
  • SLAM Instant Location and Map Construction
  • SLAM Instant Location and Map Construction
  • GPS positioning the basic principle of GPS positioning is based on the instantaneous position of the satellite moving at high speed as the known starting data, and the method of spatial distance resection is used to determine the position of the point to be measured.
  • barcode positioning method To convert a barcode compiled according to certain rules into meaningful information, it is necessary to go through two processes of scanning and decoding.
  • the color of an object is determined by the type of light it reflects.
  • White objects can reflect visible light of various wavelengths, while black objects absorb visible light of various wavelengths. Therefore, when the light emitted by the barcode scanner light source is reflected on the barcode, the reflected light is reflected.
  • the photoelectric converter is irradiated onto the photoelectric converter inside the barcode scanner, and the photoelectric converter converts into a corresponding electrical signal according to the reflected light signal of different strengths and weaknesses. According to the difference of the principle, the scanner can be divided into three types: light pen, CCD and laser.
  • the signal is sent to the shaping circuit to convert the analog signal into a digital signal.
  • the widths of the white bars and the black bars are different, and the duration of the corresponding electrical signals is also different.
  • the decoder then discriminates the number of bars and spaces by measuring the number of pulsed digital electrical signals 0,1.
  • the width of the strip and the space are discriminated by measuring the duration of the 0, 1 signal.
  • the data obtained at this time is still cluttered.
  • the bar symbol is replaced with the corresponding number and character information according to the corresponding coding rule (for example: EAN-8 code).
  • data processing and management is performed by the computer system, and the detailed information of the item is identified.
  • Bar code positioning method because the barcode is easily contaminated and there is a limit to the use of the unreadable.
  • the mobile robot positioning and navigation technology in the indoor environment has the characteristics of high positioning accuracy and complex environment, and none of the above methods are applicable.
  • RFID Radio Frequency Identification
  • RFID is a non-contact automatic identification technology that automatically recognizes target objects and acquires relevant data through radio frequency signals.
  • the identification work can be performed in various harsh environments without manual intervention, and RFID technology can recognize High-speed moving objects and multiple labels at the same time, quick and easy operation. Therefore, it is necessary to improve the existing mobile robot positioning navigation method in combination with this technology.
  • the disclosed RFID positioning system attaches an RFID tag with location information to a certain part of the building, and determines the location by reading the RFID tag information.
  • the method does not need to limit the arrangement of the electronic tags to an equilateral triangle.
  • this method requires accurate measurement of the size of the building and the like, and then the location information is written into the RFID tag through the RFID reader, which is cumbersome to operate. And also need multiple RFID tags to effectively achieve the positioning effect.
  • the object of the embodiments of the present invention is to provide an RFID-based positioning and map construction method and a device thereof, which can effectively solve the problem that the prior art requires multiple RFID tags to achieve positioning and is cumbersome to operate.
  • Embodiments of the present invention provide an RFID-based positioning and map construction method, including the steps:
  • a map is constructed based on the information of the recorded RFID tag and its coordinate values and the coordinate values of each obstacle position.
  • the number of the RFID tags is two or more, and each of the RFID tags is correspondingly disposed at a specific location of the to-be-positioned area, and each of the RFID tag information includes Uniquely encoded information that distinguishes its absolute position; the method further includes the steps of:
  • the method further comprises the steps of:
  • the constructed map is corrected based on the corrected coordinate values.
  • each of the RFID tag information further includes area code information for distinguishing the accessible area/forbidden entry area, and an RFID tag with area coded information forbidding the entry area to the RFID tag A specific area after the boundary line is defined as a forbidden entry area, and the method further includes the steps of:
  • the avoidance strategy is to cause the mobile electronic device to proceed forward avoiding the forbidden entry area.
  • the region coding information of each of the RFID tags is also constructed based on The map is marked as accessible/inaccessible.
  • the coordinate value of the obstacle position when the movable electronic device detects the obstacle each time is calculated by:
  • the coordinate value of the movable electronic device is used as a coordinate value of the obstacle position
  • Using a laser sensor/infrared sensor to detect an obstacle when the laser sensor/infrared sensor detects an obstacle, calculate the position of the obstacle relative to the currently movable electronic device according to the laser/infrared distance calculation principle, thereby The coordinate value of the obstacle position is calculated.
  • the method further includes the steps of:
  • the movable electronic device is calculated relative to the moving direction and moving distance of the starting point.
  • the RFID tag adopts a passive RFID
  • the mobile electronic device is defined to obtain the tag information of each of the RFID tags only when the location is closest to each of the RFID tags.
  • the position at which the removable electronic device can acquire the tag information of each of the RFID tags is taken as the location of the RFID tag.
  • the position of each of the RFID tags is determined by:
  • the RFID tag adopts an active RFID, and when the removable electronic device senses the tag information of any one of the RFID tags, the mobile electronic device is moved to a direction in which the RSSI of the RFID tag is gradually increased until the When the RSSI of the RFID tag sensed by the mobile electronic device is equal to or greater than a preset maximum RSSI value or until the mobile electronic device touches the RFID tag, the mobile electronic device is at this time
  • the location is the location of the RFID tag.
  • the method further includes the steps of: when the obstacle is encountered during the traversal of the movable electronic device, causing the movable electronic device to bypass the obstacle according to a preset collision strategy to continue Advancing; the preset collision strategy is preferably:
  • the movable electronic device In the event of a collision, the movable electronic device is moved back M cm and rotated left/right by N°, and then proceeds, where 0 ⁇ M ⁇ 20, 0 ⁇ N ⁇ 10.
  • the preset avoidance strategy includes:
  • the movable electronic device When it is recognized that the area is a forbidden entry area, the movable electronic device is moved backward by Pcm and rotated to the left/right by Q°, and then proceeds, wherein P is not less than the length of the boundary line, 45 ⁇ Q ⁇ 90.
  • the removable electronic device is a robot.
  • the method is suitable for real-time map construction of an area to be located in a room.
  • the RFID tag is adapted to be placed on the left and/or right side wall of the room door frame.
  • the embodiment of the present invention provides an RFID-based positioning and map construction device, which is suitable for real-time map construction of a to-be-positioned area provided with at least one RFID tag, and the positioning and map construction device is a mobile device, Mobile devices include:
  • An RFID tag information reader for reading the RFID tag information
  • a coordinate system construction and recording unit configured to: when the first movable RFID device moves along a certain motion trajectory and obtains the first RFID tag information acquired by the RFID tag information reader, Positioning the RFID tag as a coordinate origin of the coordinate system, and recording the RFID tag information and corresponding coordinate values;
  • An obstacle detecting component for detecting an obstacle
  • a first calculating unit configured to calculate a position of each of the obstacles based on a moving direction and a moving distance of the starting point recorded by the encoder whenever the obstacle detecting unit detects an obstacle Coordinate values, and the calculated coordinate values are sent to the coordinate system construction and recording unit;
  • the map construction unit constructs a map based on the RFID tag information recorded by the coordinate system construction and recording unit and its coordinate values and coordinate values of each obstacle position.
  • the apparatus further includes:
  • a gyro sensor or/and an electronic compass and an accelerometer for respectively recording the angular velocity of the movable electronic device in real time during the process of using the coordinate origin as a starting point and traversing the entire to-be-positioned area Or / and angle and acceleration;
  • a first correcting unit correcting a moving direction and a moving distance of the movable electronic device relative to the starting point based on an angular velocity or/and an angle and an acceleration of the movable electronic device;
  • the first calculating unit calculates a coordinate value of each of the obstacle positions based on the corrected moving direction and moving distance of the movable electronic device with respect to the starting point.
  • the number of the RFID tags is two or more, and each of the RFID tags is correspondingly disposed at a specific location of the to-be-positioned area, and each of the RFID tag information includes Uniquely encoded information that distinguishes its absolute position; the device further includes:
  • a second calculating unit configured to calculate, in the traversing process, the first RFID acquired by the removable electronic device each time based on a moving direction and a moving distance of the movable electronic device with respect to the starting point
  • the coordinate value of the position of the other RFID tag at the time of the other RFID tag information outside the tag, and the other tag information and the corresponding coordinate value are sent together to the coordinate system construction and recording unit.
  • the apparatus further includes:
  • a gyro sensor or/and an electronic compass and an accelerometer for respectively recording the angular velocity of the movable electronic device in real time during the process of using the coordinate origin as a starting point and traversing the entire to-be-positioned area Or / and angle and acceleration; and a first correction unit based on the angular velocity or/and angle of the mobile electronic device and Speed, correcting a moving direction and a moving distance of the movable electronic device relative to the starting point;
  • the first calculating unit calculates a coordinate value of each of the obstacle positions based on the corrected moving direction and moving distance of the movable electronic device with respect to the starting point;
  • the second calculating unit calculates coordinate values of other RFID tag positions based on the corrected moving direction and moving distance of the movable electronic device with respect to the starting point.
  • the apparatus further includes:
  • a second correcting unit configured to: after the movable electronic device traverses the entire to-be-positioned area multiple times with the coordinate origin as a starting point, and based on the coordinate value of each RFID tag obtained by each traversal, using a corrective algorithm pair The coordinate values of each of the RFID tags are corrected; and the corrected coordinate values are sent to the map construction unit to correct the constructed map.
  • each of the RFID tag information further includes area code information for distinguishing the accessible area/forbidden entry area, and an RFID tag with area coded information forbidding the entry area to the RFID tag
  • the specific area behind the dividing line is defined as the no-entry area, and the device further includes:
  • An area identifying unit configured to identify, as each of the RFID tag information acquired by the removable electronic device, an area that is identified as an accessible area or a forbidden area based on the area coded information in the RFID tag information; and avoiding the policy unit, If the area identifying unit identifies the area coded information as the forbidden entry area, the mobile electronic device is caused to proceed to avoid the prohibited entry area according to a preset avoidance policy.
  • the map construction unit constructs a map based on the information of the recorded RFID tag and its coordinate value and the coordinate value of each obstacle position, and is also based on each of the RFID tags.
  • the area code information is marked as an accessible area/no entry area on the constructed map.
  • the obstacle detecting portion includes a collision sensor, a laser sensor, or an infrared sensor;
  • the first calculating unit uses the calculated coordinate value of the current position of the movable electronic device as the coordinate value of the obstacle position;
  • the laser sensor/infrared sensor calculates a position of the obstacle relative to the currently movable electronic device according to a laser/infrared distance calculation principle, and transmits the position to the first a calculating unit, the first calculating unit calculates a coordinate value of the current position of the movable electronic device and a position of the obstacle relative to the current movable electronic device, thereby calculating a coordinate value of the obstacle position.
  • the RFID tag adopts passive RFID, and the mobile electronic device is limited to obtain the mobile electronic device only when it is closest to each of the RFID tags. Said The tag information of the RFID tag and the position at which the removable electronic device can acquire the tag information of each of the RFID tags as the location of the RFID tag.
  • the RFID tag adopts an active RFID, and when the RFID tag information reader senses tag information of any one of the RFID tags, the RSSI of the mobile electronic device to the RFID tag is Moving in an increasing direction until the RSSI of the RFID tag sensed by the RFID tag information reader is equal to or greater than a preset maximum RSSI value or until the RFID tag information reader senses the When the removable electronic device touches the RFID tag, the position of the removable electronic device at this time is taken as the location of the RFID tag.
  • the apparatus further includes:
  • a collision strategy unit configured to cause the movable electronic device to continue to advance around the obstacle according to a preset collision strategy when an obstacle is encountered during the traversal of the movable electronic device;
  • the preset collision strategy is preferably:
  • the movable electronic device In the event of a collision, the movable electronic device is moved back M cm and rotated left/right by N°, and then proceeds, where 0 ⁇ M ⁇ 20, 0 ⁇ N ⁇ 10.
  • the preset avoidance strategy includes:
  • the movable electronic device When it is recognized that the area is a forbidden entry area, the movable electronic device is moved backward by Pcm and rotated to the left/right by Q°, and then proceeds, wherein P is not less than the length of the boundary line, 45 ⁇ Q ⁇ 90.
  • the removable electronic device is a robot.
  • the apparatus is adapted to perform real-time map construction on an area to be located in the room.
  • the RFID tag is adapted to be placed on the left and/or right side wall of the room door frame.
  • a fixing groove is provided on the left side and/or the right side wall of the door frame of the room, and the RFID tag is placed in the fixing groove.
  • Embodiments of the present invention also disclose an intelligent mobile device, including a mobile device and an RFID-based positioning and map construction device as described above.
  • the RFID-based positioning and map construction method and device thereof disclosed by the present invention by setting at least one RFID tag in an area to be located, and based on the first one sensed when the mobile electronic device first moves The (RFID tag) position of the RFID tag is used as a coordinate origin, and then the moving electronic device is moved and traversed through the entire to-be-positioned area with the coordinate origin as a starting point, based on the movable electronic device relative to the The moving direction and the moving distance of the starting point, calculating and recording the coordinate value of the obstacle position when the movable electronic device detects the obstacle each time; after completing the traversal, based on the recorded information of the RFID tag and its coordinate value and each A map is constructed by the coordinate values of an obstacle position.
  • the present invention only needs one or more RFID tags to realize the setting of the area to be located.
  • the bit and map construction, and the method is simple, thereby solving the problem that the prior art requires multiple RFID tags to realize positioning and cumbersome operation, and has the technical effects of low cost, simple operation and effective.
  • Embodiment 1 is a schematic flow chart of an RFID-based positioning and map construction method in Embodiment 1 of the present invention.
  • Embodiment 2 is a schematic flow chart of a RFID-based positioning and map construction method in Embodiment 2 of the present invention.
  • Embodiment 3 is a schematic flow chart of a RFID-based positioning and map construction method in Embodiment 3 of the present invention.
  • Embodiment 4 is a schematic flow chart of a method for constructing an RFID-based positioning and map in Embodiment 4 of the present invention.
  • FIG. 5 is a structural block diagram of an RFID-based positioning and map construction apparatus in Embodiment 5 of the present invention.
  • FIG. 6 is a structural block diagram of an RFID-based positioning and map construction apparatus in Embodiment 6 of the present invention.
  • FIG. 7 is a structural block diagram of an RFID-based positioning and map construction apparatus in Embodiment 7 of the present invention.
  • FIG. 8 is a structural block diagram of an RFID-based positioning and map construction apparatus in Embodiment 8 of the present invention.
  • Embodiment 9 is a structural block diagram of an RFID-based positioning and map construction apparatus in Embodiment 9 of the present invention.
  • FIG. 10 is a structural block diagram of an RFID-based positioning and map construction apparatus in Embodiment 10 of the present invention.
  • 11 to 12 are views showing the structure in which the RFID tag is placed in a fixing groove fixed to the wall.
  • Embodiment 1 is a schematic flowchart of a method for constructing an RFID-based positioning and map provided by Embodiment 1 of the present invention.
  • the RFID-based positioning and map construction method is suitable for real-time map construction of a to-be-positioned area provided with at least one RFID tag by using a mobile electronic device, which may be, for example, a robot.
  • the map is constructed based on the information of the recorded RFID tag and its coordinate value and the coordinate value of each obstacle position.
  • step S11 after placing an RFID tag in at least one specific location/arbitrary location of the area to be located and mapped, the entire area needs to be located and constructed, and the entire area needs to be traversed by the mobile electronic device. Relevant information in the area.
  • the movable electronic device can be moved along a certain movement trajectory until the movable electronic device senses the first RFID tag information, and the mobile electronic device takes the position of the first RFID tag as The coordinate origin in the coordinate system composed of the X axis and the Y axis, and records the first RFID tag information and its coordinate value (coordinate origin).
  • the position of the first RFID tag when the first RFID tag information is acquired is taken as the coordinate origin of the coordinate system composed of the X axis and the Y axis.
  • the position of the first RFID tag is not limited to the coordinate origin of the coordinate system formed by the X-axis and the Y-axis, or may be marked as another reference point, and has a reference function for convenient recording. Information about other points.
  • the RFID tag is generally used in conjunction with an RFID tag information reader, and the RFID tag can transmit information to the RFID tag information reader under the excitation of the signal and energy of the RFID tag information reader. Therefore, in this step, the removable electronic device of the present embodiment can read the RFID tag information through the RFID tag information reader.
  • the removable electronic device determines the specific location of the RFID tag when it reads the RFID tag information through the RFID tag information reader.
  • Each of the RFID tags adopts passive RFID, and the RFID tag information reader on the removable electronic device can be defined only when the mobile electronic device is closest to each of the RFID tags. Sensing (acquiring) tag information to each of the RFID tags.
  • the RFID tag information reader on the removable electronic device can acquire the tag information of the RFID tag, it indicates that the position of the mobile electronic device is close enough to the RFID tag (between and The distance is negligible, so that when the removable electronic device acquires the RFID tag, the location at which the mobile electronic device is located at this time is regarded as the location of the RFID tag.
  • each of the RFID tags adopts active RFID, and when the mobile electronic device moves, when the RFID tag information reader on the mobile electronic device senses (a certain reading range is reached) Any one of the above When the tag information of the RFID tag is moved, the mobile electronic device is moved in the direction in which the RSSI of the RFID tag is gradually increased. It can be understood that the RFID tag information reader may sense the tag information of not less than one RFID tag. Move the removable electronic device toward the larger RFID tag of the RSSI. Until the RSSI of the RFID tag sensed by the mobile electronic device is equal to or greater than a preset maximum RSSI value or until the mobile electronic device touches the RFID tag (a collision may be detected by a collision sensor component) The position of the removable electronic device at this time is taken as the location of the RFID tag.
  • steps S12-S13 when it is determined that the position of the first one of the RFID tags is the coordinate origin, the coordinate origin is moved as the starting point of the motion to move the movable electronic device to traverse the entire to-be-positioned area. And, when the movable electronic device starts moving from the starting point, start real-time calculation of a moving direction and a moving distance of the movable electronic device relative to the starting point (for example, can be installed on a driving axle of the robot) The encoder records the moving path of the robot and the relative position and angle in real time, so that the position (including distance and direction) of the movable electronic device relative to the starting point can be obtained by calculation, thereby obtaining coordinate values of the movable electronic device. During the traversal process, the coordinate values of the obstacle position when the movable electronic device detects the obstacle each time can be calculated by:
  • Method 1 using a collision sensor to sense an obstacle, and when the collision sensor senses an obstacle, the current coordinate value of the movable electronic device is used as a coordinate value of the obstacle position;
  • Method 2 Using a laser sensor/infrared sensor to detect an obstacle, when the laser sensor/infrared sensor detects an obstacle, calculate the position of the obstacle relative to the currently movable electronic device according to the laser/infrared distance calculation principle, thereby The coordinate value of the obstacle position is calculated.
  • a collision strategy is further added, that is, when an obstacle is encountered during the traversal of the movable electronic device, the movable electronic device is caused to bypass the obstacle according to a preset collision strategy. And move on.
  • the predetermined collision strategy includes: when the mobile electronic device senses a collision (eg, a collision sensor component), the mobile electronic device performs intelligent analysis to determine Further moves.
  • the movable electronic device may select a backlash greater than 0 and less than 20 centimeters and a right or left rotation of 1-10 degrees according to a specific environmental pattern of the area to be located.
  • the mobile electronic device can choose to retreat greater than 0 and less than 2 centimeters.
  • the movable electronic device selects to rotate a larger angle, such as a rotation angle. Degree 2° or even 10°.
  • the collision strategy of this embodiment may adopt other methods, and is not limited thereto.
  • the mobile electronic device is continuously moved to acquire coordinate values of other RFID tags and obstacles, and one traversal is completed until the entire to-be-positioned area is traversed. It can be understood that after the traversal is completed, the mobile electronic device records all the feature information of the to-be-positioned area (including the location of the RFID tag and the location information of each obstacle location).
  • the map is constructed based on the information of the recorded RFID tag and its coordinate value and the coordinate value of each obstacle position.
  • the more information that is recorded the richer and more detailed the map is.
  • the coordinate value of the obstacle is recorded, and when the movable electronic device is placed in the indoor environment to traverse the entire room, the coordinates of all the obstacles can be continuously recorded.
  • Obstructions that are surrounded by a circle at the same time can be considered as walls, thus separating the barrier-free areas, obstacle areas, and walls of the entire room, thus constructing a map of the entire room.
  • the constructed map is a 2D map
  • the movable electronic device for example, a robot
  • the movable electronic device in order to further improve the accuracy of the constructed map, may be relative to the starting point based on an angular velocity or/and an angle and an acceleration of the movable electronic device.
  • the moving direction and the moving distance are corrected to correct each of the obtained coordinate values. For example, if the moving direction and the moving distance of the robot with respect to the starting point are recorded in real time by an encoder mounted on the driving axle of the robot, due to the slippage, the uncertainty of the distance between the two driving wheels and the ground contact point, etc., There is a cumulative error in the measurement process of the encoder.
  • the mobile electronic device of the present embodiment preferably uses, for example, a gyro sensor or/and an electronic compass and an accelerometer to record the angular velocity or/and the angle and the acceleration of the movable electronic device in real time, respectively, based on the a gyro sensor or/and an electronic compass and an angular velocity or/and an angle and an acceleration recorded by the accelerometer in real time to correct a moving direction and a moving distance of the movable electronic device recorded in real time with respect to the starting point by the encoder, thereby It is more accurate to calculate each coordinate value based on the corrected moving direction and moving distance of the movable electronic device with respect to the starting point, so that the map constructed based on the coordinate values is more accurate.
  • a gyro sensor or/and an electronic compass and an accelerometer to record the angular velocity or/and the angle and the acceleration of the movable electronic device in real time, respectively, based on the a gyro sensor or/and an
  • the RFID-based positioning and map construction method of the embodiment only needs one or more RFID tags to realize the positioning and map construction of the to-be-positioned area, and the method is simple, thereby solving the need for multiple RFID tags in the prior art. In order to achieve positioning and cumbersome operation, it has the technical effect of low cost, simple operation and effective.
  • FIG. 2 it is a schematic flowchart of a method for constructing an RFID-based positioning and map provided by Embodiment 2 of the present invention.
  • the method is suitable for real-time map construction of a to-be-positioned area provided with two or more RFID tags by using a mobile electronic device.
  • each RFID tag is correspondingly disposed at a specific location of the to-be-positioned area, and each of the RFID tag information includes unique coding information for distinguishing its absolute position.
  • the removable electronic device can be, for example, a robot.
  • steps S21 to S23 and S25 of the embodiment are substantially the same as the steps S11 to S13 and S14 shown in FIG. 1 and will not be further described herein.
  • each One of the RFID tag information includes unique coded information for distinguishing its absolute position, and therefore, in the traversal process of the mobile electronic device, in addition to calculating and recording each time the movable electronic device detects an obstacle In addition to the coordinate values of the obstacle position, the coordinate values of other RFID tag positions when the RFID tag information of the first RFID tag acquired by the mobile electronic device is calculated and recorded, that is, Step S24.
  • the RFID tag information acquired by the mobile electronic device referred to herein mainly includes unique coded information for distinguishing its absolute position.
  • unique coded information for distinguishing its absolute position.
  • the RFID tag information for example, when placing at least two RFID tags separately in the area to be located
  • a specific location eg, room 1, room 2, ...)
  • each tag generally has its own unique number, which can be used as the unique coded information to distinguish its absolute position, and the passive RFID tag is placed in the corresponding In a specific location to identify the particular location. Therefore, by acquiring the unique encoded information in each of the RFID tag information, the absolute position at which the RFID tag is located can be determined by identification.
  • the RFID-based positioning and map construction method of the present embodiment is suitable for real-time map construction of an indoor to-be-positioned area.
  • the RFID tag 111 can be fixed to the wall by magnets or the like.
  • a fixing slot 100 is fixed on the left side wall and/or the right side wall of the door frame of the room, and the RFID tag 111 is placed in the fixing slot 100 as shown in FIG.
  • the mobile electronic device can implement the absolute position based on the unique encoded information in each RFID tag information. Navigation and resolution. For example, when the robot is required to traverse a room 2, the absolute position of the room 2 (ie, the RFID tag) can be determined based on the uniquely encoded information of the RFID tag placed on the left and/or right side wall of the door frame of the room 2. Position) and based on the relative coordinate value of the RFID tag position on the constructed map (direction and distance relative to the origin of the coordinate), thereby navigating the mobile electronic device from reaching the room 2.
  • the absolute position of the room 2 ie, the RFID tag
  • Position and based on the relative coordinate value of the RFID tag position on the constructed map (direction and distance relative to the origin of the coordinate), thereby navigating the mobile electronic device from reaching the room 2.
  • the mobile device can also be made aware of its "where". For example, when cleaning a robot, it is necessary to clean a plurality of rooms in the room, so that by identifying the unique code information in the RFID tag information corresponding to each room, it is possible to determine which room it is in, thereby preventing multiple times from being the same. The room is cleaned to reduce duplication of work.
  • FIG. 3 it is a schematic flowchart of a method for constructing an RFID-based positioning and map provided by Embodiment 3 of the present invention.
  • the method is suitable for real-time map construction of a to-be-positioned area provided with two or more RFID tags by using a mobile electronic device.
  • each RFID tag is correspondingly disposed at a specific position of the to-be-positioned area, and each of the RFID tag information includes unique coding information for distinguishing its absolute position and an area for distinguishing the accessible area/forbidden entry area Encoding information.
  • the RFID tag with the area code information of the forbidden entry area defines the specific area behind the boundary line where the RFID tag is located as the forbidden entry area.
  • the removable electronic device can be, for example, a robot.
  • the first RFID tag letter acquired when the mobile electronic device moves along a certain motion track for the first time. Positioning the first RFID tag as the coordinate origin of the coordinate system, and recording the first RFID tag information and its coordinate value;
  • the area coded information in the obtained first RFID tag information is identified as an enterable area or a forbidden entry area. If the entry is prohibited, the mobile electronic device is enabled according to a preset avoidance policy. Avoiding the prohibited entry area and proceeding;
  • the area coded information in each of the other RFID tag information acquired is identified as an enterable area or a forbidden entry area, and if the entry is prohibited, the preset area avoidance policy is used according to a preset avoidance strategy.
  • the movable electronic device continues to advance by avoiding the forbidden entry area;
  • this embodiment also adds a function, that is, solves the problem of automatically identifying the forbidden entry area (also referred to as a virtual wall).
  • the traditional method mainly uses the following methods:
  • the infrared emission device proposed by the irobot company is placed on the boundary line of the desired forbidden entry area, and the robot does not cross the boundary line after detecting the infrared rays.
  • the insufficiency of this method is that the infrared emitting device needs to be installed with a battery, which brings inconvenience to the user.
  • the device is placed near the boundary line, and if there is a pet or the like in the home, the device will move and lose its effect.
  • Another method is the method proposed by Neato to use a magnetic strip as a dividing line.
  • the method requires the user to stick the magnetic strip on the boundary line of the forbidden entry area, and use Hall sensor sensing to distinguish.
  • the shortcoming of this method is that the magnetic strip is attached to the ground to affect the appearance of the ground. On the other hand, if the user wishes to replace the prohibited entry area, the magnetic strip is not easy to disassemble and attach to the ground.
  • the area coded information for distinguishing the accessible area/forbidden entry area is placed in each RFID.
  • the RFID tag with the area code information forbidding the entry area defines the specific area after the boundary line where the RFID tag is located as the forbidden entry area.
  • the mobile device can distinguish when it recognizes the area coded information in the RFID tag.
  • the movable electronic device After being identified as being prohibited from entering the area, the movable electronic device can be prevented from proceeding by avoiding the forbidden entry area in combination with a preset avoidance strategy.
  • it may also be specifically marked as an accessible area/inhibited entry area on the constructed map to facilitate navigation.
  • different area coded information of the RFID tag can be preset in the mobile device to represent the relationship comparison table of the accessible area/inhibited entry area, such that when the area coded information in each of the RFID tag information is acquired Through the comparison table, it can be identified as an accessible area or a prohibited entry area.
  • the preset avoidance strategy of the embodiment is preferably: when the area is identified as the forbidden entry area, the movable electronic device is moved backward by Pcm and rotated to the left/right by Q°, and then proceeds. P is not less than the length of the boundary line, 45 ⁇ Q ⁇ 90. Based on the preset avoidance strategy, it is basically ensured that the movable electronic device can continue to advance avoiding the forbidden entry area.
  • the boundary between the forbidden entry area and the accessible area can be distinguished by: when the mobile device determines that the area coded information in the tag is the forbidden entry area, the mobile removable device searches for obstacles on the left and right sides of the tag. (Wall) and barrier-free areas, the extension of the wall is the boundary between the prohibited entry area and the accessible area.
  • the avoidance strategy of this embodiment may adopt other manners, and is not limited thereto.
  • a fixing slot may be disposed on the left side and/or the right side wall of the door frame of the room to place the RFID tag in the fixing slot.
  • the embodiment of the present invention writes (for example, in the fixed slot of the door frame side) of each RFID by using the area coded information for distinguishing the accessible area/forbidden entry area.
  • the tag information after the mobile device acquires and identifies the area code information in the RFID tag, it can be determined that the area can enter. Therefore, the cost of the embodiment is low, and the overall appearance is not affected, and it is easy to replace.
  • FIG. 4 it is a schematic flowchart of a method for constructing an RFID-based positioning and map provided by Embodiment 4 of the present invention.
  • the method is suitable for real-time map construction of a to-be-positioned area provided with two or more RFID tags by using a mobile electronic device.
  • each RFID tag is correspondingly disposed at a specific location of the to-be-positioned area, and each of the RFID tag information includes unique coding information for distinguishing its absolute position.
  • the removable electronic device can be, for example, a robot.
  • the first RFID tag obtained when the mobile electronic device moves along a certain motion track for the first time The position of the first RFID tag at the time of the information is used as the coordinate origin of the coordinate system, and the first RFID tag information and its coordinate value are recorded;
  • the present embodiment further increases the coordinate value of the RFID tag obtained by traversing a plurality of times and corrects the position of the RFID tag by the correction algorithm, that is, steps S46 to S47.
  • the coordinate values of the RFID tags obtained by one traversal will inevitably have errors, resulting in inaccurate maps being constructed. Therefore, in the embodiment, after constructing the map, the coordinate values of each RFID tag are obtained multiple times by the traversal of the movable device, and then the coordinate values of each RFID tag are corrected by using a recursive algorithm, and the movable device is The more traversal times, the more accurate the calculated coordinates of the RFID tag will be until the error is reduced to negligible until the end. Finally, the constructed map is corrected based on the corrected coordinate values.
  • the coordinate values of each RFID tag are acquired multiple times by using multiple traversal, and then the coordinate values of each RFID tag are corrected by using a recursive algorithm, and the correction is performed based on the corrected coordinate value correction.
  • the technical solution of the map further eliminates the cumulative error of the mobile device, thereby improving the accuracy of the construction of the map.
  • step of correcting the coordinate values of each RFID tag that is, steps S46 to S47, may be added in the above-mentioned Embodiment 3 multiple times.
  • FIG. 5 is a structural block diagram of an RFID-based positioning and map construction apparatus according to Embodiment 5 of the present invention.
  • the RFID-based positioning and map construction device is a mobile device/installed on a mobile device, and is suitable for at least The area to be located of an RFID tag is constructed in real time, and the removable electronic device can be, for example, a robot.
  • the RFID-based positioning and map construction device includes:
  • An RFID tag information reader 51 configured to read the RFID tag information
  • a coordinate system construction and recording unit 52 configured to: when the mobile electronic device first moves the first RFID tag information acquired by the RFID tag information reader along a certain motion track, the first Positioning the RFID tag as a coordinate origin of the coordinate system, and recording the RFID tag information and corresponding coordinate values;
  • the encoder 53 is configured to record, in the process of using the coordinate origin as the starting point and traversing the entire to-be-positioned area, the moving direction and the moving distance of the movable electronic device relative to the starting point in real time. ;
  • a first calculating unit 55 configured to calculate, according to a moving direction and a moving distance of the movable electronic device with respect to the starting point, recorded by the encoder, whenever the obstacle detecting unit detects an obstacle a coordinate value of the obstacle position, and transmitting the calculated coordinate value to the coordinate system construction and recording unit;
  • the map construction unit 56 constructs a map based on the RFID tag information recorded by the coordinate system construction and recording unit and its coordinate values and coordinate values of each obstacle position.
  • the obstacle detecting part 54 may include a collision sensor/laser sensor/infrared sensor:
  • the current coordinate value of the movable electronic device is used as a coordinate value of the obstacle position
  • the collision sensor includes, but is not limited to, an eccentric hammer sensor, a ball type collision sensor, a roller type expansion sensor, a mercury switch type collision sensor, a piezoresistive effect type collision sensor, a piezoelectric effect type collision sensor, a micro switch, and the like. .
  • Using a laser sensor/infrared sensor to detect an obstacle when the laser sensor/infrared sensor detects an obstacle, calculate the position of the obstacle relative to the currently movable electronic device according to the laser/infrared distance calculation principle, thereby calculating the position The coordinate value of the obstacle position.
  • the mobile device further includes: a collision policy unit, configured to: when the obstacle is encountered during the traversal of the movable electronic device, according to a preset collision policy, The mobile electronic device continues to move around the obstacle.
  • a collision policy unit configured to: when the obstacle is encountered during the traversal of the movable electronic device, according to a preset collision policy, The mobile electronic device continues to move around the obstacle.
  • the RFID-based positioning and map construction apparatus of the embodiment 6 is a mobile device/installed on a mobile device, and is suitable for being provided with at least one RFID tag.
  • the removable electronic device can be, for example, a robot.
  • the RFID-based positioning and map construction device includes:
  • An RFID tag information reader 61 configured to read the RFID tag information
  • a coordinate system construction and recording unit 62 configured to: when the mobile electronic device first moves the first RFID tag information acquired by the RFID tag information reader along a certain motion track, the first Positioning the RFID tag as a coordinate origin of the coordinate system, and recording the RFID tag information and corresponding coordinate values;
  • the encoder 63 is configured to record, in the process of the movable electronic device, the moving direction and the moving distance of the movable electronic device relative to the starting point in a process of using the coordinate origin as a starting point and traversing the entire to-be-positioned area. ;
  • An accelerometer 65 for recording the acceleration of the movable electronic device in real time
  • the first correcting unit 66 corrects a moving direction and a moving distance of the movable electronic device relative to the starting point based on an angular velocity or/and an angle and an acceleration of the movable electronic device;
  • a first calculating unit 68 configured to calculate each of the described movement direction and the moving distance of the movable electronic device relative to the starting point each time the obstacle detecting unit detects an obstacle a coordinate value of the obstacle position, and transmitting the calculated coordinate value to the coordinate system construction and recording unit;
  • the map construction unit 69 constructs a map based on the RFID tag information recorded by the coordinate system construction and recording unit and its coordinate values and coordinate values of each obstacle position.
  • the gyro sensor or/and the electronic compass and the accelerometer are added to record the angular velocity or/and the angle and the acceleration of the movable electronic device in real time respectively to the movable electronic device.
  • the device corrects the moving direction and the moving distance of the starting point, and calculates coordinate values based on the corrected moving direction and moving distance, thereby correcting each of the obtained coordinate values.
  • the gyroscope includes but is not limited to a winding gyro, an electrostatic gyro, a laser gyro, a fiber optic gyroscope, a micro-mechanical gyroscope, and the like.
  • the present embodiment can effectively eliminate the accumulated error of the encoder measuring process due to the slippage of the driving wheel of the encoder 63, the uncertainty of the distance between the two driving wheels and the ground contact point, and the like. Therefore, it is more accurate to calculate each coordinate value based on the corrected moving direction and the moving distance of the movable electronic device with respect to the starting point, thereby making the map constructed based on the coordinate values more accurate.
  • FIG. 7 is a structural block diagram of an RFID-based positioning and map construction apparatus according to Embodiment 7 of the present invention.
  • the device is a mobile device/mounted on a mobile device and is suitable for real-time map construction of a to-be-positioned area with two or more RFID tags. Wherein each RFID tag is correspondingly disposed at a specific position of the to-be-positioned area, Each of the RFID tag information includes unique coded information for distinguishing its absolute position.
  • the removable electronic device can be, for example, a robot.
  • the RFID-based positioning and map construction device includes:
  • An RFID tag information reader 71 configured to read the RFID tag information
  • a coordinate system construction and recording unit 72 configured to: when the mobile electronic device first moves the first RFID tag information acquired by the RFID tag information reader along a certain motion track, the first Positioning the RFID tag as a coordinate origin of the coordinate system, and recording the RFID tag information and corresponding coordinate values;
  • the encoder 73 is configured to record, in the process of the movable electronic device, the moving direction and the moving distance of the movable electronic device relative to the starting point in real time during the process of using the coordinate origin as a starting point and traversing the entire to-be-positioned area. ;
  • a first calculating unit 75 configured to calculate, according to the moving direction and the moving distance of the movable electronic device relative to the starting point recorded by the encoder 73, whenever the obstacle detecting component detects an obstacle a coordinate value of each of the obstacle positions, and transmitting the calculated coordinate value to the coordinate system construction and recording unit;
  • a second calculating unit 76 configured to calculate, according to the moving direction and the moving distance of the movable electronic device with respect to the starting point, that the removable electronic device acquires each time during the traversing process
  • the coordinate value of the position of the other RFID tag in addition to the other RFID tag information, and the other tag information and the corresponding coordinate value are sent to the coordinate system construction and recording unit 72;
  • the map construction unit 77 constructs a map based on the RFID tag information of the coordinate system construction and recording unit record 72 and its coordinate values and the coordinate values of each obstacle position.
  • the RFID-based positioning and map construction apparatus of the present embodiment may further include the gyro sensor or/and the electronic compass 64, the accelerometer 65 and the first correction unit 66 in the above-described Embodiment 6, through the gyro sensor. Or/and an electronic compass and an accelerometer to record, in real time, the angular velocity or/and angle of the movable electronic device and the acceleration to correct the moving direction and the moving distance of the movable electronic device relative to the starting point, and based on the correction The moving direction and the moving distance calculate the coordinate values, thereby correcting each of the obtained coordinate values.
  • FIG. 8 is a structural block diagram of an RFID-based positioning and map construction apparatus according to Embodiment 8 of the present invention.
  • the device is a mobile device/mounted on a mobile device and is suitable for real-time map construction of a to-be-positioned area with two or more RFID tags.
  • each RFID tag is correspondingly disposed at a specific position of the to-be-positioned area, and each of the RFID tag information includes unique coding information for distinguishing its absolute position and for distinguishing the accessible area/ It is forbidden to enter the area code information of the area.
  • the RFID tag with the area code information of the forbidden entry area defines the specific area behind the boundary line where the RFID tag is located as the forbidden entry area.
  • the removable electronic device can be, for example, a robot.
  • the RFID-based positioning and map construction device includes:
  • An RFID tag information reader 81 configured to read the RFID tag information
  • a coordinate system construction and recording unit 82 configured to: when the mobile electronic device first moves the first RFID tag information acquired by the RFID tag information reader along a certain motion track, the first Positioning the RFID tag as a coordinate origin of the coordinate system, and recording the RFID tag information and corresponding coordinate values;
  • the encoder 83 is configured to record, in the process of the movable electronic device, the moving direction and the moving distance of the movable electronic device relative to the starting point in a process of using the coordinate origin as a starting point and traversing the entire to-be-positioned area. ;
  • a first calculating unit 85 configured to calculate, according to the moving direction and the moving distance of the movable electronic device relative to the starting point recorded by the encoder 83, whenever the obstacle detecting component detects an obstacle a coordinate value of each of the obstacle positions, and transmitting the calculated coordinate value to the coordinate system construction and recording unit;
  • a second calculating unit 86 configured to calculate, according to the moving direction and the moving distance of the movable electronic device with respect to the starting point, that the removable electronic device acquires each time during the traversing process
  • the coordinate value of the position of the other RFID tag in addition to the other RFID tag information, and the other tag information and the corresponding coordinate value are sent to the coordinate system construction and recording unit 82;
  • the area identifying unit 87 is configured to identify, as each of the RFID tag information acquired by the RFID tag information reader 81, whether the area coded information in the RFID tag information is an enterable area or a forbidden entry area;
  • the area identification unit 87 may pre-set the relationship table of the different area coded information of the RFID tag to represent the inaccessible area/forbidden entry area, such that when the area coded information in each of the other RFID tag information is acquired Through the comparison table, it can be identified as an accessible area or a prohibited entry area.
  • Avoiding the policy unit 88 if the area identification unit 87 identifies that the area coded information is a forbidden entry area, the mobile electronic device is prevented from proceeding by avoiding the forbidden entry area according to a preset avoidance policy;
  • the map construction unit 89 constructs a map based on the RFID tag information of the coordinate system construction and recording unit record 82 and its coordinate value and the coordinate value of each obstacle position, and constructs based on the region code information of each of the RFID tags.
  • the map is marked as accessible/inaccessible.
  • the RFID-based positioning and map construction device of the present embodiment effectively solves the problem of the automatic identification prohibition entry area (also referred to as virtual wall) in the prior art.
  • the automatic identification prohibition entry area also referred to as virtual wall
  • the RFID-based positioning and map construction apparatus of this embodiment may further include the foregoing Embodiment 6
  • the gyro sensor or/and the electronic compass 64, the accelerometer 65 and the first correcting unit 66 respectively record the angular velocity or/and the angle of the movable electronic device in real time by a gyro sensor or/and an electronic compass and an accelerometer. And an acceleration to correct a moving direction and a moving distance of the movable electronic device with respect to the starting point, and calculate coordinate values based on the corrected moving direction and the moving distance, thereby correcting each of the obtained coordinate values.
  • FIG. 9 is a structural block diagram of an RFID-based positioning and map construction apparatus according to Embodiment 9 of the present invention.
  • the device is a mobile device/mounted on a mobile device and is suitable for real-time map construction of a to-be-positioned area with two or more RFID tags.
  • each RFID tag is correspondingly disposed at a specific location of the to-be-positioned area, and each of the RFID tag information includes unique coding information for distinguishing its absolute position.
  • the removable electronic device can be, for example, a robot.
  • the RFID-based positioning and map construction device includes:
  • An RFID tag information reader 91 configured to read the RFID tag information
  • a coordinate system construction and recording unit 92 configured to: when the mobile electronic device first moves the first RFID tag information acquired by the RFID tag information reader along a certain motion track, the first Positioning the RFID tag as a coordinate origin of the coordinate system, and recording the RFID tag information and corresponding coordinate values;
  • the encoder 93 is configured to record, in the process of using the coordinate origin as the starting point and traversing the entire to-be-positioned area, the moving direction and the moving distance of the movable electronic device relative to the starting point in real time. ;
  • a first calculating unit 95 configured to calculate, according to the moving direction and the moving distance of the movable electronic device relative to the starting point recorded by the encoder 93, whenever the obstacle detecting component detects an obstacle a coordinate value of each of the obstacle positions, and transmitting the calculated coordinate value to the coordinate system construction and recording unit;
  • a second calculating unit 96 configured to calculate, according to a moving direction and a moving distance of the movable electronic device relative to the starting point, that is recorded by the encoder 93 during the traversing process, each time the removable electronic device acquires The coordinate value of the position of the other RFID tag in addition to the other RFID tag information, and the other tag information and the corresponding coordinate value are sent to the coordinate system construction and recording unit 92;
  • the map construction unit 97 constructs a map based on the RFID tag information of the coordinate system construction and recording unit record 92 and its coordinate values and coordinate values of each obstacle position;
  • a second correcting unit 98 configured to apply a correction algorithm after the movable electronic device traverses the entire to-be-positioned area multiple times with the coordinate origin as a starting point, and based on coordinate values of each RFID tag obtained by each traversal Correcting coordinate values of each of the RFID tags; and transmitting the corrected coordinate values to the map construction unit to correct the constructed map.
  • the RFID-based positioning and map construction apparatus of this embodiment adds a second correction unit to the seventh embodiment.
  • 98. Obtain coordinate values of each RFID tag multiple times by means of multiple traversal of the movable device, and then correct the coordinate values of each RFID tag by using a recursive algorithm, etc., the more times the mobile device traverses, the corrected The more accurate the coordinates of the RFID tag will be until the error is reduced to negligible until the end.
  • the map construction unit 97 corrects the constructed map based on the corrected coordinate values. Thereby, the accumulated error of the movable device value traversal once is eliminated, and the accuracy of constructing the map is improved.
  • FIG. 10 is a structural block diagram of an RFID-based positioning and map construction apparatus according to Embodiment 10 of the present invention.
  • the device is a mobile device/mounted on a mobile device and is suitable for real-time map construction of a to-be-positioned area with two or more RFID tags.
  • each RFID tag is correspondingly disposed at a specific position of the to-be-positioned area, and each of the RFID tag information includes unique coding information for distinguishing its absolute position and an area for distinguishing the accessible area/forbidden entry area Encoding information.
  • the RFID tag with the area code information of the forbidden entry area defines the specific area behind the boundary line where the RFID tag is located as the forbidden entry area.
  • the removable electronic device can be, for example, a robot.
  • the RFID-based positioning and map construction device includes:
  • An RFID tag information reader 101 configured to read the RFID tag information
  • a coordinate system construction and recording unit 102 configured to: when the mobile electronic device first moves the first RFID tag information acquired by the RFID tag information reader along a certain motion track, the first Positioning the RFID tag as a coordinate origin of the coordinate system, and recording the RFID tag information and corresponding coordinate values;
  • the encoder 103 is configured to record, in the process of using the coordinate origin as the starting point and traversing the entire to-be-positioned area, the moving direction and the moving distance of the movable electronic device relative to the starting point in real time. ;
  • a first calculating unit 105 configured to calculate, according to the moving direction and the moving distance of the movable electronic device relative to the starting point recorded by the encoder 103, whenever the obstacle detecting component detects an obstacle a coordinate value of each of the obstacle positions, and transmitting the calculated coordinate value to the coordinate system construction and recording unit;
  • a second calculating unit 106 configured to calculate, according to the moving direction and the moving distance of the movable electronic device with respect to the starting point, that the movable electronic device acquires each time according to the moving direction and the moving distance recorded by the encoder 103
  • the coordinate value of the position of the other RFID tag when the other RFID tag information except the first RFID tag is sent, and the other tag information and the corresponding coordinate value are sent together to the coordinate system construction and recording unit 102;
  • the area identifying unit 107 is configured to identify, as each of the RFID tag information acquired by the RFID tag information reader 101, whether the area coded information in the RFID tag information is an enterable area or a forbidden entry area;
  • the avoiding policy unit 108 if the area identifying unit 107 identifies that the area coded information is a forbidden entry area, the mobile electronic device is caused to avoid the prohibited entry area and continue to advance according to a preset avoidance policy;
  • the map construction unit 109 constructs a map based on the RFID tag information of the coordinate system construction and recording unit record 102 and its coordinate value and the coordinate value of each obstacle position, and constructs a region coded information based on each of the RFID tags.
  • the map is marked as accessible/inaccessible.
  • a second correcting unit 1010 configured to apply a correction algorithm after the movable electronic device traverses the entire to-be-positioned area multiple times with the coordinate origin as a starting point, and based on coordinate values of each RFID tag obtained by each traversal Correcting coordinate values of each of the RFID tags; and transmitting the corrected coordinate values to the map construction unit to correct the constructed map.
  • the RFID-based positioning and map construction apparatus of the present embodiment adds a second correction unit 1010 based on the eighth embodiment, and acquires the coordinate values of each RFID tag multiple times by the traversal of the movable device, and then adopts the delivery.
  • Push algorithm and so on corrects the coordinate value of each RFID tag.
  • the more the number of traversing mobile devices the more accurate the corrected coordinate value of the RFID tag will be, until the error is reduced to negligible.
  • the map construction unit 109 corrects the constructed map based on the corrected coordinate values. Thereby, the accumulated error of the movable device value traversal once is eliminated, and the accuracy of constructing the map is improved.
  • the embodiment of the invention further discloses an intelligent mobile device, comprising a mobile device and an RFID-based positioning and map construction device according to any of the embodiments shown in FIGS. 5-10.
  • the smart mobile device is preferably a robot.

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Abstract

一种基于RFID的定位与地图构建方法，适用于对设有至少一个RFID标签的待定位区域进行实时地图构建，包括步骤：以可移动电子设备初次沿一定的运动轨迹移动时获取到的第一个所述RFID标签信息时的所述第一个RFID标签的位置作为坐标系的坐标原点，并记录所述第一个所述RFID标签信息及其坐标值（S11）；以所述坐标原点作为起始点移动所述可移动电子设备并遍历整个待定位区域（S12）；在遍历过程中，基于所述可移动电子设备相对所述起始点的移动方向和移动距离，计算并记录所述可移动电子设备每一次检测到障碍物时的障碍物位置的坐标值（S13）；完成遍历后，基于记录的RFID标签的信息及其坐标值以及每一个障碍物位置的坐标值构建地图（S14）。还提供了一种基于RFID的定位与地图构建装置。

Description

基于RFID的定位与地图构建方法及其装置 技术领域
本发明涉及即时定位与地图构建领域，尤其涉及一种基于RFID的定位与地图构建方法及其装置。
背景技术
移动装置的定位和地图构建是机器人领域的热点研究问题。对于已知环境中的移动装置自主定位和已知机器人位置的地图创建已经有了实用的解决方法。然而，在很多环境中移动装置不能利用全局定位系统进行定位，而且事先获取移动装置工作环境的地图很困难，甚至是不可能的。这时移动装置需要在自身位置不确定的条件下，在完全未知环境中构建地图，同时利用地图进行自主定位和导航。这就是所谓的即时定位与地图构建(SLAM)。
在即时定位与地图构建(SLAM)中，移动装置利用自身携带的传感器识别未知环境中的特征标志，然后根据移动装置与特征标志之间的相对位置和编码器的读数估计移动装置和特征标志的全局坐标。
目前，现在的自动行走机器人或设备的定位技术中常见的有：
1)、GPS定位；GPS定位的基本原理是根据高速运动的卫星瞬间位置作为已知的起算数据，采用空间距离后方交会的方法，确定待测点的位置。
2)、条形码定位方式。要将按照一定规则编译出来的条形码转换成有意义的信息，需要经历扫描和译码两个过程。物体的颜色是由其反射光的类型决定的，白色物体能反射各种波长的可见光，黑色物体则吸收各种波长的可见光，所以当条形码扫描器光源发出的光在条形码上反射后，反射光照射到条码扫描器内部的光电转换器上，光电转换器根据强弱不同的反射光信号，转换成相应的电信号。根据原理的差异，扫描器可以分为光笔、CCD、激光三种。电信号输出到条码扫描器的放大电路增强信号之后，再送到整形电路将模拟信号转换成数字信号。白条、黑条的宽度不同，相应的电信号持续时间长短也不同。然后译码器通过测量脉冲数字电信号0，1的数目来判别条和空的数目。通过测量0，1信号持续的时间来判别条和空的宽度。此时所得到的数据仍然是杂乱无章的，要知道条形码所包含的信息，则需根据对应的编码规则(例如：EAN-8码)，将条形符号换成相应的数字、字符信息。最后，由计算机系统进行数据处理与管理，物品的详细信息便被识别了。
以上各定位技术在自动行走机器人或自动行走设备实现过程中相对复杂，各有不同缺点：
1.GPS定位由于信号问题在室内不实用。
2.条码定位方式，因条码容易受污染而照成无法读取使用场合有限制。
室内环境中的移动机器人定位导航技术具有定位精度要求高、环境复杂的特点，以上这些方法都不适用。
RFID(Radio Frequency Identification)射频识别是一种非接触式的自动识别技术，它通过射频信号自动识别目标对象并获取相关数据，识别工作无须人工干预，可工作于各种恶劣环境，RFID技术可识别高速运动物体并可同时识别多个标签，操作快捷方便。因此结合此种技术对现有移动机器人定位导航方法进行改进是十分必要的。
在现有的基于RFID的自动行走机器人定位技术中，如专利申请号为CN201320438818.2的一个中国实用新型申请专利，其公开了一种RFID室内定位系统，具体通过多个电子标签，并且将电子标签按照等边三角形的方式排列在定位区域内，通过无线信号强度来计算及定位。虽然该方法能够有效定位室内环境，定位精确较高，但是不足之处在于需要至少三个电子标签来发射无线信号，而且三个电子标签的排列方式固定为等边三角形，限制性多，且适应性不强。
在另一个专利申请号为CN201080034870.0的中国发明申请专利中，其公开的RFID定位系统将带有位置信息的RFID标签贴于建筑物某处，通过读取RFID标签信息来确定位置。该方法并不需要限定电子标签的排列方式固定为等边三角形，但是，这种方法需要先精确测量建筑物的尺寸等信息，然后将位置信息通过RFID读写器写入RFID标签，操作较为繁琐，而且也需要多个RFID标签才能有效实现定位效果。
发明内容
本发明实施例的目的是提供一种基于RFID的定位与地图构建方法及其装置，能有效解决现有技术中需要多个RFID标签才能实现定位而且操作繁琐的问题。
本发明实施例提供了一种基于RFID的定位与地图构建方法，包括步骤：
以可移动电子设备初次沿一定的运动轨迹移动而获取到的第一个所述RFID标签信息时的第一个所述RFID标签的位置作为坐标系的坐标原点，并记录所述第一个RFID标签信息及其坐标值；
以所述坐标原点作为起始点移动所述可移动电子设备并遍历整个待定位区域，在遍历过程中，基于所述可移动电子设备相对所述起始点的移动方向和移动距离，计算并记录所述可移动电子设备每一次检测到障碍物时的障碍物位置的坐标值；
完成遍历后，基于记录的RFID标签的信息及其坐标值以及每一个障碍物位置的坐标值构建地图。
在本发明的另一实施例中，所述RFID标签的数量为两个及以上，且每一个RFID标签对应设置在所述待定位区域的特定位置上，每一所述RFID标签信息包括用于区别其绝对位置的唯一编码信息；所述方法还包括步骤：
在遍历过程中，基于所述可移动电子设备相对所述起始点的移动方向和移动距离，计算所述可移动电子设备每一次获取到的除所述第一个RFID标签外的其他RFID标签信息时的其他RFID标签的位置的坐标值，并记录其他RFID标签信息及对应的坐标值。
在本发明的另一实施例中，在基于记录的所有坐标值构建地图后，还包括步骤：
以所述坐标原点作为起始点使所述可移动电子设备多次遍历整个待定位区域，并基于每次遍历得到的每一个RFID标签的坐标值，运用纠正算法对每一个所述RFID标签的坐标值进行纠正；
基于纠正后的坐标值校正所构建的地图。
在本发明的另一实施例中，每一个所述RFID标签信息还包括用于区别可进入区域/禁止进入区域的区域编码信息，带有禁止进入区域的区域编码信息的RFID标签将该RFID标签所在的分界线后的特定区域限定为禁止进入区域，所述方法还包括步骤：
当所述可移动电子设备获取到的每一个RFID标签信息时，首先基于所述RFID标签信息中的区域编码信息识别为可进入区域还是禁止进入区域，若为禁止进入区域，则根据预设的避开策略，使所述可移动电子设备避开所述禁止进入区域而继续前进。
作为上述实施例的改进，在完成遍历后，基于记录的RFID标签的信息及其坐标值以及每一个障碍物位置的坐标值构建地图时，还基于每一所述RFID标签的区域编码信息在构建的地图上标示为可进入区域/禁止进入区域。
作为上述实施例的改进，通过以下方式来计算所述可移动电子设备每一次检测到障碍物时的障碍物位置的坐标值：
利用碰撞传感器来感应障碍物，当碰撞传感器感测碰到障碍物时，将所述可移动电子设备的坐标值作为所述障碍物位置的坐标值；
利用激光传感器/红外传感器来探测障碍物，当激光传感器/红外传感器来探测到障碍物时，根据激光/红外距离计算原理计算出障碍物相对当前所述可移动电子设备的位置，从而计 算出所述障碍物位置的坐标值。
作为上述实施例的改进，还包括步骤：
基于所述可移动电子设备的角速度或/和角度以及加速度对所述可移动电子设备相对所述起始点的移动方向和移动距离进行纠正；且每一所述坐标值均基于纠正后的所述可移动电子设备相对所述起始点的移动方向和移动距离而计算得到。
作为上述实施例的改进，所述RFID标签采用无源RFID，限定所述可移动电子设备只有在距离每一所述RFID标签最近的位置时，才能获取到每一所述RFID标签的标签信息，并将所述可移动电子设备能获取到每一所述RFID标签的标签信息时的位置作为该RFID标签的位置。
作为上述实施例的改进，通过以下方式确定每一所述RFID标签的位置：
所述RFID标签采用有源RFID，当所述可移动电子设备感应到任意一个所述RFID标签的标签信息时，使所述可移动电子设备往RFID标签的RSSI逐渐增大的方向移动，直至所述可移动电子设备感应到的所述RFID标签的RSSI等于或大于预设的最大RSSI值时或直至所述可移动电子设备碰到所述RFID标签时，将所述可移动电子设备此时的位置作为所述RFID标签的位置。
作为上述实施例的改进，还包括步骤：在所述可移动电子设备的遍历过程中碰到障碍物时，根据预设的碰撞策略，使所述可移动电子设备绕开所述障碍物而继续前进；所述预设的碰撞策略优选为：
在发生碰撞时，使所述可移动电子设备后退M厘米并且向左/右旋转N°后继续前进，其中，0<M<20,0<N<10。
作为上述实施例的改进，所述预设的避开策略包括：
在识别出该区域为禁止进入区域时，使所述可移动电子设备后退P厘米并且向左/右旋转Q°后继续前进，其中，P不少于所述分界线的长度,45≤Q≤90。
作为上述实施例的改进，所述可移动电子设备为机器人。
作为上述实施例的改进，所述方法适用于对室内的待定位区域进行实时地图构建。
作为上述实施例的改进，所述RFID标签适于被设置在房间门框的左侧和/或右侧墙壁上。
本发明实施例提供了一种基于RFID的定位及地图构建装置，适用于对设有至少一个RFID标签的待定位区域进行实时地图构建，所述定位及地图构建装置为可移动设备，所述可移动设备包括：
RFID标签信息读取器，用于读取所述RFID标签信息；
坐标系构建及记录单元，用于在所述可移动电子设备初次沿一定的运动轨迹移动并通过所述RFID标签信息读取器获取到的第一个所述RFID标签信息时，将第一个所述RFID标签的位置作为坐标系的坐标原点，并记录所述RFID标签信息及对应的坐标值；
编码器，用于在所述可移动电子设备以所述坐标原点作为起始点并遍历整个待定位区域的过程中，实时记录所述可移动电子设备相对所述起始点的移动方向和移动距离；
障碍物检测部件，用于检测障碍物；
第一计算单元，用于每当所述障碍物检测部件检测到障碍物时，基于所述编码器记录的相对所述起始点的移动方向和移动距离，计算得到每一所述障碍物位置的坐标值，并将计算到的坐标值发送给所述坐标系构建及记录单元；
地图构建单元，基于所述坐标系构建及记录单元记录的RFID标签信息及其坐标值以及每一个障碍物位置的坐标值构建地图。
作为上述实施例的改进，所述装置还包括：
陀螺仪传感器或/和电子罗盘以及加速度计，用于在所述可移动电子设备以所述坐标原点作为起始点并遍历整个待定位区域的过程中，分别实时记录所述可移动电子设备的角速度或/和角度以及加速度；以及
第一纠正单元，基于所述可移动电子设备的角速度或/和角度以及加速度，对所述可移动电子设备相对所述起始点的移动方向和移动距离进行纠正；
所述第一计算单元基于纠正后的所述可移动电子设备相对所述起始点的移动方向和移动距离而计算得到每一所述障碍物位置的坐标值。
在本发明的另一实施例中，所述RFID标签的数量为两个及以上，且每一个RFID标签对应设置在所述待定位区域的特定位置上，每一所述RFID标签信息包括用于区别其绝对位置的唯一编码信息；所述装置还包括：
第二计算单元，用于在遍历过程中，基于所述可移动电子设备相对所述起始点的移动方向和移动距离，计算所述可移动电子设备每一次获取到的除所述第一个RFID标签外的其他RFID标签信息时的其他RFID标签的位置的坐标值，并将其他标签信息及对应的坐标值一同发送给所述坐标系构建及记录单元。
作为上述实施例的改进，所述装置还包括：
陀螺仪传感器或/和电子罗盘以及加速度计，用于在所述可移动电子设备以所述坐标原点作为起始点并遍历整个待定位区域的过程中，分别实时记录所述可移动电子设备的角速度或/和角度以及加速度；以及第一纠正单元，基于所述可移动电子设备的角速度或/和角度以及加 速度，对所述可移动电子设备相对所述起始点的移动方向和移动距离进行纠正；
所述第一计算单元基于纠正后的所述可移动电子设备相对所述起始点的移动方向和移动距离而计算得到每一所述障碍物位置的坐标值；
所述第二计算单元基于纠正后的所述可移动电子设备相对所述起始点的移动方向和移动距离而计算得到其他RFID标签位置的坐标值。
在本发明的另一实施例中，所述装置还包括：
第二纠正单元，用于在所述可移动电子设备以所述坐标原点作为起始点多次遍历整个待定位区域后，并基于每次遍历得到的每一个RFID标签的坐标值，运用纠正算法对每一个所述RFID标签的坐标值进行纠正；并将纠正后的坐标值发送给所述地图构建单元以对所构建的地图进行校正。
在本发明的另一实施例中，每一个所述RFID标签信息还包括用于区别可进入区域/禁止进入区域的区域编码信息，带有禁止进入区域的区域编码信息的RFID标签将该RFID标签所在的分界线后的特定区域限定为禁止进入区域，所述装置还包括：
区域识别单元，用于当所述可移动电子设备获取到的每一个RFID标签信息时，基于所述RFID标签信息中的区域编码信息识别为可进入区域还是禁止进入区域；以及避开策略单元，若区域识别单元识别区域编码信息为禁止进入区域，则根据预设的避开策略，使所述可移动电子设备避开所述禁止进入区域而继续前进。
作为上述实施例的改进，所述地图构建单元在完成遍历后，基于记录的RFID标签的信息及其坐标值以及每一个障碍物位置的坐标值构建地图时，还基于每一所述RFID标签的区域编码信息在构建的地图上标示为可进入区域/禁止进入区域。
作为上述实施例的改进，所述障碍物检测部包括碰撞传感器、激光传感器或红外传感器；
当利用碰撞传感器感测碰到障碍物时，所述第一计算单元将计算得到的所述可移动电子设备当前位置的坐标值作为所述障碍物位置的坐标值；
当利用激光传感器/红外传感器来探测到障碍物时，所述激光传感器/红外传感器根据激光/红外距离计算原理计算出障碍物相对当前所述可移动电子设备的位置，并发送给所述第一计算单元，所述第一计算单元基于计算得到的所述可移动电子设备当前位置的坐标值以及所述障碍物相对当前所述可移动电子设备的位置，从而计算得到障碍物位置的坐标值。
作为上述实施例的改进，所述RFID标签采用无源RFID，限定所述可移动电子设备只有在距离每一所述RFID标签最近的位置时，所述RFID标签信息读取器才能获取到每一所述 RFID标签的标签信息，并将所述可移动电子设备能获取到每一所述RFID标签的标签信息时的位置作为该RFID标签的位置。
作为上述实施例的改进，所述RFID标签采用有源RFID，当所述RFID标签信息读取器感应到任意一个所述RFID标签的标签信息时，使所述可移动电子设备往RFID标签的RSSI逐渐增大的方向移动，直至所述RFID标签信息读取器感应到的所述RFID标签的RSSI等于或大于预设的最大RSSI值时或直至所述RFID标签信息读取器感测到所述可移动电子设备碰到所述RFID标签时，将所述可移动电子设备此时的位置作为所述RFID标签的位置。
作为上述实施例的改进，所述装置还包括：
碰撞策略单元，用于在所述可移动电子设备的遍历过程中碰到障碍物时，根据预设的碰撞策略，使所述可移动电子设备绕开所述障碍物而继续前进；
所述预设的碰撞策略优选为：
在发生碰撞时，使所述可移动电子设备后退M厘米并且向左/右旋转N°后继续前进，其中，0<M<20,0<N<10。
作为上述实施例的改进，所述预设的避开策略包括:
在识别出该区域为禁止进入区域时，使所述可移动电子设备后退P厘米并且向左/右旋转Q°后继续前进，其中，P不少于所述分界线的长度,45≤Q≤90。
作为上述实施例的改进，所述可移动电子设备为机器人。
作为上述实施例的改进，所述装置适用于对室内的待定位区域进行实时地图构建。
作为上述实施例的改进，所述RFID标签适于被设置在房间门框的左侧和/或右侧墙壁上。
作为上述实施例的改进，在房间门框的左侧和/或右侧墙壁上设置有一固定槽，所述RFID标签放置在所述固定槽内。
本发明实施例还公开了一种智能移动设备，包括移动装置以及如上所述的基于RFID的定位及地图构建装置。
与现有技术相比，本发明公开的基于RFID的定位与地图构建方法及其装置，通过在待定位区域中设置至少一个RFID标签，并基于可移动电子设备初次移动时感应到的第一个所述RFID标签时的(RFID标签)位置作为坐标原点，然后以所述坐标原点作为起始点移动所述可移动电子设备并遍历整个待定位区域过程中，基于所述可移动电子设备相对所述起始点的移动方向和移动距离，计算并记录所述可移动电子设备每一次检测到障碍物时的障碍物位置的坐标值；完成遍历后，基于记录的RFID标签的信息及其坐标值以及每一个障碍物位置的坐标值构建地图。因此，本发明只需要一个或以上的RFID标签即可实现待定位区域的定 位及地图构建，而且方法简单，从而解决了现有技术中需要多个RFID标签才能实现定位而且操作繁琐的问题，具有成本低、操作简单且有效的技术效果。
附图说明
图1是本发明实施例1中一种基于RFID的定位与地图构建方法的流程示意图。
图2是本发明实施例2中一种基于RFID的定位与地图构建方法的流程示意图。
图3是本发明实施例3中一种基于RFID的定位与地图构建方法的流程示意图。
图4是本发明实施例4中一种基于RFID的定位与地图构建方法的流程示意图。
图5是本发明实施例5中一种基于RFID的定位与地图构建装置的结构框图。
图6是本发明实施例6中一种基于RFID的定位与地图构建装置的结构框图。
图7是本发明实施例7中一种基于RFID的定位与地图构建装置的结构框图。
图8是本发明实施例8中一种基于RFID的定位与地图构建装置的结构框图。
图9是本发明实施例9中一种基于RFID的定位与地图构建装置的结构框图。
图10是本发明实施例10中一种基于RFID的定位与地图构建装置的结构框图。
图11～图12显示将RFID标签置于固定在墙壁上的固定槽内的结构示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
参见图1，是本发明实施例1提供的一种基于RFID的定位与地图构建方法的流程示意图。该基于RFID的定位与地图构建方法适用于利用可移动电子设备对设有至少一个RFID标签的待定位区域进行实时地图构建，该可移动电子设备可为例如：机器人。
本实施例的基于RFID的定位与地图构建方法包括步骤：
S11、以可移动电子设备初次沿一定的运动轨迹移动时获取到的第一个所述RFID标签信息时的第一个所述RFID标签的位置作为坐标系的坐标原点，并记录所述第一个RFID标签信息及其坐标值；
S12、以所述坐标原点作为起始点移动所述可移动电子设备并遍历整个待定位区域；
S13、在遍历过程中，基于所述可移动电子设备相对所述起始点的移动方向和移动距离， 计算并记录所述可移动电子设备每一次检测到障碍物时的障碍物位置的坐标值；
S14、完成遍历后，基于记录的RFID标签的信息及其坐标值以及每一个障碍物位置的坐标值构建地图。
在步骤S11中，在待定位及地图构建的区域的至少一个特定位置/任意位置放置一个RFID标签后，需要对该整个区域进行定位和构建地图，则需要通过可移动电子设备遍历整个区域才能获得区域中的相关信息。在第一次遍历开始时，可使可移动电子设备沿一定的运动轨迹移动，直至该可移动电子设备感应到第一个RFID标签信息时，可移动电子设备将第一个RFID标签的位置作为由X轴和Y轴构成的坐标系中的坐标原点，并记录所述第一个所述RFID标签信息及其坐标值(坐标原点)。
可以理解的，为了方便计算和构图，将获取到的第一个所述RFID标签信息时的第一个所述RFID标签的位置作为由X轴和Y轴构成的坐标系的坐标原点。但是，第一个所述RFID标签的位置并不局限于只能作为由X轴和Y轴构成的坐标系的坐标原点，也可以是标记为其他参照点，具备参考作用即可，以方便记录其他点的信息。其中，RFID标签一般和RFID标签信息读取器配合使用，在RFID标签信息读取器的信号和能量激励下，RFID标签能将信息传递给RFID标签信息读取器上。因此，在该步骤中，本实施例的可移动电子设备可通过RFID标签信息读取器来读取RFID标签信息。
下面，详细描述可移动电子设备如何通过RFID标签信息读取器来读取RFID标签信息时确定该RFID标签的具体位置。
方式一：每一所述RFID标签采用无源RFID，限定所述可移动电子设备只有在距离每一所述RFID标签最近的位置时，所述可移动电子设备上的RFID标签信息读取器才能感应(获取)到每一所述RFID标签的标签信息。
这样，当所述可移动电子设备上的RFID标签信息读取器能够获取到该RFID标签的标签信息时，说明所述可移动电子设备的位置距离所述RFID标签已经足够近(彼此之间的距离可忽略不计)，从而将所述可移动电子设备获取到该RFID标签时，将可移动电子设备此时所处的位置视为该RFID标签的位置。
可以理解的，可通过/调整可移动电子设备上的RFID标签信息读取器的读取范围(范围尽量小)来实现上述方式一的方案。
方式二：每一所述RFID标签采用有源RFID，所述可移动电子设备在移动过程中，当所述可移动电子设备上的RFID标签信息读取器感应到(达到一定的读取范围)任意一个所述 RFID标签的标签信息时，使所述可移动电子设备往RFID标签的RSSI逐渐增大的方向移动，可以理解的，RFID标签信息读取器可能感应到不少于一个RFID标签的标签信息，则将可移动电子设备往RSSI较大的一个RFID标签方向移动。直至所述可移动电子设备感应到的所述RFID标签的RSSI等于或大于预设的最大RSSI值时或直至所述可移动电子设备碰到所述RFID标签(可通过碰撞传感器部件来感测碰撞)时，将所述可移动电子设备此时的位置作为所述RFID标签的位置。
可以理解，除了上述两种方式，还可以利用其它方式来实现可移动电子设备通过RFID标签信息读取器来读取RFID标签信息时对该RFID标签的具体位置的确定，并不局限于所公开的方式。
在步骤S12～S13中，当确定以第一个所述RFID标签的位置为坐标原点时，将所述坐标原点作为运动的起始点移动所述可移动电子设备以遍历整个待定位区域。并且，在所述可移动电子设备从所述起始点开始移动的同时，启动实时计算所述可移动电子设备相对所述起始点的移动方向和移动距离(例如，可通过机器人的驱动轮轴上安装的编码器来实时记录机器人所移动路径以及相对位置和角度，从而能够通过计算获得可移动电子设备相对所述起始点的位置(包括距离和方向)，从而得到可移动电子设备的坐标值。在遍历过程中，可通过以下方式来计算所述可移动电子设备每一次检测到障碍物时的障碍物位置的坐标值：
方式一：利用碰撞传感器来感应障碍物，当碰撞传感器感测碰到障碍物时，将所述可移动电子设备当前的坐标值作为所述障碍物位置的坐标值；
方式二：利用激光传感器/红外传感器来探测障碍物，当激光传感器/红外传感器来探测到障碍物时，根据激光/红外距离计算原理计算出障碍物相对当前所述可移动电子设备的位置，从而计算出所述障碍物位置的坐标值。
另外，本实施例还增设了碰撞策略，即,在所述可移动电子设备的遍历过程中碰到障碍物时，根据预设的碰撞策略，使所述可移动电子设备绕开所述障碍物而继续前进。
在本发明的一个优选实施例中，所述预定的碰撞策略包括：当可移动电子设备通过(例如，碰撞传感器部件)感测到发生碰撞时，所述可移动电子设备将进行智能分析以确定进一步的移动方式。例如，所述可移动电子设备可以根据待定位区域的具体环境格局选择后退大于0且小于20厘米并且向右或左旋转1-10°。当所述可移动电子设备处于狭小空间中时，所述可移动电子设备可以选择后退大于0且小于2厘米。更进一步地，在连续3次旋转1°后的再次碰撞点均在一个平面时，所述可移动电子设备则选择旋转更大的角度，例如旋转角 度2°甚至10°。
可以理解的，除了这里公开的碰撞策略外，本实施例的碰撞策略还可以采用其他方式，并不局限于此。
因此，通过预设的碰撞策略，继续移动所述可移动电子设备以获取其他RFID标签和障碍物的坐标值，直至遍历完整个待定位区域时，才完成一次遍历。可以理解的，所述可移动电子设备完成一次遍历后，记录该待定位区域的全部特征信息(包括RFID标签的位置及每一个障碍物位置的位置信息)。
在所述步骤S14中，待所述可移动电子设备完成一次遍历后，基于记录的RFID标签的信息及其坐标值以及每一个障碍物位置的坐标值来构建地图。记录的信息越多，所构建的地图越丰富和详细。例如，由于可移动电子设备检测到障碍物时，会将障碍物的坐标值记录下来，当可移动电子设备置于室内环境遍历完整个房间后，便可以将所有障碍物的坐标连续记录下来，外围的同时围成一个圈的障碍物则可以认为是墙壁，这样，就将整个房间的无障碍区域，有障碍区域，墙壁区分开，这就构建了整个房间的地图。
可以理解的，所构建的地图为2D地图，所述可移动电子设备(例如，机器人)可以按照构建完成后的地图进行导航。
在本发明的另一优选实施例中，为了进一步提高所构建地图的精确度，可基于所述可移动电子设备的角速度或/和角度以及加速度对所述可移动电子设备相对所述起始点的移动方向和移动距离进行纠正，从而校正每一个得到的坐标值。例如，如果通过机器人的驱动轮轴上安装的编码器来实时记录机器人相对所述起始点的移动方向和移动距离时，由于打滑、两驱动轮和地面接触点之间距离的不确定等原因，使得编码器的测算过程存在累积误差。因此，本实施例的可移动电子设备优选的，例如采用陀螺仪传感器或/和电子罗盘以及加速度计来分别实时记录所述可移动电子设备的角速度或/和角度以及加速度，然后，基于所述陀螺仪传感器或/和电子罗盘以及加速度计实时记录的角速度或/和角度以及加速度，以对编码器实时记录的所述可移动电子设备相对所述起始点的移动方向和移动距离进行纠正，从而使得基于纠正后的所述可移动电子设备相对所述起始点的移动方向和移动距离而计算得到每一个坐标值更为准确，从而使得基于坐标值构建的地图更为精确。
可见，本实施例的基于RFID的定位及地图构建方法只需要一个或以上的RFID标签即可实现待定位区域的定位及地图构建，而且方法简单，从而解决了现有技术中需要多个RFID标签才能实现定位而且操作繁琐的问题，具有成本低、操作简单且有效的技术效果。
参考图2，是本发明实施例2提供的一种基于RFID的定位与地图构建方法的流程示意图。该方法适用于利用可移动电子设备对设有两个或以上RFID标签的待定位区域进行实时地图构建。其中，每一个RFID标签对应设置在所述待定位区域的特定位置上，每一所述RFID标签信息包括用于区别其绝对位置的唯一编码信息。该可移动电子设备可为，例如：机器人。
本实施例的基于RFID的定位与地图构建方法包括步骤：
S21、以可移动电子设备初次沿一定的运动轨迹移动时获取到的第一个所述RFID标签信息时的第一个所述RFID标签的位置作为坐标系的坐标原点，并记录所述第一个所述RFID标签信息及其坐标值；
S22、以所述坐标原点作为起始点移动所述可移动电子设备并遍历整个待定位区域；
S23、在遍历过程中，基于所述可移动电子设备相对所述起始点的移动方向和移动距离，计算并记录所述可移动电子设备每一次检测到障碍物时的障碍物位置的坐标值；
S24、在遍历过程中，基于所述可移动电子设备相对所述起始点的移动方向和移动距离，计算并记录所述可移动电子设备每一次获取到的除所述第一个RFID标签外的其他RFID标签信息时的其他RFID标签位置的坐标值；
S25、完成遍历后，基于记录的RFID标签的信息及其坐标值以及每一个障碍物位置的坐标值构建地图。
可以理解的，本实施例的步骤S21～S23及S25与图1所示的步骤S11～S13及S14基本一致，在此不再赘述。
与实施例1不同的是，由于本实施例的方法适用于对设有两个以上RFID标签的待定位区域进行地位，且每一个RFID标签对应设置在所述待定位区域的特定位置上，每一所述RFID标签信息包括用于区别其绝对位置的唯一编码信息，因此，在所述可移动电子设备的遍历过程中，除了要计算并记录所述可移动电子设备每一次检测到障碍物时的障碍物位置的坐标值外，还要计算并记录所述可移动电子设备每一次获取到的除所述第一个RFID标签外的其他RFID标签信息时的其他RFID标签位置的坐标值，即步骤S24。
关于可移动电子设备如何通过RFID标签信息读取器来读取其他RFID标签信息时确定该其他RFID标签的具体位置，可参考上述实施例1的相关描述，在此不再赘述。
可以理解的，该处所指的可移动电子设备获取到的RFID标签信息中主要包含用于区别其绝对位置的唯一编码信息。例如，当将至少两个RFID标签分别放置在待定位区域的不同 特定位置(例如，房间1，房间2……)上时，需要通过所述RFID标签信息中的唯一编码信息来确定并区分该RFID标签所处的特定位置(绝对位置)，例如，该RFID标签位于房间1还是房间2等。一般的，对于无源RFID标签，每个标签一般都会带有自身的唯一号码，可将该自身带有的唯一号码作为区别其绝对位置的唯一编码信息，并将无源RFID标签置于对应的特定位置上，以便对该特定位置进行识别。因此，通过获取每一个RFID标签信息中的唯一编码信息时，经过识别能够确定该RFID标签所处的绝对位置。
可以理解的，本实施例的基于RFID的定位及地图构建方法适用于对室内的待定位区域进行实时地图构建。在对室内环境进行定位时，优选在该室内的每一个房间门框的左侧和/或右侧墙壁上放置一个所述RFID标签111，如图11所示，可以理解的，所述RFID标签111可通过磁铁等方式吸附固定在墙壁上。优选的，可在房间门框的左侧和/或右侧墙壁上固定有固定槽100，将所述RFID标签111放置在所述固定槽100内，如图12所示。
这样，基于记录的每一个RFID标签信息及其坐标值以及每一个障碍物位置的坐标值完成地图构建后，所述可移动电子设备可以基于每一个RFID标签信息中的唯一编码信息来实现绝对位置的导航和分辨。例如，需要机器人遍历一趟房间2的时候，可以基于放置在该房间2的门框的左侧和/或右侧墙壁上的RFID标签的唯一编码信息来确定房间2的绝对位置(即该RFID标签位置)，并基于该RFID标签位置在构建的地图上的相对坐标值(相对坐标原点的方向和距离)，从而导航可移动电子设备从到达该房间2。
另外，基于每一个RFID标签信息中的唯一编码信息，还能使得可移动设备(机器人)知道其“身在何处”。例如，对于清洁机器人，需要对室内的多个房间进行清洁时，这样，通过识别每一个房间对应的RFID标签信息中的唯一编码信息，就能确定自身处于哪个房间，从而防止多次对同一个房间进行清洁，以减少重复工作。
参考图3，是本发明实施例3提供的一种基于RFID的定位与地图构建方法的流程示意图。该方法适用于利用可移动电子设备对设有两个或以上RFID标签的待定位区域进行实时地图构建。其中，每一个RFID标签对应设置在所述待定位区域的特定位置上，每一所述RFID标签信息包括用于区别其绝对位置的唯一编码信息以及用于区别可进入区域/禁止进入区域的区域编码信息。其中，带有禁止进入区域的区域编码信息的RFID标签将该RFID标签所在的分界线后的特定区域限定为禁止进入区域。该可移动电子设备可为，例如：机器人。
本实施例的基于RFID的定位与地图构建方法包括步骤：
S31、以可移动电子设备初次沿一定的运动轨迹移动时获取到的第一个所述RFID标签信 息时的第一个所述RFID标签的位置作为坐标系的坐标原点，并记录所述第一个所述RFID标签信息及其坐标值；
S32、基于获取的第一个所述RFID标签信息中的区域编码信息识别为可进入区域还是禁止进入区域，若为禁止进入区域，则根据预设的避开策略，使所述可移动电子设备避开所述禁止进入区域而继续前进；
S33、以所述坐标原点作为起始点移动所述可移动电子设备并遍历整个待定位区域；
S34、在遍历过程中，基于所述可移动电子设备相对所述起始点的移动方向和移动距离，计算并记录所述可移动电子设备每一次检测到障碍物时的障碍物位置的坐标值；
S35、在遍历过程中，基于所述可移动电子设备相对所述起始点的移动方向和移动距离，计算并记录所述可移动电子设备每一次获取到的除所述第一个RFID标签外的其他RFID标签信息时的其他RFID标签位置的坐标值；
S36、在遍历过程中，基于获取的每一个所述其他RFID标签信息中的区域编码信息识别为可进入区域还是禁止进入区域，若为禁止进入区域，则根据预设的避开策略，使所述可移动电子设备避开所述禁止进入区域而继续前进；
S37、完成遍历后，基于记录的RFID标签的信息及其坐标值以及每一个障碍物位置的坐标值构建地图，并基于每一所述RFID标签的区域编码信息在构建的地图上标示为可进入区域/禁止进入区域。
可见，本实施例在实施例2的基础上，还增加了一个功能，即解决了自动识别禁止进入区域问题(也称为虚拟墙)。在机器人识别禁止进入区域的解决问题上，传统方法主要是利用以下方式：
一种是irobot公司提出的采用红外线发射装置置于期望禁止进入区域分界线上，机器人检测到红外线以后就不越过该界线。这种方法的不足是红外线发射装置需要安装电池，给用户带来不便，另外一方面，该装置放置在分界线附近，如果家里有宠物等碰到改装置，该装置会移动，失去作用。
另外一种方法是Neato公司提出的采用磁条做分界线的方法，该方法需要用户将磁条贴于禁止进入区域的分界线上，采用霍尔传感器感应来区分。该方法的不足之处在于磁条贴于地面影响地面美观，另外一方面，用户如果希望更换禁止进入区域，磁条贴于地面不方便拆装。
而本实施例通过将用于区别可进入区域/禁止进入区域的区域编码信息置于每一个RFID 标签信息中，其中，带有禁止进入区域的区域编码信息的RFID标签将该RFID标签所在的分界线后的特定区域限定为禁止进入区域。这样，当可移动设备识别到RFID标签中的区域编码信息后即可区分。在识别为禁止进入区域后，结合预设的避开策略，即可使所述可移动电子设备避开所述禁止进入区域而继续前进。另外，在遍历完成后，基于每一所述RFID标签的区域编码信息，还可以在构建的地图上具体标示为可进入区域/禁止进入区域，以利于导航。
可以理解的，可以在可移动设备中预先设置RFID标签不同的区域编码信息代表可进入区域/禁止进入区域的关系对照表，这样，当获取的每一个所述RFID标签信息中的区域编码信息时，通过该对照表即可识别为可进入区域还是禁止进入区域。
其中，本实施例的预设的避开策略优选为：在识别出该区域为禁止进入区域时，使所述可移动电子设备后退P厘米并且向左/右旋转Q°后继续前进，其中，P不少于所述分界线的长度,45≤Q≤90。基于该预设的避开策略，基本上可以保证所述可移动电子设备能够避开所述禁止进入区域而继续前进。
另外，可通过以下方式来区分禁止进入区域和可进入区域之间的分界线：当可移动设备判断标签中的区域编码信息为禁止进入区域时，移动可移动设备在标签的左右两边寻找障碍物(墙壁)和无障碍区域，墙壁的延伸线就是禁止进入区域与可进入区域的分界线。
可以理解的，除了这里公开的避开策略外，本实施例的避开策略还可以采用其他方式，并不局限于此。
在利用本实施例的方法进行室内定位及地图构建时，优选在该室内的每一个房间门框的左侧和/或右侧墙壁上放置一个所述RFID标签。具体的，可在房间门框的左侧和/或右侧墙壁上设置有一固定槽，将所述RFID标签放置在所述固定槽内。
可见，相比现有技术中的虚拟墙技术，本发明实施例通过将用于区别可进入区域/禁止进入区域的区域编码信息写入(例如，房间门框边的固定槽内的)每一个RFID标签信息中，使得可移动设备获取并识别RFID标签中的区域编码信息后，即可确定该区域能够进入。因此，本实施例的成本低，而且不影响整体美观，还容易更换。
参考图4，是本发明实施例4提供的一种基于RFID的定位与地图构建方法的流程示意图。该方法适用于利用可移动电子设备对设有两个或以上RFID标签的待定位区域进行实时地图构建。其中，每一个RFID标签对应设置在所述待定位区域的特定位置上，每一所述RFID标签信息包括用于区别其绝对位置的唯一编码信息。该可移动电子设备可为，例如：机器人。
本实施例的基于RFID的定位与地图构建方法包括步骤：
S41、以可移动电子设备初次沿一定的运动轨迹移动时获取到的第一个所述RFID标签 信息时的第一个所述RFID标签的位置作为坐标系的坐标原点，并记录所述第一个所述RFID标签信息及其坐标值；
S42、以所述坐标原点作为起始点移动所述可移动电子设备并遍历整个待定位区域；
S43、在遍历过程中，基于所述可移动电子设备相对所述起始点的移动方向和移动距离，计算并记录所述可移动电子设备每一次检测到障碍物时的障碍物位置的坐标值；
S44、在遍历过程中，基于所述可移动电子设备相对所述起始点的移动方向和移动距离，计算并记录所述可移动电子设备每一次获取到的除所述第一个RFID标签外的其他RFID标签信息时的其他RFID标签位置的坐标值；
S45、完成遍历后，基于记录的RFID标签的信息及其坐标值以及每一个障碍物位置的坐标值构建地图；
S46、以所述坐标原点作为起始点使所述可移动电子设备多次遍历整个待定位区域，并基于每次遍历得到的每一个RFID标签的坐标值，运用纠正算法对每一个所述RFID标签的坐标值进行纠正；
S47、基于纠正后的坐标值校正所构建的地图。
可见，本实施例在实施例2的基础上，进一步增加了通过多次遍历获得的RFID标签的坐标值并通过纠正算法来纠正RFID标签的位置，即步骤S46～S47。
具体的，由于编码器的累计误差或等其他原因，通过一次遍历获得的RFID标签的坐标值不可避免会存在误差，从而导致构建的地图不精确。因此，本实施例在构建地图后，通过可移动设备多次遍历的方式多次获取每一个RFID标签的坐标值，然后采用递推等算法对每个RFID标签的坐标值进行纠正，可移动设备遍历次数越多，计算出的RFID标签的坐标值就会越准确，直到最后几乎将误差减小到可忽略不计。最后，基于纠正后的坐标值校正所构建的地图。
因此，本实施例通过采用多次遍历以多次获取每一个RFID标签的坐标值，然后采用递推等算法对每个RFID标签的坐标值进行纠正，并基于纠正后的坐标值校正所构建的地图的技术方案，进一步消除了可移动设备的累计误差，从而提高了所述构建地图的精确度。
可以理解的，也可在上述实施例3中增加多次遍历以对每一个RFID标签的坐标值进行纠正的步骤，即步骤S46～S47。
参见图5，是本发明实施例5提供的一种基于RFID的定位与地图构建装置的结构框图。该基于RFID的定位与地图构建装置为可移动设备/安装在可移动设备上，适用于对设有至少 一个RFID标签的待定位区域进行实时地图构建，该可移动电子设备可为例如：机器人。
所述基于RFID的定位与地图构建装置包括：
RFID标签信息读取器51，用于读取所述RFID标签信息；
坐标系构建及记录单元52，用于在所述可移动电子设备初次沿一定的运动轨迹移动通过所述RFID标签信息读取器获取到的第一个所述RFID标签信息时，将第一个所述RFID标签的位置作为坐标系的坐标原点，并记录所述RFID标签信息及对应的坐标值；
编码器53，用于在所述可移动电子设备以所述坐标原点作为起始点并遍历整个待定位区域的过程中，实时记录所述可移动电子设备相对所述起始点的移动方向和移动距离；
障碍物检测部件54，用于检测障碍物；
第一计算单元55，用于每当所述障碍物检测部件检测到障碍物时，基于所述编码器记录的所述可移动电子设备相对所述起始点的移动方向和移动距离，计算得到每一所述障碍物位置的坐标值，并将计算到的坐标值发送给所述坐标系构建及记录单元；
地图构建单元56，基于所述坐标系构建及记录单元记录的RFID标签信息及其坐标值以及每一个障碍物位置的坐标值构建地图。
关于本实施例的基于RFID的定位与地图构建装置的工作原理和过程，可以参考实施例1，在此不再赘述。
其中，所述障碍物检测部件54可包括碰撞传感器/激光传感器/红外传感器：
利用碰撞传感器来感应障碍物，当碰撞传感器感测碰到障碍物时，将所述可移动电子设备当前的坐标值作为所述障碍物位置的坐标值；
所述碰撞传感器包括但不限于偏心锤式传感器、滚球式碰撞传感器、滚轴式膨胀传感器、水银开关式碰撞传感器、有压阻效应式碰撞传感器、压电效应式碰撞传感器和微动开关等。
利用激光传感器/红外传感器来探测障碍物，当激光传感器/红外传感器来探测到障碍物时，根据激光/红外距离计算原理计算出障碍物相对当前所述可移动电子设备的位置，从而计算出所述障碍物位置的坐标值。
在本实施例中，优选的，所述可移动设备还包括：碰撞策略单元，用于在所述可移动电子设备的遍历过程中碰到障碍物时，根据预设的碰撞策略，使所述可移动电子设备绕开所述障碍物而继续前进。
有关该碰撞策略单元的工作原理和方式可参考实施例1的相关描述。
在本发明的另一优选实施例中，参考图6，该实施例6的基于RFID的定位与地图构建装置为可移动设备/安装在可移动设备上，适用于对设有至少一个RFID标签的待定位区域进行 实时地图构建，该可移动电子设备可为例如：机器人。
所述基于RFID的定位与地图构建装置包括：
RFID标签信息读取器61，用于读取所述RFID标签信息；
坐标系构建及记录单元62，用于在所述可移动电子设备初次沿一定的运动轨迹移动通过所述RFID标签信息读取器获取到的第一个所述RFID标签信息时，将第一个所述RFID标签的位置作为坐标系的坐标原点，并记录所述RFID标签信息及对应的坐标值；
编码器63，用于在所述可移动电子设备以所述坐标原点作为起始点并遍历整个待定位区域的过程中，实时记录所述可移动电子设备相对所述起始点的移动方向和移动距离；
陀螺仪传感器或/和电子罗盘64，用于实时记录所述可移动电子设备的角速度或/和角度；
加速度计65，用于实时记录所述可移动电子设备的加速度；
第一纠正单元66，基于所述可移动电子设备的角速度或/和角度以及加速度，对所述可移动电子设备相对所述起始点的移动方向和移动距离进行纠正；
障碍物检测部件67，用于检测障碍物；
第一计算单元68，用于每当所述障碍物检测部件检测到障碍物时，基于纠正后的所述可移动电子设备相对所述起始点的移动方向和移动距离，计算得到每一所述障碍物位置的坐标值，并将计算到的坐标值发送给所述坐标系构建及记录单元；
地图构建单元69，基于所述坐标系构建及记录单元记录的RFID标签信息及其坐标值以及每一个障碍物位置的坐标值构建地图。
可见，本实施例在实施例5的基础上，增加了陀螺仪传感器或/和电子罗盘以及加速度计来分别实时记录所述可移动电子设备的角速度或/和角度以及加速度对所述可移动电子设备相对所述起始点的移动方向和移动距离进行纠正，并基于纠正的移动方向和移动距离计算坐标值，从而校正每一个得到的坐标值。其中，所述陀螺仪包括但不限于绕线陀螺、静电陀螺、激光陀螺、光纤陀螺、微机械陀螺等。
因此，本实施例可以有效消除安装编码器63的驱动轮由于打滑、两驱动轮和地面接触点之间距离的不确定等原因，使得编码器的测算过程存在的累积误差。从而使得基于纠正后的所述可移动电子设备相对所述起始点的移动方向和移动距离而计算得到每一个坐标值更为准确，进而使得基于坐标值构建的地图更为精确。
参考图7，是本发明实施例7提供的一种基于RFID的定位与地图构建装置的结构框图。该装置为可移动设备/安装在可移动设备上，适用于对设有两个或以上RFID标签的待定位区域进行实时地图构建。其中，每一个RFID标签对应设置在所述待定位区域的特定位置上， 每一所述RFID标签信息包括用于区别其绝对位置的唯一编码信息。该可移动电子设备可为，例如：机器人。
所述基于RFID的定位与地图构建装置包括：
RFID标签信息读取器71，用于读取所述RFID标签信息；
坐标系构建及记录单元72，用于在所述可移动电子设备初次沿一定的运动轨迹移动通过所述RFID标签信息读取器获取到的第一个所述RFID标签信息时，将第一个所述RFID标签的位置作为坐标系的坐标原点，并记录所述RFID标签信息及对应的坐标值；
编码器73，用于在所述可移动电子设备以所述坐标原点作为起始点并遍历整个待定位区域的过程中，实时记录所述可移动电子设备相对所述起始点的移动方向和移动距离；
障碍物检测部件74，用于检测障碍物；
第一计算单元75，用于每当所述障碍物检测部件检测到障碍物时，基于所述编码器73记录的所述可移动电子设备相对所述起始点的移动方向和移动距离，计算得到每一所述障碍物位置的坐标值，并将计算到的坐标值发送给所述坐标系构建及记录单元；
第二计算单元76，用于在遍历过程中，基于所述编码器73记录的所述可移动电子设备相对所述起始点的移动方向和移动距离，计算所述可移动电子设备每一次获取到的除所述第一个RFID标签外的其他RFID标签信息时的其他RFID标签的位置的坐标值，并将其他标签信息及对应的坐标值一同发送给所述坐标系构建及记录单元72；
地图构建单元77，基于所述坐标系构建及记录单元记录72的RFID标签信息及其坐标值以及每一个障碍物位置的坐标值构建地图。
本实施例的基于RFID的定位与地图构建装置的工作原理和过程可参考上述实施例2的相关描述，再次不在赘述。
可以理解的，本实施例的基于RFID的定位与地图构建装置还可以包括上述实施例6中的陀螺仪传感器或/和电子罗盘64、加速度计来65和第一纠正单元66，通过陀螺仪传感器或/和电子罗盘以及加速度计来分别实时记录所述可移动电子设备的角速度或/和角度以及加速度对所述可移动电子设备相对所述起始点的移动方向和移动距离进行纠正，并基于纠正的移动方向和移动距离计算坐标值，从而校正每一个得到的坐标值。
参考图8，是本发明实施例8提供的一种基于RFID的定位与地图构建装置的结构框图。该装置为可移动设备/安装在可移动设备上，适用于对设有两个或以上RFID标签的待定位区域进行实时地图构建。其中，每一个RFID标签对应设置在所述待定位区域的特定位置上，每一所述RFID标签信息包括用于区别其绝对位置的唯一编码信息以及用于区别可进入区域/ 禁止进入区域的区域编码信息。其中，带有禁止进入区域的区域编码信息的RFID标签将该RFID标签所在的分界线后的特定区域限定为禁止进入区域。该可移动电子设备可为，例如：机器人。
所述基于RFID的定位与地图构建装置包括：
RFID标签信息读取器81，用于读取所述RFID标签信息；
坐标系构建及记录单元82，用于在所述可移动电子设备初次沿一定的运动轨迹移动通过所述RFID标签信息读取器获取到的第一个所述RFID标签信息时，将第一个所述RFID标签的位置作为坐标系的坐标原点，并记录所述RFID标签信息及对应的坐标值；
编码器83，用于在所述可移动电子设备以所述坐标原点作为起始点并遍历整个待定位区域的过程中，实时记录所述可移动电子设备相对所述起始点的移动方向和移动距离；
障碍物检测部件84，用于检测障碍物；
第一计算单元85，用于每当所述障碍物检测部件检测到障碍物时，基于所述编码器83记录的所述可移动电子设备相对所述起始点的移动方向和移动距离，计算得到每一所述障碍物位置的坐标值，并将计算到的坐标值发送给所述坐标系构建及记录单元；
第二计算单元86，用于在遍历过程中，基于所述编码器83记录的所述可移动电子设备相对所述起始点的移动方向和移动距离，计算所述可移动电子设备每一次获取到的除所述第一个RFID标签外的其他RFID标签信息时的其他RFID标签的位置的坐标值，并将其他标签信息及对应的坐标值一同发送给所述坐标系构建及记录单元82；
区域识别单元87，用于当所述RFID标签信息读取器81获取到的每一个RFID标签信息时，基于所述RFID标签信息中的区域编码信息识别为可进入区域还是禁止进入区域；可以理解的，可以在区域识别单元87中预先设置RFID标签不同的区域编码信息代表可进入区域/禁止进入区域的关系对照表，这样，当获取的每一个所述其他RFID标签信息中的区域编码信息时，通过该对照表即可识别为可进入区域还是禁止进入区域。
避开策略单元88，若所述区域识别单元87识别区域编码信息为禁止进入区域，则根据预设的避开策略，使所述可移动电子设备避开所述禁止进入区域而继续前进；
地图构建单元89，基于所述坐标系构建及记录单元记录82的RFID标签信息及其坐标值以及每一个障碍物位置的坐标值构建地图，并基于每一所述RFID标签的区域编码信息在构建的地图上标示为可进入区域/禁止进入区域。
本实施例的基于RFID的定位与地图构建装置有效解决了现有技术中的自动识别禁止进入区域问题(也称为虚拟墙)问题，其具体实现过程和原理请参考上述实施例3的相关描述。
可以理解的，本实施例的基于RFID的定位与地图构建装置还可以包括上述实施例6中 的陀螺仪传感器或/和电子罗盘64、加速度计来65和第一纠正单元66，通过陀螺仪传感器或/和电子罗盘以及加速度计来分别实时记录所述可移动电子设备的角速度或/和角度以及加速度，从而对所述可移动电子设备相对所述起始点的移动方向和移动距离进行纠正，并基于纠正的移动方向和移动距离计算坐标值，从而校正每一个得到的坐标值。
参考图9，是本发明实施例9提供的一种基于RFID的定位与地图构建装置的结构框图。该装置为可移动设备/安装在可移动设备上，适用于对设有两个或以上RFID标签的待定位区域进行实时地图构建。其中，每一个RFID标签对应设置在所述待定位区域的特定位置上，每一所述RFID标签信息包括用于区别其绝对位置的唯一编码信息。该可移动电子设备可为，例如：机器人。
所述基于RFID的定位与地图构建装置包括：
RFID标签信息读取器91，用于读取所述RFID标签信息；
坐标系构建及记录单元92，用于在所述可移动电子设备初次沿一定的运动轨迹移动通过所述RFID标签信息读取器获取到的第一个所述RFID标签信息时，将第一个所述RFID标签的位置作为坐标系的坐标原点，并记录所述RFID标签信息及对应的坐标值；
编码器93，用于在所述可移动电子设备以所述坐标原点作为起始点并遍历整个待定位区域的过程中，实时记录所述可移动电子设备相对所述起始点的移动方向和移动距离；
障碍物检测部件94，用于检测障碍物；
第一计算单元95，用于每当所述障碍物检测部件检测到障碍物时，基于所述编码器93记录的所述可移动电子设备相对所述起始点的移动方向和移动距离，计算得到每一所述障碍物位置的坐标值，并将计算到的坐标值发送给所述坐标系构建及记录单元；
第二计算单元96，用于在遍历过程中，基于所述编码器93记录的所述可移动电子设备相对所述起始点的移动方向和移动距离，计算所述可移动电子设备每一次获取到的除所述第一个RFID标签外的其他RFID标签信息时的其他RFID标签的位置的坐标值，并将其他标签信息及对应的坐标值一同发送给所述坐标系构建及记录单元92；
地图构建单元97，基于所述坐标系构建及记录单元记录92的RFID标签信息及其坐标值以及每一个障碍物位置的坐标值构建地图；以及
第二纠正单元98，用于在所述可移动电子设备以所述坐标原点作为起始点多次遍历整个待定位区域后，并基于每次遍历得到的每一个RFID标签的坐标值，运用纠正算法对每一个所述RFID标签的坐标值进行纠正；并将纠正后的坐标值发送给所述地图构建单元以对所构建的地图进行校正。
本实施例的基于RFID的定位与地图构建装置在实施例7的基础上增加了第二纠正单元 98，通过可移动设备多次遍历的方式多次获取每一个RFID标签的坐标值，然后采用递推等算法对每个RFID标签的坐标值进行纠正，可移动设备遍历次数越多，纠正出的RFID标签的坐标值就会越准确，直到最后几乎将误差减小到可忽略不计。最后，地图构建单元97基于纠正后的坐标值校正所构建的地图。从而消除了可移动设备值遍历一次存在的累计误差，提高了所述构建地图的精确度。
参考图10，是本发明实施例10提供的一种基于RFID的定位与地图构建装置的结构框图。该装置为可移动设备/安装在可移动设备上，适用于对设有两个或以上RFID标签的待定位区域进行实时地图构建。其中，每一个RFID标签对应设置在所述待定位区域的特定位置上，每一所述RFID标签信息包括用于区别其绝对位置的唯一编码信息以及用于区别可进入区域/禁止进入区域的区域编码信息。其中，带有禁止进入区域的区域编码信息的RFID标签将该RFID标签所在的分界线后的特定区域限定为禁止进入区域。该可移动电子设备可为，例如：机器人。
所述基于RFID的定位与地图构建装置包括：
RFID标签信息读取器101，用于读取所述RFID标签信息；
坐标系构建及记录单元102，用于在所述可移动电子设备初次沿一定的运动轨迹移动通过所述RFID标签信息读取器获取到的第一个所述RFID标签信息时，将第一个所述RFID标签的位置作为坐标系的坐标原点，并记录所述RFID标签信息及对应的坐标值；
编码器103，用于在所述可移动电子设备以所述坐标原点作为起始点并遍历整个待定位区域的过程中，实时记录所述可移动电子设备相对所述起始点的移动方向和移动距离；
障碍物检测部件104，用于检测障碍物；
第一计算单元105，用于每当所述障碍物检测部件检测到障碍物时，基于所述编码器103记录的所述可移动电子设备相对所述起始点的移动方向和移动距离，计算得到每一所述障碍物位置的坐标值，并将计算到的坐标值发送给所述坐标系构建及记录单元；
第二计算单元106，用于在遍历过程中，基于所述编码器103记录的所述可移动电子设备相对所述起始点的移动方向和移动距离，计算所述可移动电子设备每一次获取到的除所述第一个RFID标签外的其他RFID标签信息时的其他RFID标签的位置的坐标值，并将其他标签信息及对应的坐标值一同发送给所述坐标系构建及记录单元102；
区域识别单元107，用于当所述RFID标签信息读取器101获取到的每一个RFID标签信息时，基于所述RFID标签信息中的区域编码信息识别为可进入区域还是禁止进入区域；
避开策略单元108，若所述区域识别单元107识别区域编码信息为禁止进入区域，则根据预设的避开策略，使所述可移动电子设备避开所述禁止进入区域而继续前进；
地图构建单元109，基于所述坐标系构建及记录单元记录102的RFID标签信息及其坐标值以及每一个障碍物位置的坐标值构建地图，并基于每一所述RFID标签的区域编码信息在构建的地图上标示为可进入区域/禁止进入区域。
第二纠正单元1010，用于在所述可移动电子设备以所述坐标原点作为起始点多次遍历整个待定位区域后，并基于每次遍历得到的每一个RFID标签的坐标值，运用纠正算法对每一个所述RFID标签的坐标值进行纠正；并将纠正后的坐标值发送给所述地图构建单元以对所构建的地图进行校正。
本实施例的基于RFID的定位与地图构建装置在实施例8的基础上增加了第二纠正单元1010，通过可移动设备多次遍历的方式多次获取每一个RFID标签的坐标值，然后采用递推等算法对每个RFID标签的坐标值进行纠正，可移动设备遍历次数越多，纠正出的RFID标签的坐标值就会越准确，直到最后几乎将误差减小到可忽略不计。最后，地图构建单元109基于纠正后的坐标值校正所构建的地图。从而消除了可移动设备值遍历一次存在的累计误差，提高了所述构建地图的精确度。
本发明实施例还公开了一种智能移动设备，包括移动装置以及如图5～图10所示的任意实施例的基于RFID的定位及地图构建装置。该智能移动设备优选为机器人。
需要说明的是，在本说明书中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
最后，还需要说明的是，上述一系列处理不仅包括以这里所述的顺序按时间序列执行的处理，而且包括并行或分别地、而不是按时间顺序执行的处理。通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到本发明可借助软件加必需的硬件平台的方式来实现，当然也可以全部通过软件来实施。基于这样的理解，本发明的技术方案对背景技术做出贡献的全部或者部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在存储介质中，如ROM/RAM、磁碟、光盘等，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本发明各个实施例或者实施例的某些部分所述的方法。
以上所述是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也视为本发明的保护范围。

Claims (31)

  1. 一种基于RFID的定位与地图构建方法，其特征在于，适用于对设有至少一个RFID标签的待定位区域进行实时地图构建，包括步骤：
    以可移动电子设备初次沿一定的运动轨迹移动而获取到的第一个所述RFID标签信息时的第一个所述RFID标签的位置作为坐标系的坐标原点，并记录所述第一个RFID标签信息及其坐标值；
    以所述坐标原点作为起始点移动所述可移动电子设备并遍历整个待定位区域，在遍历过程中，基于所述可移动电子设备相对所述起始点的移动方向和移动距离，计算并记录所述可移动电子设备每一次检测到障碍物时的障碍物位置的坐标值；
    完成遍历后，基于记录的RFID标签的信息及其坐标值以及每一个障碍物位置的坐标值构建地图。
  2. 如权利要求1所述的基于RFID的定位与地图构建方法，其特征在于，所述RFID标签的数量为两个及以上，且每一个RFID标签对应设置在所述待定位区域的特定位置上，每一所述RFID标签信息包括用于区别其绝对位置的唯一编码信息；所述方法还包括步骤：
    在遍历过程中，基于所述可移动电子设备相对所述起始点的移动方向和移动距离，计算所述可移动电子设备每一次获取到的除所述第一个RFID标签外的其他RFID标签信息时的其他RFID标签的位置的坐标值，并记录其他RFID标签信息及对应的坐标值。
  3. 如权利要求2所述的基于RFID的定位与地图构建方法，其特征在于，在构建地图后，还包括步骤：
    以所述坐标原点作为起始点使所述可移动电子设备多次遍历整个待定位区域，并基于每次遍历得到的每一个RFID标签的坐标值，运用纠正算法对每一个所述RFID标签的坐标值进行纠正；
    基于纠正后的坐标值校正所构建的地图。
  4. 如权利要求2所述的基于RFID的定位与地图构建方法，其特征在于，每一个所述 RFID标签信息还包括用于区别可进入区域/禁止进入区域的区域编码信息，带有禁止进入区域的区域编码信息的RFID标签将该RFID标签所在的分界线后的特定区域限定为禁止进入区域，所述方法还包括步骤：
    当所述可移动电子设备获取到的每一个RFID标签信息时，首先基于所述RFID标签信息中的区域编码信息识别为可进入区域还是禁止进入区域，若为禁止进入区域，则根据预设的避开策略，使所述可移动电子设备避开所述禁止进入区域而继续前进。
  5. 如权利要求4所述的基于RFID的定位与地图构建方法，其特征在于，在完成遍历后，基于记录的RFID标签的信息及其坐标值以及每一个障碍物位置的坐标值构建地图时，还基于每一所述RFID标签的区域编码信息在构建的地图上标示为可进入区域/禁止进入区域。
  6. 如权利要求1所述的基于RFID的定位与地图构建方法，其特征在于，通过以下方式来计算所述可移动电子设备每一次检测到障碍物时的障碍物位置的坐标值：
    利用碰撞传感器来感应障碍物，当碰撞传感器感测碰到障碍物时，将所述可移动电子设备的坐标值作为所述障碍物位置的坐标值；
    利用激光传感器/红外传感器来探测障碍物，当激光传感器/红外传感器来探测到障碍物时，根据激光/红外距离计算原理计算出障碍物相对当前所述可移动电子设备的位置，从而计算出所述障碍物位置的坐标值。
  7. 如权利要求1或2所述的基于RFID的定位与地图构建方法，其特征在于，还包括步骤，基于所述可移动电子设备的角速度或/和角度以及加速度对所述可移动电子设备相对所述起始点的移动方向和移动距离进行纠正；且每一所述坐标值均基于纠正后的所述可移动电子设备相对所述起始点的移动方向和移动距离而计算得到。
  8. 如权利要求2所述的基于RFID的定位与地图构建方法，其特征在于，所述RFID标签采用无源RFID，限定所述可移动电子设备只有在距离每一所述RFID标签最近的位置时，才能获取到每一所述RFID标签的标签信息，并将所述可移动电子设备能获取到每一所述RFID标签的标签信息时的位置作为该RFID标签的位置。
  9. 如权利要求2所述的基于RFID的定位与地图构建方法，其特征在于，通过以下方式确定每一所述RFID标签的位置：
    所述RFID标签采用有源RFID，当所述可移动电子设备感应到任意一个所述RFID标签的标签信息时，使所述可移动电子设备往RFID标签的RSSI逐渐增大的方向移动，直至所述可移动电子设备感应到的所述RFID标签的RSSI等于或大于预设的最大RSSI值时或直至所述可移动电子设备碰到所述RFID标签时，将所述可移动电子设备此时的位置作为所述RFID标签的位置。
  10. 如权利要求1所述的基于RFID的定位与地图构建方法，其特征在于，还包括步骤：
    在所述可移动电子设备的遍历过程中碰到障碍物时，根据预设的碰撞策略，使所述可移动电子设备绕开所述障碍物而继续前进；
    所述预设的碰撞策略优选为：
    在发生碰撞时，使所述可移动电子设备后退M厘米并且向左/右旋转N°后继续前进，其中，0<M<20,0<N<10。
  11. 如权利要求4所述的基于RFID的定位与地图构建方法，其特征在于，所述预设的避开策略包括:
    在识别出该区域为禁止进入区域时，使所述可移动电子设备后退P厘米并且向左/右旋转Q°后继续前进，其中，P不少于所述分界线的长度,45≤Q≤90。
  12. 如权利要求1所述的基于RFID的定位与地图构建方法，其特征在于，所述可移动电子设备为机器人。
  13. 如权利要求1所述的基于RFID的定位与地图构建方法，其特征在于，所述方法适用于对室内的待定位区域进行实时地图构建。
  14. 如权利要求13中所述的基于RFID的定位与地图构建方法，其特征在于，所述RFID标签适于被设置在房间门框的左侧和/或右侧墙壁上。
  15. 一种基于RFID的定位及地图构建装置，其特征在于，适用于对设有至少一个RFID标签的待定位区域进行实时地图构建，所述定位及地图构建装置为可移动设备，所述可移动 设备包括：
    RFID标签信息读取器，用于读取所述RFID标签信息；
    坐标系构建及记录单元，用于在所述可移动电子设备初次沿一定的运动轨迹移动并通过所述RFID标签信息读取器获取到的第一个所述RFID标签信息时，将第一个所述RFID标签的位置作为坐标系的坐标原点，并记录所述RFID标签信息及对应的坐标值；
    编码器，用于在所述可移动电子设备以所述坐标原点作为起始点并遍历整个待定位区域的过程中，实时记录所述可移动电子设备相对所述起始点的移动方向和移动距离；
    障碍物检测部件，用于检测障碍物；
    第一计算单元，用于每当所述障碍物检测部件检测到障碍物时，基于所述编码器记录的相对所述起始点的移动方向和移动距离，计算得到每一所述障碍物位置的坐标值，并将计算到的坐标值发送给所述坐标系构建及记录单元；
    地图构建单元，基于所述坐标系构建及记录单元记录的RFID标签信息及其坐标值以及每一个障碍物位置的坐标值构建地图。
  16. 如权利要求15所述的基于RFID的定位及地图构建装置，其特征在于，所述RFID标签的数量为两个及以上，且每一个RFID标签对应设置在所述待定位区域的特定位置上，每一所述RFID标签信息包括用于区别其绝对位置的唯一编码信息；所述装置还包括：
    第二计算单元，用于在遍历过程中，基于所述可移动电子设备相对所述起始点的移动方向和移动距离，计算所述可移动电子设备每一次获取到的除所述第一个RFID标签外的其他RFID标签信息时的其他RFID标签的位置的坐标值，并将其他RFID标签信息及对应的坐标值一同发送给所述坐标系构建及记录单元。
  17. 如权利要求16所述的基于RFID的定位及地图构建装置，其特征在于，所述装置还包括：
    第二纠正单元，用于在所述可移动电子设备以所述坐标原点作为起始点多次遍历整个待定位区域后，并基于每次遍历得到的每一个RFID标签的坐标值，运用纠正算法对每一个所述RFID标签的坐标值进行纠正；并将纠正后的坐标值发送给所述地图构建单元以对所构建的地图进行校正。
  18. 如权利要求16所述的基于RFID的定位及地图构建装置，其特征在于，每一个所述RFID标签信息还包括用于区别可进入区域/禁止进入区域的区域编码信息，带有禁止进入区 域的区域编码信息的RFID标签将该RFID标签所在的分界线后的特定区域限定为禁止进入区域，所述装置还包括：
    区域识别单元，用于当所述可移动电子设备获取到的每一个RFID标签信息时，基于所述RFID标签信息中的区域编码信息识别为可进入区域还是禁止进入区域；以及
    避开策略单元，若所述区域识别单元识别区域编码信息为禁止进入区域，则根据预设的避开策略，使所述可移动电子设备避开所述禁止进入区域而继续前进。
  19. 如权利要求18所述的基于RFID的定位及地图构建装置，其特征在于，所述地图构建单元在完成遍历后，基于记录的RFID标签的信息及其坐标值以及每一个障碍物位置的坐标值构建地图时，还基于每一所述RFID标签的区域编码信息在构建的地图上标示为可进入区域/禁止进入区域。
  20. 如权利要求15所述的基于RFID的定位及地图构建装置，其特征在于，所述障碍物检测部包括碰撞传感器、激光传感器或红外传感器；
    当利用碰撞传感器感测碰到障碍物时，所述第一计算单元将计算得到的所述可移动电子设备当前位置的坐标值作为所述障碍物位置的坐标值；
    当利用激光传感器/红外传感器来探测到障碍物时，所述激光传感器/红外传感器根据激光/红外距离计算原理计算出障碍物相对当前所述可移动电子设备的位置，并发送给所述第一计算单元，所述第一计算单元基于计算得到的所述可移动电子设备当前位置的坐标值以及所述障碍物相对当前所述可移动电子设备的位置，从而计算得到障碍物位置的坐标值。
  21. 如权利要求15所述的基于RFID的定位及地图构建装置，其特征在于，所述装置还包括：
    陀螺仪传感器或/和电子罗盘以及加速度计，用于在所述可移动电子设备以所述坐标原点作为起始点并遍历整个待定位区域的过程中，分别实时记录所述可移动电子设备的角速度或/和角度以及加速度；以及
    第一纠正单元，基于所述可移动电子设备的角速度或/和角度以及加速度，对所述可移动电子设备相对所述起始点的移动方向和移动距离进行纠正；
    所述第一计算单元基于纠正后的所述可移动电子设备相对所述起始点的移动方向和移动 距离而计算得到每一所述障碍物位置的坐标值。
  22. 如权利要求16所述的基于RFID的定位及地图构建装置，其特征在于，所述装置还包括：
    陀螺仪传感器或/和电子罗盘以及加速度计，用于在所述可移动电子设备以所述坐标原点作为起始点并遍历整个待定位区域的过程中，分别实时记录所述可移动电子设备的角速度/角度和加速度；以及
    第一纠正单元，基于所述可移动电子设备的角速度/角度和加速度，对所述可移动电子设备相对所述起始点的移动方向和移动距离进行纠正；
    所述第一计算单元基于纠正后的所述可移动电子设备相对所述起始点的移动方向和移动距离而计算得到每一所述障碍物位置的坐标值；
    所述第二计算单元基于纠正后的所述可移动电子设备相对所述起始点的移动方向和移动距离而计算得到其他RFID标签位置的坐标值。
  23. 如权利要求16所述的基于RFID的定位及地图构建装置，其特征在于，所述RFID标签采用无源RFID，限定所述可移动电子设备只有在距离每一所述RFID标签最近的位置时，所述RFID标签信息读取器才能获取到每一所述RFID标签的标签信息，并将所述可移动电子设备能获取到每一所述RFID标签的标签信息时的位置作为该RFID标签的位置。
  24. 如权利要求16所述的基于RFID的定位及地图构建装置，其特征在于，所述RFID标签采用有源RFID，当所述RFID标签信息读取器感应到任意一个所述RFID标签的标签信息时，使所述可移动电子设备往RFID标签的RSSI逐渐增大的方向移动，直至所述RFID标签信息读取器感应到的所述RFID标签的RSSI等于或大于预设的最大RSSI值时或直至所述RFID标签信息读取器感测到所述可移动电子设备碰到所述RFID标签时，将所述可移动电子设备此时的位置作为所述RFID标签的位置。
  25. 如权利要求20所述的基于RFID的定位及地图构建装置，其特征在于，所述装置还包括：
    碰撞策略单元，用于在所述可移动电子设备的遍历过程中碰到障碍物时，根据预设的碰撞策略，使所述可移动电子设备绕开所述障碍物而继续前进；
    所述预设的碰撞策略优选为:
    在发生碰撞时，使所述可移动电子设备后退M厘米并且向左/右旋转N°后继续前进，其中，0<M<20,0<N<10。
  26. 如权利要求18所述的基于RFID的定位及地图构建装置，其特征在于，所述预设的避开策略包括:
    在识别出该区域为禁止进入区域时，使所述可移动电子设备后退P厘米并且向左/右旋转Q°后继续前进，其中，P不少于所述分界线的长度,45≤Q≤90。
  27. 如权利要求15所述的基于RFID的定位及地图构建装置，其特征在于，所述可移动电子设备为机器人。
  28. 如权利要求15所述的基于RFID的定位及地图构建装置，其特征在于，所述装置适用于对室内的待定位区域进行实时地图构建。
  29. 如权利要求28中所述的基于RFID的定位及地图构建装置，其特征在于，所述RFID标签适于被设置在房间门框的左侧和/或右侧墙壁上。
  30. 如权利要求29中所述的基于RFID的定位及地图构建装置，其特征在于，在房间门框的左侧和/或右侧墙壁上设置有一固定槽，所述RFID标签放置在所述固定槽内。
  31. 一种智能移动设备，其特征在于，包括移动装置以及如权利要求15～30中任一项所述的基于RFID的定位及地图构建装置。
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