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Autonomous and accurate positioning system of mobile robot based on RFID(Radio Frequency Identification) and method thereof

A mobile robot and precise positioning technology, applied in character and pattern recognition, instruments, computer components, etc., can solve the problems of high complexity of positioning system, ultrasonic attenuation, poor fault tolerance, etc., achieve clear running direction and enhance popularization , design reasonable effect

Inactive Publication Date: 2016-08-17
QINGDAO TONGCHAN SOFTWARE TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Defect: Ultrasound attenuates significantly during transmission, which affects the effective range of its positioning
Disadvantages: Infrared rays are easily blocked by objects or walls during transmission and the transmission distance is short. The positioning system is more complex, and there is still a gap in effectiveness and practicability compared with other technologies.
However, this method still has the following deficiencies: the reading speed of two-dimensional code / barcode is low, and it is not suitable for the field of high-efficiency mobile robots; the layout structure of two-dimensional code / barcode is difficult to realize all-round reading; High, high cost, not conducive to promotion and use
Since the one-dimensional code has no error correction codeword and is added after the data codeword sequence, the symbol loses data when it is damaged. When the two-dimensional code / barcode is worn after long-term use, or due to uneven ground, the two-dimensional code / When the barcode is bent, the data cannot be read normally

Method used

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  • Autonomous and accurate positioning system of mobile robot based on RFID(Radio Frequency Identification) and method thereof
  • Autonomous and accurate positioning system of mobile robot based on RFID(Radio Frequency Identification) and method thereof
  • Autonomous and accurate positioning system of mobile robot based on RFID(Radio Frequency Identification) and method thereof

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0035] Embodiment 1: Positioning scheme of a single card reader:

[0036] like figure 2 As shown, a card reader 2 is installed inside the mobile robot, and the radio frequency card 1 is laid on the ground according to the step length of 2cm, and the transmitting power of the radio frequency card 1 and the receiving power of the card reader are set, so that the card reader can effectively detect the radio frequency card. The reading distance is 2mm, and at most one radio frequency card can only receive the transmission signal at the same time; when locating, follow the steps below:

[0037]Lay radio frequency cards under the ground of the preset activity area of ​​the mobile robot according to the step length L, set the coordinate origin, and mark the ground physical coordinates corresponding to all radio frequency cards to form the formatted data of the digital map of the robot’s preset activity area and store it in the database middle;

[0038] The radio frequency card rea...

Embodiment 2

[0039] Embodiment 2: Positioning scheme of multiple card readers:

[0040] In this embodiment, 4 card readers are set inside the mobile robot, such as image 3 shown. Its positioning process is the same as that in the embodiment, the difference is:

[0041] Establish a central coordinate system with the center point of the four card readers as its origin, and the center coordinates of the card reader are (Rnx, Rny), for example, card reader 1, card reader 2, card reader 3, and card reader 4 The center coordinates are:

[0042] (R1x, R1y), (R2x, R2y), (R3x, R3y), (R4x, R4y).

[0043] When one of the readers reads a certain radio frequency card, according to the physical coordinates recorded inside the radio frequency card or the physical coordinates of the card laid by the card serial number retrieved is (Cx, Cy), and the physical coordinates of itself are calculated as (Cx- Rnx, Cy-Rny).

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Abstract

The invention discloses an autonomous and accurate positioning system of a mobile robot based on RFID(Radio Frequency Identification). The autonomous and accurate positioning system comprises a positioning controller arranged on the mobile robot, a radio-frequency card reader arranged at the bottom of the mobile robot, and a radio-frequency card spread below the preset movement area ground of the mobile robot, wherein, the positioning controller is composed of a microprocessor and a communication interface, the microprocessor is connected with the radio-frequency card reader, the microprocessor controls the radio-frequency card reader through the communication interface for reading data of the radio-frequency card; the microprocessor is connected with a data base, the data base comprises a digital map, the digital map comprises a laying coordinate information corresponding to the radio-frequency card number for position matching of the radio-frequency card data by the card reader; the system also comprises a position display module, the position display module is connected to the microprocessor for real-time displaying the position of the mobile robot in the digital map. The invention provides the positioning system based on a radio frequency identification technology with high speed reading, omnibearing reading and accurate positioning.

Description

technical field [0001] The invention belongs to the field of mobile robot trolley positioning, in particular to an autonomous precise positioning system and method of a mobile robot based on radio frequency identification. Background technique [0002] With the rapid increase of data services, people's demand for positioning and navigation is increasing, especially in complex indoor environments, such as airport halls, exhibition halls, warehouses, supermarkets, libraries, underground parking lots, mines, etc., often need Determine the location information of the mobile robot indoors. However, limited by conditions such as positioning time, positioning accuracy, and complex indoor environments, relatively complete positioning technologies cannot be well utilized at present. [0003] For example, mobile robots are applied in automated production and warehouse management. If indoor mobile robots can accurately identify the current location, they can accurately assemble produc...

Claims

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Application Information

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IPC IPC(8): G01C21/00G06K9/00
Inventor 郭杰郭小璇
Owner QINGDAO TONGCHAN SOFTWARE TECH
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