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A library robot positioning and navigation method

A technology of robot positioning and navigation method, which is applied in two-dimensional position/channel control, instrument, vehicle position/route/height control, etc., and can solve problems such as complex travel route, increased cost, and positioning failure

Active Publication Date: 2020-05-26
JIANGSU TOOKER ROBOTICS CO LTD
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AI Technical Summary

Problems solved by technology

However, the above positioning and navigation algorithms often have many problems.
First of all, these positioning and navigation algorithms are complex and require a large number of calculations in high-dimensional space, so the frequency of their positioning is limited, making the robot unable to obtain its own pose information in time; second, the existing positioning and navigation algorithms are often based on feature matching Or direct formula calculation method for positioning. When the working scene of the robot is highly isomorphic, for example: the appearance of the bookshelves in the library is highly similar, or the traveling route is complicated and the working space is relatively narrow, the existing positioning and navigation algorithm It often happens that the positioning jumps due to the failure of feature matching, and even causes the positioning to fail.
Therefore, the existing positioning and navigation algorithms are not suitable for application in the library environment with a high degree of isomorphism and complex and narrow terrain.
Finally, using these algorithms must add new sensors to the library robot, which greatly increases the cost

Method used

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  • A library robot positioning and navigation method
  • A library robot positioning and navigation method
  • A library robot positioning and navigation method

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Embodiment 1

[0085] RFID technology is mainly composed of three parts: antenna, reader and RFID tag. There are three types of RFID tags in terms of starting energy. The most important one is passive RFID tags. RFID tags do not have energy themselves, and only transmit data by reflecting radio frequency signals emitted from the antenna. The reflected signal can be described by a variety of physical properties, RSSI value and phase angle are two of them. According to the formula, the relationship between the distance and the RSSI value is as follows:

[0086] d=10^((abs(RSSI)-A) / (10*n)).....(6)

[0087] Among them, d is the straight-line distance between the antenna center point and the RFID tag, RSSI is the received signal strength (negative value), A is the RSSI value when the distance between the transmitting antenna and the RFID tag is 1 meter, n is the environmental attenuation factor, and the above formula is converted Available:

[0088] RSSI=-log(10*n*d+A)......(7)

[0089] In th...

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Abstract

Disclosed is a library robot positioning and navigation method, comprising: step 1, building a fuzzy inference system to obtain an inference rule; step 2, saving ID values of RFID tags which a library robot passes by in a predetermined path into a list by order; step 3, determining an ID value of an RFID tag at which the library robot needs to arrive in a next step; step 4, using two RFID reading devices mounted on the library robot to separately read RFID tags placed at the edge of a shelf, and using a quintuple Tag=<no, id, φ, r, t> to record same; step 5, performing data pre-processing on information in the quintuple Tag; and step 6, inputting the pre-processed data into the inference rule to obtain the current position information of the library robot, determining whether the library robot already arrives at a destination, and confirming a heading direction in a next step for implementing positioning and navigation functions.

Description

technical field [0001] The invention relates to the technical field of ultra-high frequency RFID, in particular to a method for positioning and navigating a library robot. Background technique [0002] RFID (Radio Frequency Identification, radio frequency identification) is a non-contact automatic identification technology, which automatically identifies the target object and obtains the relevant stored data through radio frequency electromagnetic signals, without additional manual operation. Compared with traditional one-dimensional codes (barcodes) and two-dimensional codes, RFID has the advantage of not requiring mechanical or optical contact between the identification system and the scanning target. At present, RFID technology is being gradually applied to industries such as warehouse management, logistics services, and identification, which greatly improves management efficiency and is an important part of building intelligent infrastructure in the future. [0003] The...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0212G05D1/0263G05D1/028
Inventor 刘佳陈力军黄嘉琪张晓聪李珍珠严颖丽郁裕杰陈星宇
Owner JIANGSU TOOKER ROBOTICS CO LTD
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