Mobile robot RFID servo method based on positions

A mobile robot, RFID tag technology, applied in the direction of electric controllers, controllers with specific characteristics, instruments, etc., can solve the problems of high cost, difficult practical implementation, complex system, etc., achieve low cost, is conducive to popularization and application, Simple process effect

Active Publication Date: 2019-11-12
HUAZHONG UNIV OF SCI & TECH
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AI Technical Summary

Problems solved by technology

[0003] At present, most of the methods of using RFID to realize the servo of mobile robots need to arrange a relatively dense array of reference tags in space, and calibrate the spatial position information of each reference tag offline. This method is complex in system, high in cost, and difficult to implement in practice.

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  • Mobile robot RFID servo method based on positions
  • Mobile robot RFID servo method based on positions
  • Mobile robot RFID servo method based on positions

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Embodiment Construction

[0046] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0047] see figure 1 , figure 2 and image 3 , the location-based mobile robot RFID servo method provided by the present invention, the servo method mainly includes the following steps:

[0048] Step 1: Randomly generate a predetermined number of particles in the possible location space of the target object, and each particle represents a candidate location point of the target label.

[0049...

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Abstract

The invention belongs to the technical field relevant to mobile robot servo, and discloses a mobile robot RFID servo method based on positions. The method comprises the following steps of (1) randomlygenerating the preset quantity of particles in an existence position space of a target object; (2) continually collecting phase information of an RFID label on the target object by a RFID reader-writer arranged on a mobile robot, and further obtaining a practical measured value of a phase difference value; (3) processing sensor information so as to obtain the position information of a RFID antennae arranged on the mobile robot, and further obtaining a theoretical estimated value of the phase difference value; (4) performing calculation by a particle filter algorithm to obtain the position estimated value of the RFID label in the coordinate system of the current mobile robot; and (5) evaluating the stability of the position estimated value; and performing corresponding processing accordingto the evaluation result until the mobile robot and the target object reach the expected position relationship. The method has the advantages that the implementation is easy; and the applicability ishigh.

Description

technical field [0001] The invention belongs to the technical field related to the servo of mobile robots, and more specifically relates to a position-based RFID servo method for mobile robots. Background technique [0002] RFID (Radio Frequency Identification), also known as radio frequency identification, is one of the key technologies of the Internet of Things. Compared with barcodes and QR codes, it has the advantages of non-line-of-sight, long-distance, good anti-counterfeiting, and large amount of information. It is mainly used in supermarkets Identification and management of items in fields such as warehouses and warehouses. Combining RFID with mobile robots to form a mobile robot RFID servo system, this system can combine the advantages of a large working space of mobile robots with the unique ID identification characteristics of RFID, and realize the servo navigation control of mobile robots in a wide range of workspaces , which helps to improve the efficiency of i...

Claims

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Application Information

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IPC IPC(8): G05B11/42G06K17/00
CPCG05B11/42G06K17/00
Inventor 陶波吴海兵尹周平
Owner HUAZHONG UNIV OF SCI & TECH
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