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Antenna position calibration method of mobile robot RFID positioning system

A technology for mobile robots and antenna positions, applied in positioning, radio wave measurement systems, instruments, etc., can solve troubles and other problems, and achieve the effect of accurate position, simple method and strong applicability

Active Publication Date: 2020-08-04
HUAZHONG UNIV OF SCI & TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In most cases, the method of measuring with a tape measure is not only troublesome, but also has certain measurement errors

Method used

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  • Antenna position calibration method of mobile robot RFID positioning system
  • Antenna position calibration method of mobile robot RFID positioning system
  • Antenna position calibration method of mobile robot RFID positioning system

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Embodiment Construction

[0029] 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.

[0030] Such as figure 1 As shown, the flowchart of the antenna position calibration method of the mobile robot RFID positioning system provided by the present invention uses the phase information of the parameter tag read by the RFID antenna carried by the mobile robot to calibrate the position of the RFID antenna itself in the mobile robot coordinate system.

[0031] Such as figure 2 As show...

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Abstract

The invention belongs to the related technical field of wireless positioning, and discloses an antenna position calibration method of a mobile robot RFID positioning system. The method comprises the following steps: (1), acquiring position coordinates of a reference label; meanwhile, in the process that a mobile robot moves by a corresponding distance, reading corresponding periodic fuzzy phase information by an RFID reader-writer; acquiring odometer coordinate information of the mobile robot, converting the obtained periodic fuzzy phase into a continuous phase through a phase expansion equation, and converting the odometer coordinate information into position coordinates of the RFID antenna with undetermined calibration parameters through a rotation translation equation; and (2), substituting the continuous phase, the position coordinates of a reference tag and the position coordinates of the RFID antenna with the undetermined calibration parameters into the antenna position calibration mathematical model, and then calculating the position calibration parameters of the RFID antenna under the coordinate system of the mobile robot. According to the method, the precision is improved, the cost is reduced, and the applicability is high.

Description

technical field [0001] The invention belongs to the technical field related to wireless positioning, and more specifically relates to an antenna position calibration method of a mobile robot RFID positioning system. Background technique [0002] RFID is a radio frequency identification technology. In the field of wireless communication, it can identify the target only through radio signals without establishing direct contact with the target, and can exchange data with the target. With its outstanding advantages such as unique ID identification, non-line-of-sight, and low cost, RFID technology is widely used in warehousing logistics, item management and tracking and other fields. In the field of indoor positioning of mobile robots, positioning schemes and algorithms related to RFID have gradually attracted the attention of researchers, and have great research potential and application value. [0003] Applying RFID technology to mobile robot positioning schemes, due to the hi...

Claims

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Application Information

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IPC IPC(8): G01S5/06
CPCG01S5/06
Inventor 陶波黎真龙吴海兵尹周平
Owner HUAZHONG UNIV OF SCI & TECH