A Robot RFID Navigation Method and Device for Fixed-Path Operations

Abstract

The present invention discloses a robot RFID navigation method and device for fixed-path operation. The method includes the following steps: S0. Before navigation starts, color the fixed path during the robot's operation and deploy several RFID tags on the fixed path as needed; S1. After the robot starts working, obtain road surface photo information through a camera, and at the same time, an RFID reader detects the RFID tags; S2. When the RFID reader does not detect an RFID tag, automatically identify the fixed path area through the road surface photo information obtained by the camera, and make the robot automatically walk along the center of the fixed path area until an RFID tag is detected; S3. After the RFID reader detects any one or more RFID tags, the RFID tag with the latest serial number currently is used to navigate the movement of the robot. If no RFID tag can be detected during the movement process, return to step S2; S4. Repeat the above steps S2 and S3 to complete the navigation of the robot.

Description

Technical Field

[0001] The present invention relates to the technical field of navigation and positioning, and in particular to an RFID navigation method and device for a robot operating on a fixed path. Background Art

[0002] For robots operating on a fixed path, their track establishment usually adopts three technologies: physical tracks, wireless positioning tracks, and radar SLAM tracks. Physical tracks can define the operation path of the operating robot in certain situations, but the laying of physical tracks is troublesome and affects the original layout of the entire operation area. Radar SLAM tracks do not require laying auxiliary tracks or configuring wireless positioning devices, but radar SLAM tracks are relatively prone to losing position, and it is not easy for the robot to return to the preset track after losing position. Wireless positioning tracks can form reliable movement trajectories in the operation area, but wireless signals are vulnerable to interference, and the drifted wireless positioning tracks will cause misoperation of the robot's walking. Therefore, it is necessary to design a new solution to achieve reliable navigation and positioning of the robot in the case where wireless navigation is extremely vulnerable to interference. Summary of the Invention

[0003] To solve the problems raised in the above background art, the technical solution adopted by the present invention is as follows:

[0004] An RFID navigation method for a robot operating on a fixed path, comprising the following steps:

[0005] S0. Before the navigation starts, use a robot equipped with a camera, a robotic arm, and an RFID reader. And color the fixed path during the operation of the robot to make the fixed path significantly different from the surrounding environment, and deploy a number of RFID tags on the fixed path as needed, and configure a corresponding serial number for each RFID tag according to the order of the RFID tags in the fixed path;

[0006] S1. After the robot starts working, obtain road surface photo information through the camera, and at the same time, the RFID reader detects the RFID tags;

[0007] S2. When the RFID reader does not detect an RFID tag, automatically identify the fixed path area through the road surface photo information obtained by the camera, and make the robot automatically walk along the center of the fixed path area until an RFID tag is detected;

[0008] S3. After the RFID reader detects any one or more RFID tags, first determine the RFID tag with the last serial number according to the serial numbers of the RFID tags, and use the currently last RFID tag to navigate the movement of the robot. If no RFID tag can be detected during the movement, return to step S2;

[0009] S4. Repeat the above steps S2 and S3 to complete the navigation of the robot.

[0010] In some embodiments, in step S0, the camera and the robotic arm are rotatably mounted at different positions on the upper surface of the robot through a rotary pan-tilt, and the RFID reader is mounted at the end of the robotic arm.

[0011] In some embodiments, in step S1, when obtaining the road surface photo information through the camera, the camera is continuously rotated, and a visual photo of the road surface is taken every time it rotates a preset angle. The azimuth angle of the robot corresponding to the visual photo is recorded while taking the photo.

[0012] In some embodiments, step S2 specifically includes the following steps:

[0013] S21. When the RFID reader 4 does not detect an RFID tag, according to the significant difference between the fixed path area and the surrounding environment, the RGB histogram extraction algorithm is used to obtain the path RGB histogram information within the visual frame of each visual photo, where the visual frame is a rectangular frame that is symmetric about the center line of the visual photo, symmetric left and right, and has a preset width;

[0014] S22. If the path RGB histogram cannot be found in all visual frames, it means that the robot 1 has lost its position. Then, an error message is sent to prompt manual processing and the process is aborted. Otherwise, go to step S23;

[0015] S23. According to the path RGB histogram in the visual frame, judge the position of the current robot relative to the fixed path area, automatically adjust the running direction of the robot, and at the same time, the camera continuously obtains new visual photos until the path RGB histogram is located at the center of the visual frame in the visual photo with an azimuth angle of 0°, indicating that the current running direction of the robot has been aligned with the center of the fixed path area;

[0016] S24. Make the robot automatically walk along the center of the fixed path area until an RFID tag is detected.

[0017] In some embodiments, when deploying RFID tags in step S0:

[0018] For the turning points in the fixed path, a set of RFID tags is deployed in the middle of the path on both sides before and after the turn, and a set of RFID tags is deployed at each working point of the robot;

[0019] Each set of RFID tags includes a high-frequency RFID tag, a medium-frequency RFID tag, and a low-frequency RFID tag set at the same position. Each set of RFID tags is pressed at the bottom of a protective cover, and the protective cover and the corresponding set of RFID tags are fixed on the road surface together;

[0020] Moreover, the RFID reader of the robot adopts a multi-frequency reader, which can respectively read high-frequency RFID tags, medium-frequency RFID tags and low-frequency RFID tags.

[0021] In some embodiments, in steps S1 and S2, after the robot starts working, when no RFID tag is detected, under the control of the robotic arm, the azimuth angle of the RFID reader is set to 0°, and the RFID reader continuously detects high-frequency RFID tags first;

[0022] In step S3, after detecting any high-frequency RFID tag, if the high-frequency RFID tag is the RFID tag with the latest detected serial number, the movement of the robot is navigated specifically according to the following steps:

[0023] S31. First, determine whether the direction where the high-frequency RFID tag is located is consistent with the predetermined movement direction of the robot. If it is consistent, go to step S32a; if it is not consistent, go to step S32b;

[0024] S32a. Make the robot move forward directly towards the high-frequency RFID tag. During the forward movement, control the RFID reader through the robotic arm to rotate reciprocally within the azimuth angle range of -60° to 60°, and at the same time, the RFID reader switches to the state of detecting medium-frequency RFID tags, and enter step S33;

[0025] S32b. Make the robot move in the opposite direction directly towards the high-frequency RFID tag, and make the azimuth angle of the RFID reader 0° through the robotic arm and continue to detect high-frequency RFID tags. If no RFID tag can be detected during the movement, return to step S2; if the next high-frequency RFID tag is detected, return to step S31;

[0026] S33. If, in the state where the RFID reader detects medium-frequency RFID tags, the forward movement distance of the robot reaches the preset value and no medium-frequency RFID tag is detected, make the robot use the reading point of the high-frequency RFID tag as the search center, reciprocally move within a certain range for a preset number of times and search for medium-frequency RFID tags. If no medium-frequency RFID tag is still detected, abort the process and send an alarm message. If a medium-frequency RFID tag is detected, enter step S34;

[0027] S34. The RFID reader switches to the state of detecting low-frequency RFID tags, and controls the RFID reader through the robotic arm to reciprocally move within a certain range with the reading point of the medium-frequency RFID tag as the search center to search for low-frequency RFID tags. If no low-frequency RFID tag is detected, abort the process and send an alarm message. If a low-frequency RFID tag is detected, enter step S35;

[0028] S35. Move the robot directly above the low-frequency RFID tag, and keep the RFID reader in a readable state for the low-frequency RFID tag during the process;

[0029] S36. After the robot completes the preset task at the low-frequency RFID tag, make the robot face the next traveling direction and return to step S1.

[0030] On the other hand, the present invention provides a robot RFID navigation device for fixed-path operations, including a robot, a camera, a robotic arm, and an RFID reader. Moreover, the robot RFID navigation device for fixed-path operations uses the above-mentioned robot RFID navigation method for fixed-path operations to realize the navigation of the robot.

[0031] In some embodiments, the camera is fixedly installed at the top of a straight rod, and the bottom end of the straight rod is installed on the upper surface of the robot through a first horizontal rotating cloud platform;

[0032] The robotic arm includes a horizontal long arm, a horizontal short arm, and a vertical arm;

[0033] One end of the horizontal long arm is installed on the upper surface of the robot through a second horizontal rotating cloud platform, and the other end of the horizontal long arm is installed with a third horizontal rotating cloud platform;

[0034] One end of the horizontal short arm is installed on the third horizontal rotating cloud platform, and the other end of the horizontal short arm is installed with a vertical rotating cloud platform;

[0035] One end of the vertical arm is installed on the vertical rotating cloud platform, and the RFID reader is installed at the other end of the vertical arm.

[0036] Compared with the prior art, the beneficial effects of the present invention are:

[0037] The robot RFID navigation method and device for fixed-path operations provided by the present invention realize positioning and navigation through the combination of a vision device and an RFID navigation device, can be used as a backup navigation means, and solve the problems of wireless navigation and azimuth instrument failure in the case of fixed-path operations at low cost; it can be applied to robots for fixed-path operations in substations or power plants. Description of the Drawings

[0038] Figure 1 It is a schematic flow chart of the robot RFID navigation method for fixed-path operations provided by the present invention;

[0039] Figure 2 It is a schematic structural diagram of the robot;

[0040] Figures 3a - 3d It is a schematic diagram showing vision frames in different situations.

[0041] Description of the Reference Numerals:

[0042] 1. Robot; 2. Camera; 3. Robotic arm; 4. RFID reader; 5. Straight rod; 6. First horizontal rotating cloud platform; 7. Second horizontal rotating cloud platform; 8. Third horizontal rotating cloud platform; 9. Vertical rotating cloud platform; 31. Horizontal long arm; 32. Horizontal short arm; 33. Vertical arm. Detailed implementation manner

[0043] To make the technical means, creative features, achieved purposes and effects of the present invention easy to understand, the following further elaborates how the present invention is implemented in conjunction with the accompanying drawings and specific implementation manners.

[0044] Refer to Figure 1 And Figure 2 As shown, the present invention provides a robot RFID navigation method for fixed-path operations, including the following steps:

[0045] S0. Before navigation starts, use the robot 1 equipped with the camera 2, robotic arm 3 and RFID reader 4. And color the fixed path during the operation of the robot 1 to make the fixed path have a significant difference from the surrounding environment, deploy several RFID tags on the fixed path as needed, and configure corresponding serial numbers for each RFID tag according to the order of the RFID tags in the fixed path;

[0046] S1. After the robot 1 starts working, obtain road surface photo information through the camera 2, and at the same time, the RFID reader 4 detects the RFID tags;

[0047] S2. When the RFID reader 4 does not detect an RFID tag, automatically identify the fixed path area through the road surface photo information obtained by the camera 2, and make the robot 1 automatically walk along the center of the fixed path area until an RFID tag is detected;

[0048] S3. After the RFID reader 4 detects any one or more RFID tags, first determine the RFID tag with the last serial number according to the serial numbers of the RFID tags, and use the currently detected RFID tag with the last serial number to navigate the movement of the robot 1. If no RFID tag can be detected during the movement, return to step S2;

[0049] S4. Repeat the above steps S2 and S3 to complete the navigation of the robot 1.

[0050] It is understandable that radio frequency identification (RFID) technology is a type of automatic identification technology. Its principle is that non-contact data communication occurs between the RFID reader 4 and the tag to achieve the purpose of identifying the target. The present invention realizes positioning and navigation through a vision device combined with an RFID navigation device, which can be used as a backup navigation means, and solves the problems of wireless navigation and azimuth instrument failure in the case of fixed-path operations at low cost; it can be applied to robots for fixed-path operations in substations or power plants.

[0051] Referring to Figure 2 As shown, the camera 2 and the robotic arm 3 are respectively rotatably mounted at different positions on the upper surface of the robot 1 through a rotary platform, and the RFID reader 4 is mounted at the end of the robotic arm 3.

[0052] In addition, in step S0, when coloring the fixed path, paint or other coloring methods can be used, and the coloring is carried out in a horizontal and vertical manner. On the one hand, the coloring needs to have a significant difference from the coloring of the surrounding environment, and on the other hand, it needs to comply with the road specifications.

[0053] Preferably, in step S1, when obtaining the road surface photo information through the camera 2, the camera 2 is continuously rotated, and a visual photo of the road surface is taken every time it rotates a preset angle. At the same time of taking the photo, the azimuth angle of the robot 1 corresponding to the visual photo is recorded.

[0054] In a specific embodiment, the camera 2 can take a visual photo every time it rotates 1°, and a total of 360 photos are obtained.

[0055] Preferably, step S2 specifically includes the following steps:

[0056] S21. When the RFID reader 4 does not detect the RFID tag, according to the significant difference between the fixed path area and the surrounding environment, the RGB histogram extraction algorithm is used to obtain the path RGB histogram information within the visual frame of each visual photo, where the visual frame is a rectangular frame that is symmetric about the center line of the visual photo, symmetric left and right, and has a preset width;

[0057] S22. If the path RGB histogram cannot be found in all the visual frames, it means that the robot 1 has lost its position, then an error message is sent to prompt manual processing and the process is aborted, otherwise, step S23 is entered;

[0058] S23. According to the path RGB histogram in the visual frame, judge the position of the current robot 1 relative to the fixed path area, automatically adjust the running direction of the robot 1, and at the same time, the camera 2 continuously obtains new visual photos until the path RGB histogram is located at the center of the visual frame in the visual photo with an azimuth angle of 0°, indicating that the current running direction of the robot 1 has been aligned with the center of the fixed path area;

[0059] S24, making the robot 1 automatically walk along the center of the fixed path area until the RFID tag is detected.

[0060] In a specific embodiment, referring to Figures 3a - 3d As shown, the dotted box represents the visual box, and the black strip area represents the path RGB histogram. When the azimuth angle is 0°, Figure 3a The RGB histogram of the middle path is located in the center of the visual frame, indicating that the robot is located in the center of the path and is aligned; Figure 3b Indicates that the robot position is partially sideways relative to the path; Figure 3c Indicates that the robot position is completely deviated from the path, but the path RGB histogram can be found in the visual photo; Figure 3d Indicates that the robot deviates from the path and the path RGB histogram cannot be found in the visual photo.

[0061] It is understandable that in step S21, when the fixed path and the surrounding environment are significantly calibrated in color, the path RGB histogram visual features are easy to obtain, and the RGB histogram extraction algorithm can adopt the existing conventional visual algorithm, which will not be described in detail in the present invention.

[0062] Further, in step S22, if no path RGB histogram is found in all visual frames, that is, all visual photos are Figure 3d As shown, it means that the robot 1 has lost its position, an error message is sent to prompt manual processing and the process is terminated.

[0063] In step S23, when the running direction of the robot 1 is automatically adjusted, the angle and distance required for adjustment are automatically calculated according to the path RGB histogram in the visual photo, so that the robot moves quickly to the center of the path and aligns, and finally the path RGB histogram is located in the center of the visual frame in the visual photo with an azimuth angle of 0°, that is, corresponding to Figure 3a The situation in indicates that the current running direction of robot 1 has been aligned to the center of the fixed path area.

[0064] In addition, it is understandable that although the azimuth of the azimuth meter of the robot 1 is subject to electromagnetic interference, it can provide rough azimuth information for the walking of the robot 1 during the data stabilization period. This information may not be used for precise navigation, but it is undoubtedly used to determine whether the overall forward direction of the robot is correct. Therefore, when the present invention automatically adjusts the running direction of the robot 1, combined with the azimuth meter of the robot 1, it can prevent the robot 1 from running in the opposite direction.

[0065] Preferably, in step S0, when deploying the RFID tags: for the turning points in the fixed path, a set of RFID tags is deployed in the middle of the path on both sides before and after the turn, and a set of RFID tags is deployed at each working point of the robot 1; each set of RFID tags includes a high-frequency RFID tag, a medium-frequency RFID tag and a low-frequency RFID tag arranged at the same position. Each set of RFID tags is pressed at the bottom of a protective cover, and the protective cover and the corresponding set of RFID tags are fixed on the road surface together; moreover, the RFID reader 4 of the robot 1 adopts a multi-frequency reader 4, which can read the high-frequency RFID tag, the medium-frequency RFID tag and the low-frequency RFID tag respectively.

[0066] In addition, if conditions permit, for the straight roads in the fixed path, a set of RFID tags can be deployed every preset distance (such as 10 - 50 m).

[0067] It can be understood that the high-frequency RFID tag, the medium-frequency RFID tag and the low-frequency RFID tag respectively correspond to different readable distances. The high-frequency RFID tag corresponds to a long distance, such as within 100 cm; the medium-frequency RFID tag corresponds to a medium distance, such as within 30 cm; the low-frequency RFID tag corresponds to a short distance, such as within 10 cm.

[0068] In a specific embodiment, in steps S1 and S2, after the robot 1 starts to work, when no RFID tag is detected, under the control of the robotic arm 3, the azimuth angle of the RFID reader 4 is set to 0°, and the RFID reader 4 continuously detects the high-frequency RFID tag first;

[0069] Next, in step S3, after detecting any high-frequency RFID tag, if the high-frequency RFID tag is the RFID tag with the latest detected serial number, the movement of the robot 1 is navigated specifically according to the following steps:

[0070] S31. First, judge whether the direction where the high-frequency RFID tag is located is consistent with the predetermined movement direction of the robot 1. If it is consistent, go to step S32a; if it is not consistent, go to step S32b;

[0071] S32a. Make the robot 1 move forward facing the high-frequency RFID tag. During the forward movement, control the RFID reader 4 to rotate reciprocally within the azimuth angle range of -60° to 60° through the robotic arm 3, and at the same time, the RFID reader 4 switches to the state of detecting the medium-frequency RFID tag, and enter step S33;

[0072] S32b. Move the robot 1 in the opposite direction towards the high-frequency RFID tag, and use the robotic arm 3 to set the azimuth angle of the RFID reader 4 to 0° and continue to detect the high-frequency RFID tag. If the RFID tag cannot be detected during the movement, return to step S2. If the next high-frequency RFID tag is detected, return to step S31;

[0073] S33. If, in the state where the RFID reader 4 is detecting the intermediate-frequency RFID tag, the forward movement distance of the robot 1 reaches the preset value (e.g., 100 cm) and the intermediate-frequency RFID tag is still not detected, then use the reading point of the high-frequency RFID tag as the search center for the robot 1 to reciprocate within a certain range (e.g., within 30 cm before and after the search center) for a preset number of times to search for the intermediate-frequency RFID tag. If the intermediate-frequency RFID tag is still not detected, abort the process and send an alarm message. If the intermediate-frequency RFID tag is detected, proceed to step S34;

[0074] S34. Switch the RFID reader 4 to the state of detecting the low-frequency RFID tag. Control the RFID reader 4 through the robotic arm 3 to reciprocate within a certain range with the reading point of the intermediate-frequency RFID tag as the search center to search for the low-frequency RFID tag. If the low-frequency RFID tag cannot be detected, abort the process and send an alarm message. If the low-frequency RFID tag is detected, proceed to step S35;

[0075] It can be understood that when searching for the low-frequency RFID tag in step S34, since the robot 1 is already very close to the tag itself, after the robot 1 moves to the reading point of the intermediate-frequency RFID tag, the robot 1 does not need to move anymore, but only drives the RFID reader 4 to move within a certain range through the robotic arm 3 to detect the low-frequency RFID tag;

[0076] S35. Move the robot 1 directly above the low-frequency RFID tag, and keep the RFID reader 4 in a readable state of the low-frequency RFID tag during the process. Specifically, the robotic arm 3 can be used to make the RFID reader 4 close to the road surface and keep the direction fixed, so as to maintain the readable state of the low-frequency RFID tag;

[0077] S36. After the robot 1 completes the preset task at the low-frequency RFID tag, make the robot 1 face the next traveling direction and return to step S1.

[0078] It can be seen that the robot RFID navigation method for fixed-path operation provided by the present invention realizes positioning operation by searching for RFID tags with different sensing distances, gradually reducing the distance to the positioning point, thereby greatly improving the positioning accuracy and facilitating the precise turning of the robot and positioning to a specific working point to complete the work. The RFID tag frequency band is fixed and the sensing distance is short. Even in an environment with frequent electromagnetic interference, it can work well. Moreover, the RFID tags are easy to deploy and inexpensive. It well solves the backup positioning problem of the robot for fixed-path operation in substations or power plants when wireless navigation fails.

[0079] On the other hand, the present invention provides a robot RFID navigation device for fixed-path operation, including a robot 1, a camera 2, a robotic arm 3 and an RFID reader 4. And the robot RFID navigation device for fixed-path operation adopts the above-mentioned robot RFID navigation method for fixed-path operation to realize the navigation of the robot 1.

[0080] Further, the camera 2 is fixedly installed at the top of a straight rod 5, and the bottom end of the straight rod 5 is installed on the upper surface of the robot 1 through a first horizontal rotating cloud platform 6; the robotic arm 3 includes a horizontal long arm 31, a horizontal short arm 32 and a vertical arm 33; one end of the horizontal long arm 31 is installed on the upper surface of the robot 1 through a second horizontal rotating cloud platform 7, and the other end of the horizontal long arm 31 is installed with a third horizontal rotating cloud platform 8; one end of the horizontal short arm 32 is installed on the third horizontal rotating cloud platform 8, and the other end of the horizontal short arm 32 is installed with a vertical rotating cloud platform 9; one end of the vertical arm 33 is installed on the vertical rotating cloud platform 9, and the RFID reader 4 is installed at the other end of the vertical arm 33.

[0081] It can be understood that a controller can be installed in the robot to control the automatic movement of the wheels, robotic arm 3, cloud platform and other structures of the robot. The control principle belongs to the conventional technical means in this field and will not be elaborated here.

[0082] In a specific embodiment, the camera can be a conventional camera, and the viewing distance can be 0.3 - 2 m; the length of the horizontal long arm 31 can be 70 cm, the length of the horizontal short arm 32 can be 50 cm, and the length of the vertical arm 33 can be 30 cm. The horizontal long arm 31, the horizontal short arm 32 and the corresponding cloud platforms can provide a large horizontal movement range for the RFID reader 4; the vertical rotating cloud platform 9 and the vertical arm 33 can drive the RFID reader 4 close to the road surface, which is convenient for reading low-frequency RFID tags.

[0083] In summary, the RFID navigation method and device for robots with fixed-path operations provided by the present invention achieve positioning and navigation through a vision device in combination with an RFID navigation device, which can be used as a backup navigation means to solve the problems of wireless navigation and azimuth instrument failure in the case of fixed-path operations at low cost; it can be applied to robots with fixed-path operations in substations or power plants.

[0084] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and they should all be covered within the scope of the claims of the present invention.

Claims

1. A robot RFID navigation method for fixed-path operations, characterized in that, It includes the following steps: S0. Before the navigation starts, use a robot (1) equipped with a camera (2), a robotic arm (3) and an RFID reader (4). Moreover, color the fixed path during the operation of the robot (1) to make the fixed path significantly different from the surrounding environment, deploy several RFID tags on the fixed path as needed, and configure a corresponding serial number for each RFID tag according to the order of the RFID tags on the fixed path; S1. After the robot (1) starts working, obtain road surface photo information through the camera (2), and at the same time, the RFID reader (4) detects the RFID tags; S2. When the RFID reader (4) does not detect an RFID tag, automatically identify the fixed path area through the road surface photo information obtained by the camera (2), and make the robot (1) automatically walk along the center of the fixed path area until an RFID tag is detected; S3. After the RFID reader (4) detects any one or more RFID tags, first determine the RFID tag with the last serial number according to the serial numbers of the RFID tags, and use the currently detected RFID tag with the last serial number to navigate the movement of the robot (1). If no RFID tag can be detected during the movement, return to step S2; S4. Repeat the above steps S2 and S3 to complete the navigation of the robot (1); Among them, in step S0, when deploying the RFID tags: For the turning points on the fixed path, deploy a set of RFID tags in the middle of the path on both sides before and after the turn, and deploy a set of RFID tags at each working point of the robot (1); Each set of RFID tags includes a high-frequency RFID tag, a medium-frequency RFID tag and a low-frequency RFID tag arranged at the same position. Each set of RFID tags is pressed at the bottom of a protective cover, and the protective cover and the corresponding set of RFID tags are fixed on the road surface together; Moreover, the RFID reader (4) of the robot (1) uses a multi-frequency reader (4) that can respectively read high-frequency RFID tags, medium-frequency RFID tags and low-frequency RFID tags; In steps S1 and S2, after the robot (1) starts working and when no RFID tag is detected, under the control of the robotic arm (3), make the azimuth angle of the RFID reader (4) 0°, and the RFID reader (4) first continuously detects high-frequency RFID tags; In step S3, after detecting any high-frequency RFID tag, if the high-frequency RFID tag is the currently detected RFID tag with the last serial number, navigate the movement of the robot (1) according to the following specific steps: S31. First, judge whether the direction where the high-frequency RFID tag is located is consistent with the predetermined movement direction of the robot (1). If it is consistent, enter step S32a; if it is not consistent, enter step S32b; S32a. Make the robot (1) move straight forward towards the high-frequency RFID tag. During the forward movement, control the RFID reader (4) to rotate reciprocally within the azimuth range of -60° to 60° by the robotic arm (3). At the same time, switch the RFID reader (4) to the state of detecting medium-frequency RFID tags, and proceed to step S33; S32b. Make the robot (1) move backward straight towards the high-frequency RFID tag, and make the azimuth angle of the RFID reader (4) 0° by the robotic arm (3) and continue to detect the high-frequency RFID tag. If the RFID tag cannot be detected anymore during the movement, return to step S2. If the next high-frequency RFID tag is detected, return to step S31; S33. If, in the state where the RFID reader (4) is detecting medium-frequency RFID tags, the forward movement distance of the robot (1) reaches the preset value and the medium-frequency RFID tag is still not detected, make the robot (1) take the reading point of the high-frequency RFID tag as the search center, move reciprocally within a certain range for a preset number of times and search for the medium-frequency RFID tag. If the medium-frequency RFID tag is still not detected, abort the process and send an alarm message. If the medium-frequency RFID tag is detected, proceed to step S34; S34. Switch the RFID reader (4) to the state of detecting low-frequency RFID tags. Control the RFID reader (4) by the robotic arm (3) to move reciprocally within a certain range with the reading point of the medium-frequency RFID tag as the search center to search for the low-frequency RFID tag. If the low-frequency RFID tag cannot be detected, abort the process and send an alarm message. If the low-frequency RFID tag is detected, proceed to step S35; S35. Make the robot (1) move to directly above the low-frequency RFID tag, and keep the RFID reader (4) in the readable state of the low-frequency RFID tag during the process; S36. After the robot (1) completes the preset task at the low-frequency RFID tag, make the robot (1) face the next traveling direction and return to step S1.

2. The RFID navigation method for a robot operating along a fixed path according to claim 1, wherein, In step S0, the camera (2) and the robotic arm (3) are respectively rotatably mounted at different positions on the upper surface of the robot (1) through rotating pedestals, and the RFID reader (4) is mounted at the end of the robotic arm (3).

3. The RFID navigation method for a robot operating along a fixed path according to claim 1, wherein, In step S1, when obtaining the road surface photo information through the camera (2), make the camera (2) rotate continuously, and take a visual photo of the road surface every time it rotates a preset angle. Record the azimuth angle of the robot (1) corresponding to the visual photo while taking the photo.

4. The RFID navigation method for a robot operating along a fixed path according to claim 3, wherein In step S2, it specifically includes the following steps: S21. When the RFID reader (4) does not detect the RFID tag, according to the significant difference between the fixed path area and the surrounding environment, adopt the RGB histogram extraction algorithm to obtain the path RGB histogram information within the visual frame of each visual photo, where the visual frame is a rectangular frame that is symmetric about the center line of the visual photo, symmetric left and right and has a preset width; S22. If the path RGB histogram cannot be found in all visual frames, indicating that the robot (1) has lost its position, an error message is sent to prompt manual processing and the process is aborted; otherwise, proceed to step S23; S23. Based on the path RGB histogram in the visual frame, determine the position of the current robot (1) relative to the fixed path area, automatically adjust the running direction of the robot (1), and at the same time, the camera (2) continuously acquires new visual photos until the path RGB histogram is located at the center of the visual frame in the visual photo with an azimuth angle of 0°, indicating that the current running direction of the robot (1) is aligned with the center of the fixed path area; S24. Make the robot (1) automatically walk along the center of the fixed path area until an RFID tag is detected.

5. A robot RFID navigation device for fixed-path operations, characterized in that, It includes a robot (1), a camera (2), a robotic arm (3) and an RFID reader (4), and the RFID navigation device for the robot with fixed path operation implements the navigation of the robot (1) by using the method for RFID navigation of the robot with fixed path operation described in any one of claims 1 - 4.

6. The RFID navigation device for a robot operating along a fixed path according to claim 5, wherein, The camera (2) is fixedly installed at the top of a straight rod (5), and the bottom end of the straight rod (5) is installed on the upper surface of the robot (1) through a first horizontal rotary platform (6); The robotic arm (3) includes a horizontal long arm (31), a horizontal short arm (32) and a vertical arm (33); One end of the horizontal long arm (31) is installed on the upper surface of the robot (1) through a second horizontal rotary platform (7), and the other end of the horizontal long arm (31) is installed with a third horizontal rotary platform (8); One end of the horizontal short arm (32) is installed on the third horizontal rotary platform (8), and the other end of the horizontal short arm (32) is installed with a vertical rotary platform (9); One end of the vertical arm (33) is installed on the vertical rotary platform (9), and the RFID reader (4) is installed at the other end of the vertical arm (33).

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