Tunnel robot advancing position detection method based on RFID tag

Abstract

The invention relates to the field of tunnel robots, in particular to a tunnel robot advancing position detection method based on an RFID tag, and the method comprises the steps: S1, pasting the RFID tag along a track; s2, turning on a power switch; s3, on-site remote control is carried out through a remote controller, and initial RFID interval data is set; s4, controlling the vehicle body to move through a remote controller; s5, once the RFID reader installed on the vehicle body recognizes the existence of the RFID tag, the vehicle is automatically parked, and the spacing distance value is written into the RFID data table; s6, after writing is completed, the vehicle body continues to move forwards, and existence of the RFID tag is recognized in real time; and S7, repeatedly executing the steps 5-6 until all the RFID tags are read into the RFID data table. The method has the advantages that the spacing distance of the RFID tags can be detected in time, the accurate numerical value of the spacing distance is updated, the spacing distance accuracy is improved, and the approval effect is achieved.

Description

[Technical field]

[0001] The present invention relates to the field of tunnel robots, and in particular to a method for detecting the traveling position of a tunnel robot based on an RFID tag. [Background technology]

[0002] At present, most inspections in tunnels are still done manually. However, due to the special environment in tunnels, workers have to go in and out of tunnels every day to check equipment safety. This not only has low work efficiency, but also cannot guarantee personnel safety. Tunnel robots came into being.

[0003] However, the positioning and calibration of tunnel robots are difficult. The positioning of traditional tunnel robots mainly relies on manual labor, but the manual installation of RFID tags is based on the naked eye, which leads to large errors in the pasting distance and low accuracy. This will cause data obstacles for subsequent operations. Therefore, a tunnel robot travel position detection method based on RFID tags is proposed, which can enable RFID tags to be detected in time. The interval distance, update the precise value of the interval distance, improve the accuracy of the interval distance, and play a verification role. [Summary of the invention]

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a method for detecting the travel position of a tunnel robot based on RFID tags, which can enable the RFID tags to be detected in time to detect the interval distance, update the precise value of the interval distance, improve the accuracy of the interval distance, and play a verification role.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] A method for detecting the traveling position of a tunnel robot based on an RFID tag comprises the following steps:

[0007] S1: Paste the RFID tag along the track, the RFID tag is a blank tag;

[0008] S2: Turn on the power switch;

[0009] S3: Perform on-site remote control via the remote controller and set the initial RFID interval distance;

[0010] S4: Control the movement of the vehicle through the remote control;

[0011] S5: Once the RFID reader installed on the vehicle body recognizes the presence of the RFID tag, the vehicle stops automatically and writes the interval distance value into the RFID data table;

[0012] First, determine the measuring distance, and then the vehicle itself will repeatedly measure the interval distance to improve the accuracy of distance recording.

[0013] Because there will be errors in the naked eye, the vehicle body will run on the track in person to have a more accurate identification of the interval distance.

[0014] The RFID tag is serially marked starting from 1 through the remote control input, and then the initial distance is set to 16 meters. The actual distance measured by the vehicle body is 16.2 meters. The recorded distance is corrected to improve accuracy.

[0015] S6: After writing is completed, the vehicle continues to move forward and recognizes the presence of the RFID tag in real time;

[0016] S7: Repeat steps 5 to 6 until all RFID tags are read into the RFID data table.

[0017] Preferably, the vehicle body runs slower when approaching the RFID tag. The reason for the vehicle body to slow down is to prevent the vehicle body from being unable to accurately align with the RFID tag due to inertia, reduce recognition errors, and ensure the recognition accuracy of the interval distance.

[0018] Preferably, S5 specifically includes that the RFID reader includes at least two sensing elements having sensor characteristics, the RFID reader reads one of the sensing elements of the RFID tag during one inventory cycle, and releases the RFID sensor tag before reading another sensing element of the RFID tag during a subsequent inventory cycle.

[0019] Advantageously, a query signal having a sensor activation command is sent to the RFID tag, the sensor activation command providing for activation of the sensing element in the RFID tag.

[0020] Preferably, the sensor activation command is configured in an RFID reader that controls the RFID sensor tag.

[0021] Preferably, a position sensor is provided on the surface of the vehicle body, and the position sensor chamber is used for precise position docking of the vehicle body and the RFID tag.

[0022] Preferably, the position sensor is a magnetic sensor, and the RFID tag contains a matching sensing element.

[0023] Preferably, S5 specifically includes: S51, the read signal includes a target signal and at least one noise information, the target signal includes information to be read by the RFID reader, and the noise information is generated by the excitation signal;

[0024] S52, filtering noise information, obtaining a time delay of the noise information corresponding to each of the adjacent segments relative to the excitation signal, and calculating the noise information corresponding to each of the adjacent segments;

[0025] S53: Acquire information to be read by the RFID reader according to the target signal.

[0026] Preferably, the method further includes S50, determining whether one of the RFID tags is in a state of having recorded information; if one of the RFID tags is in a state of not having recorded information, the vehicle body returns to re-record the information, otherwise, noise information in both RFID tags is removed.

[0027] An RFID reader includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the above-mentioned method for detecting the traveling position of a tunnel robot based on an RFID tag is implemented.

[0028] The beneficial effects of the present invention are as follows:

[0029] 1. S5 specifically includes that the RFID reader includes at least two sensing elements with sensor characteristics, one sensing element is the RFID tag to be activated, and the other sensing element is a magnetic patch, which is used to determine whether the parking position of the vehicle body is accurate. The RFID reader reads one of the sensing elements of the RFID tag during an inventory cycle, activates the RFID tag to be activated and records the distance between them, and releases the RFID sensor tag before reading another sensing element of the RFID tag during a subsequent inventory cycle. The RFID sensor tag mainly determines the type of sensor corresponding to the position, such as magnetic attraction. The use principles of the RFID tag and the RFID sensor tag may be the same or different.

[0030] A query signal with a sensor activation command is sent to the RFID tag. The sensor activation command activates the sensing element in the RFID tag, so that the vehicle body can rely on the RFID tag to query the vehicle body position in real time after the RFID tag is activated, which is convenient for subsequent monitoring of the vehicle body's operation.

[0031] 2. Determine whether one of the RFID tags is in a state of having recorded information; if one of the RFID tags is in a state of not having recorded information, the vehicle body returns to re-record the information, otherwise, remove the noise information in both RFID tags.

[0032] The formula for identifying the input information status is as follows:

[0033]

[0034] Among them, Q represents the RFID tag entry status. If the RFID tag completes the entry work normally, it is in a normal operation state, and the state is 1. If at least two RFID tags are faulty, it is in a communication interruption state, and the state is 0; ∧ represents a logical OR operation. As long as all RFID tags are operating normally, it is in a normal operation state; ∧ represents a logical AND operation. When one RFID tag fails, it is in a communication interruption state.

[0035] These features and advantages of the present invention will be disclosed in detail in the following specific embodiments and drawings.

Brief Description of the Drawings

[0036] The present invention will be further described below in conjunction with the accompanying drawings:

[0037] Figure 1 It is a schematic diagram of the process of the present invention. [Specific implementation method]

[0038] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0039] The following first describes the concepts involved in this application in conjunction with the accompanying drawings. It should be noted that the following description of each concept is only to make the content of this application easier to understand and does not limit the scope of protection of this application.

[0040] Embodiment 1:

[0041] A method for detecting the traveling position of a tunnel robot based on an RFID tag comprises the following steps:

[0042] S1: Paste the RFID tag along the track, the RFID tag is a blank tag;

[0043] S2: Turn on the power switch, the vehicle body is powered on and starts to move along the track;

[0044] S3: Perform on-site remote control through the remote controller and set the initial RFID interval distance, for example, the interval distance is 6m;

[0045] S4: Control the movement of the vehicle through the remote control;

[0046] S5: Once the RFID reader installed on the vehicle body recognizes the presence of the RFID tag, the vehicle stops automatically and writes the interval distance value into the RFID data table;

[0047] First, determine the measuring distance, and then the vehicle itself will repeatedly measure the interval distance to improve the accuracy of distance recording.

[0048] Because there will be errors in the naked eye, the vehicle body will run on the track in person to have a more accurate identification of the interval distance.

[0049] The RFID tag is serially marked starting from 1 through the remote control input, and then the initial distance is set to 16 meters. The actual distance measured by the vehicle body is 16.2 meters. The recorded distance is corrected to improve accuracy.

[0050] S6: After writing is completed, the vehicle continues to move forward and recognizes the presence of the RFID tag in real time;

[0051] S7: Repeat steps 5 to 6 until all RFID tags are read into the RFID data table.

[0052] Preferably, the vehicle body runs slower when approaching the RFID tag. The reason for the vehicle body to slow down is to prevent the vehicle body from being unable to accurately align with the RFID tag due to inertia, reduce recognition errors, and ensure the recognition accuracy of the interval distance.

[0053] S5 specifically includes that the RFID reader includes at least two sensing elements with sensor characteristics, one sensing element is the RFID tag to be activated, and the other sensing element is a magnetic patch, which is used to determine whether the parking position of the vehicle body is accurate and improve the accuracy of the identification distance. The RFID reader reads one of the sensing elements of the RFID tag during an inventory cycle, activates the RFID tag to be activated and records the distance, and releases the RFID sensor tag before reading another sensing element of the RFID tag during a subsequent inventory cycle. The RFID sensor tag mainly determines the type of sensor corresponding to the position, such as magnetic attraction. The use principles of the RFID tag and the RFID sensor tag can be the same or different.

[0054] A query signal with a sensor activation command is sent to the RFID tag. The sensor activation command activates the sensing element in the RFID tag, so that the vehicle body can rely on the RFID tag to query the vehicle body position in real time after the RFID tag is activated, which is convenient for subsequent monitoring of the vehicle body's operation.

[0055] The sensor activation command is configured in an RFID reader that controls the RFID sensor tag, and the RFID reader activates the RFID tag and the RFID sensor tag, thereby improving activation efficiency.

[0056] Alternatively, S5 may include, S50, determining whether one of the RFID tags is in a state of having recorded information; if one of the RFID tags is in a state of not having recorded information, the vehicle body returns to re-record the information, otherwise, removing noise information from both RFID tags.

[0057] The formula for identifying the input information status is as follows:

[0058]

[0059] Among them, Q represents the RFID tag entry status. If the RFID tag completes the entry work normally, it is in the normal operation state, and the state is 1. If at least two RFID tags are faulty, it is in the communication interruption state, and the state is 0; ∧ represents the logical OR operation. As long as all RFID tags are operating normally, it is in the normal operation state; ∧ represents the logical AND operation. When one RFID tag fails, it is in the communication interruption state.

[0060] S51, the read signal includes a target signal and at least one noise information, the target signal contains the information to be read by the RFID reader, the noise information is generated by the excitation signal, and a noise amplifier can be installed to facilitate the identification of small noise information and improve the removal efficiency of the noise information;

[0061] S52, filtering the noise information, obtaining the time delay of the noise information corresponding to each adjacent segment relative to the excitation signal, and calculating the noise information corresponding to each adjacent segment;

[0062] The non-local mean algorithm is used for preliminary denoising filtering, and the calculation formula is as follows:

[0063]

[0064] in, is the subband signal of the sth level after preliminary denoising filtering at time t and frequency f of sensor i; h is is the similarity parameter; k is the neighborhood index in the non-local means algorithm, indicating the is-th neighborhood point in the search window; Ω is is the search window, which represents the neighborhood range in the non-local means algorithm; x is (t+k,f) represents the subband signal of the sth level after preliminary denoising filtering of sensor i at time t+k and frequency f.

[0065] There is also a position sensor on the surface of the vehicle body, and the position sensor room is used for precise position docking between the vehicle body and the RFID tag.

[0066] The position sensor is a magnetic sensor, and the RFID tag contains a matching sensing element. Of course, a Hall sensor can also be used.

[0067] The location sensor includes information about the sensor functionality available in the sensor tag. Such information may include, for example: the sensor elements (or sensor node profiles) available in the sensor tag, the calculations or processes required to obtain actual sensor values ​​from the sensor elements, the time required to interrogate each sensor element, the sensor element value range, information about the scaling of the sensor element values, the units of the sensor element values, calibration information, temperature compensation information, etc. The sensor node profile may be defined to indicate the type of sensor element in the wireless sensor tag, and the wireless sensor tag may store a sensor node profile identifier in a memory. Therefore, the amount of backscattered sensor information may be reduced, and the reader may utilize the sensor node profile to obtain more specific information.

[0068] An RFID reader includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the above-mentioned method for detecting the traveling position of a tunnel robot based on an RFID tag is implemented.

[0069] Those of ordinary skill in the art will appreciate that the units (or modules, steps, etc., the same below) of the examples described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition of each example has been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0070] In the embodiments provided by the present invention, it should be understood that the division of units is only a logical function division, and there may be other division methods in actual implementation, for example, multiple units can be combined into one unit, one unit can be split into multiple units, or some features can be ignored, etc.

[0071] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0072] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-0nly Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk, etc., which can store program code.

[0073] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered by the claims and description of the present invention.

Claims

1. A method for detecting the traveling position of a tunnel robot based on RFID tags, characterized in that: The following steps are involved: S1: Paste RFID tags along the track; S2: Turn on the power switch; S3: Perform on-site remote control via a remote controller and set initial RFID interval data; S4: Control the movement of the vehicle through the remote control; S5: Once the RFID reader installed on the vehicle body recognizes the presence of the RFID tag, the vehicle stops automatically and writes the interval distance value into the RFID data table; S6: After writing is completed, the vehicle continues to move forward and recognizes the presence of the RFID tag in real time; S7: Repeat steps 5 to 6 until all RFID tags are read into the RFID data table.

2. A method for detecting the traveling position of a tunnel robot based on an RFID tag as claimed in claim 1, characterized in that: The vehicle body runs slower when approaching the RFID tag, so as to ensure the accuracy of identification of the interval distance.

3. A method for detecting the traveling position of a tunnel robot based on an RFID tag as claimed in claim 1, characterized in that: The S5 specifically includes that the RFID reader includes at least two sensing elements having sensor characteristics, the RFID reader reads one of the sensing elements of the RFID tag during one inventory cycle, and releases the RFID sensor tag before reading another sensing element of the RFID tag during a subsequent inventory cycle.

4. A method for detecting the traveling position of a tunnel robot based on an RFID tag as claimed in claim 3, characterized in that: An inquiry signal having a sensor activation command is sent to the RFID tag, the sensor activation command providing for activation of the sensing element in the RFID tag.

5. A method for detecting the traveling position of a tunnel robot based on an RFID tag as claimed in claim 4, characterized in that: The sensor activation command is configured in an RFID reader that controls the RFID sensor tag.

6. A method for detecting the traveling position of a tunnel robot based on an RFID tag as claimed in claim 1, characterized in that: The surface of the vehicle body is provided with a position sensor, and the position sensor chamber is used for precise position docking of the vehicle body and the RFID tag.

7. A method for detecting the traveling position of a tunnel robot based on an RFID tag as claimed in claim 6, characterized in that: The position sensor is a magnetic sensor, and the RFID tag contains a matching sensing element.

8. The method for detecting the traveling position of a tunnel robot based on an RFID tag according to claim 1, characterized in that: The S5 specifically includes: S51, the read signal includes a target signal and at least one noise information, the target signal includes information to be read by the RFID reader, and the noise information is generated by the excitation signal; S52, filtering noise information, obtaining a time delay of the noise information corresponding to each of the adjacent segments relative to the excitation signal, and calculating the noise information corresponding to each of the adjacent segments; S53: Acquire information to be read by the RFID reader according to the target signal.

9. A method for detecting the traveling position of a tunnel robot based on an RFID tag as claimed in claim 8, characterized in that: The method further includes S50, determining whether one of the RFID tags is in a state of having recorded information; if one of the RFID tags is in a state of not having recorded information, the vehicle body returns to re-record the information, otherwise, noise information in both RFID tags is removed.

10. An RFID reader comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the method for detecting the traveling position of a tunnel robot based on an RFID tag according to any one of claims 1 to 9 is implemented.

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