Inventory robot indoor hybrid positioning method based on WAPI and RFID

Abstract

The invention belongs to the technical field of smart power grids, and discloses a WAPI and RF ID-based check robot indoor hybrid positioning method, the method combines WAPI and RFID technologies to realize accurate positioning and navigation of a robot in an indoor environment, the WAPI is used for estimating the approximate position of the robot, and the RFID technology is used for estimating the approximate position of the robot. And the RFID is used for carrying out accurate positioning and data acquisition on the intelligent electric energy meter. By combining the WAPI technology and the RFID phased antenna module, the checking robot can realize high-precision positioning in a complex indoor environment, compared with a traditional positioning mode, the method provides preliminary positioning information of the robot through the WAPI, then the RFID phased antenna system is used for accurately reading the electric meter label, and the checking robot can realize high-precision positioning in a complex indoor environment. Signal shielding and misreading caused by electric meter stacking are avoided, finally, the checking robot can accurately position the position of each electric meter by dynamically adjusting the radiation direction of the radio frequency signals, and the positioning accuracy is remarkably improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of smart grids, and particularly relates to an indoor hybrid positioning method for an inventory robot based on WAPI and RFID. Background Art

[0002] With the development of smart grids and the continuous progress of information technology, smart electricity meters have become an important part of modern power systems. Smart electricity meters can not only collect users' electricity consumption data in real time, but also exchange data with the background system through communication modules, providing functions such as remote monitoring, metering, management, and control. Compared with traditional mechanical electricity meters, smart electricity meters have higher accuracy, stronger functionality, and better reliability.

[0003] WAPI is a wireless local area network security protocol. It can not only be used for wireless communication, but also estimate the location based on the signal strength (RSSI) between access points (APs). When inventorying smart electricity meters, due to the large number and dense stacking of electricity meters, this leads to greater signal interference. And WAPI locates based on signal strength, which results in that during inventory, WAPI can only provide approximate location information and cannot accurately identify the specific location of the electricity meters.

[0004] Although RFID technology can quickly and contactlessly identify the identity of electricity meters and collect data, in a high-density tag environment, RFID readers are prone to misreading or missing readings, making it difficult to ensure that all electricity meter information can be accurately identified. Therefore, an indoor hybrid positioning method for an inventory robot based on WAPI and RFID is proposed. By using WAPI for rough positioning and RFID for efficient identification and data collection at more precise positions, precise positioning of electricity meters can be achieved. Summary of the Invention

[0005] The purpose of the present invention is to provide an indoor hybrid positioning method for an inventory robot based on WAPI and RFID to solve the problems raised in the above background art.

[0006] To achieve the above purpose, the present invention provides the following technical solution: An indoor hybrid positioning method for an inventory robot based on WAPI and RFID, which combines WAPI and RFID technologies to achieve precise positioning and navigation of the robot in an indoor environment. The WAPI is used to estimate the approximate position of the robot, and the RFID is used for precise positioning and data collection of smart electricity meters. The specific steps are as follows:

[0007] Step 1, robot autonomous positioning: When the inventory robot moves in an indoor environment, the WAPI system estimates the approximate position of the robot according to the signal strength with multiple wireless access points.

[0008] Step 2, RFID tag identification and positioning: When the inventory robot approaches the smart electricity meter, the RFID phased antenna module starts to scan the RFID tag on the meter, and the system monitors the position information of the tag in real time according to the signal radiation direction;

[0009] Step 3, data collection and upload: The inventory robot reads the electricity meter information through the RFID reader and uploads the collected data to the background management system through the wireless communication module;

[0010] Step 4, path planning of the robot: The inventory robot plans the inspection path through the lidar, ultrasonic sensor and vision camera. At the same time, the RFID phased antenna system continuously adjusts the scanning area to ensure that the robot can cover all electricity meters and judge the direction and position of the electricity meters in real time;

[0011] Step 5, intelligent fault feedback: Through the real-time monitoring of the electricity meter status, the system can detect the abnormal conditions of the equipment and provide timely warnings for maintenance personnel.

[0012] Preferably, the RFID phased antenna module includes a signal transceiver device, a phase shifter unit, a power distribution device, a PLC and an RFID reader device. The signal transceiver device includes a signal transceiver and a controlled phase shifter unit, which can adjust the radiation direction according to the PLC instruction and scan a specific area.

[0013] Preferably, the RFID reader device identifies and collects data from the RFID tag on the electricity meter; the phase shifter unit is used to control the phase of the radio frequency signal and can accurately scan the electronic tags in a specific area; the power distribution device is used to optimize the signal distribution in different areas.

[0014] Preferably, the inventory robot is also integrated with a lidar, an ultrasonic sensor and a vision camera. The lidar is used to scan the surrounding environment and cooperate with the ultrasonic sensor to assist the robot in positioning and obstacle avoidance. The vision camera is used to capture the electricity meter equipment in real time. The inventory robot also includes a wireless communication module.

[0015] Preferably, when the inventory robot is running, the WAPI scans the wireless signals in the environment, records the position and signal strength of each AP, and provides an initial positioning reference for the robot according to the known positions of the APs.

[0016] Preferably, in Step 2, the inventory robot locates the signal strength and tag position of the RFID tag through the RFID phased antenna module, and the RFID phased antenna module can dynamically adjust the radiation direction according to the instruction to achieve accurate identification of tags at different positions.

[0017] Preferably, each of the intelligent electricity meters has an RFID tag, and the tag is used to identify the unique identity of the device and store the basic information, status data, and maintenance records of the electricity meter.

[0018] Preferably, when the inventory robot reaches each intelligent electricity meter, the RFID reader will read the RFID tag on the electricity meter, obtain the basic information, operating status, and maintenance records of the electricity meter, and detect the appearance of the electricity meter through the integrated vision camera to determine whether there is damage and abnormality.

[0019] Preferably, the electricity meter robot reads the tag through the EFQ algorithm, and its algorithm formula is:

[0020] Estimation of the number of tags, using the data of collision and successful time slots, estimate the number of unrecognized tags in the current frame The formula is as follows:

[0021] Dynamic frame adjustment, according to the estimated number of unrecognized tags, update the frame length F, the formula is:

[0022]

[0023] Preferably, the dynamic frame adjustment strategy of the EFQ algorithm includes: collision detection and adjustment, when the continuous collision time slots exceed the threshold Thcoll, increase the frame length to reduce collisions; idle time slot detection and adjustment, when the continuous idle time slots exceed the threshold Thempty, reduce the frame length to improve resource utilization, and the frame length update rule is:

[0024]

[0025] The beneficial effects of the present invention are as follows:

[0026] 1. By combining the WAPI technology with the RFID phased antenna module, the present invention enables the inventory robot to achieve high-precision positioning in a complex indoor environment. Compared with the traditional positioning method, this method provides the robot with preliminary positioning information through WAPI, and then accurately reads the electricity meter tags through the RFID phased antenna system, avoiding signal occlusion and misreading caused by the stacking of electricity meters. Finally, by dynamically adjusting the radiation direction of the radio frequency signal, the inventory robot can accurately locate the position of each electricity meter, especially in the stacking area, significantly improving the accuracy of positioning.

[0027] 2. Through the collaborative work of multiple groups of sensors, the inventory-taking robot of the present invention can still maintain high reliability in a complex environment of stacked electricity meters. Moreover, even when the positions of the electricity meters change or the stacking areas change, the system can still quickly adapt and conduct accurate inventory-taking, achieving efficient inventory-taking and saving a large amount of time costs.

[0028] 3. By introducing a dynamic frame adjustment mechanism, the EFQ algorithm of the present invention estimates the number of tags in real time and dynamically optimizes the frame length, fundamentally improving the system throughput and solving the problem of wasted slot resources under a fixed frame length. Secondly, this algorithm designs a tag priority mechanism, allocating more resources in the identification of tags of key grid equipment to ensure that important data is captured and passed through first, effectively meeting the special requirements for high-value tags in grid equipment management. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a flowchart of the indoor hybrid positioning of the inventory-taking robot of the present invention;

[0030] Figure 2 It is a composition diagram of the RFID phased antenna module of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0031] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0032] As Figures 1 to 2 shown, the embodiment of the present invention provides an indoor hybrid positioning method for an inventory-taking robot based on WAPI and RFID. This method combines WAPI and RFID technologies to achieve precise positioning and navigation of the robot in an indoor environment. The WAPI is used to estimate the approximate position of the robot, and the RFID is used to precisely position and collect data of intelligent electricity meters. The specific steps are as follows:

[0033] Step 1, robot autonomous positioning: When the inventory-taking robot moves in an indoor environment, the WAPI system estimates the approximate position of the robot according to the signal strengths of multiple wireless access points;

[0034] The WAPI technology is mainly used for indoor wireless positioning. The inventory-taking robot can use the WAPI signal to determine its own position. When the electricity meters are stacked in space, the WAPI can help the robot initially determine its position in the environment and provide preliminary navigation information for the robot;

[0035] Step 2, RFID tag identification and positioning: When the inventory robot approaches the smart electricity meter, the RFID phased antenna module starts to scan the RFID tag on the meter, and the system monitors the position information of the tag in real time according to the signal radiation direction;

[0036] The inventory robot is equipped with an RFID phased antenna module, which can accurately locate and read RFID tags on different electricity meters.

[0037] Step 3, data collection and uploading: The inventory robot reads the electricity meter information through an RFID reader and uploads the collected data to the background management system through a wireless communication module;

[0038] Step 4, path planning of the robot: The inventory robot plans the inspection path through a lidar, ultrasonic sensors and visual cameras. At the same time, the RFID phased antenna system continuously adjusts the scanning area to ensure that the robot can cover all electricity meters and judge the direction and position of the electricity meters in real time;

[0039] Step 5, intelligent fault feedback: Through real-time monitoring of the electricity meter status, the system can detect abnormal conditions of the equipment and provide timely warnings for maintenance personnel.

[0040] The system can use a convolutional neural network CNN or a support vector machine SVM to identify faults in the images and operation data of the electricity meters. Once the system detects an abnormality in the equipment (such as equipment damage, abnormal status), it will immediately send a warning to the background system or operation and maintenance personnel.

[0041] By combining the WAPI technology with the RFID phased antenna module, the inventory robot can achieve high-precision positioning in a complex indoor environment. Compared with traditional positioning methods, this method provides preliminary positioning information for the robot through WAPI, and then accurately reads the electricity meter tags through the RFID phased antenna system, avoiding signal occlusion and misreading caused by stacked electricity meters. Finally, by dynamically adjusting the radiation direction of the radio frequency signal, the inventory robot can accurately locate the position of each electricity meter, especially in the stacked area, significantly improving the positioning accuracy.

[0042] Among them, the RFID phased antenna module includes a signal transceiver device, a phase shifter unit, a power distribution device, a PLC and an RFID reader device. The signal transceiver device includes a signal transceiver and a controlled phase shifter unit, which can adjust the radiation direction according to the PLC instruction and scan a specific area.

[0043] The RFID phased antenna module can not only quickly identify the electricity meter tags in the stacked area by dynamically adjusting the radiation direction of the radio frequency signal, but also distinguish the direction and specific position of the stacked electricity meters, avoiding misreading and missing reading caused by stacked electricity meters.

[0044] Among them, the RFID reader / writer device identifies and collects data from the RFID tags on the electricity meters; the phase shifter unit is used to control the phase of the radio frequency signal and can accurately scan the electronic tags in a specific area; the power distribution device is used to optimize the signal distribution in different areas.

[0045] The inventory robot can rely on the phased antenna system to judge the moving direction and access position of the electricity meters, and then accurately distinguish the positions of different electricity meters in the stacked area.

[0046] Among them, the inventory robot is also integrated with a lidar, an ultrasonic sensor and a vision camera. The lidar is used to scan the surrounding environment and cooperate with the ultrasonic sensor to assist the robot in positioning and obstacle avoidance. The vision camera is used to capture the electricity meter equipment in real time. The inventory robot also includes a wireless communication module.

[0047] Through the data of the lidar and the vision sensor, the inventory robot can perform high-precision indoor positioning in the stacked electricity meter area. Through the wireless communication module, the inventory robot can transmit the inspection data to the background management system in real time.

[0048] Among them, when the WAPI runs on the inventory robot, it scans the wireless signals in the environment, records the positions and signal strengths of each AP (access point), and provides an initial positioning reference for the robot according to the known positions of the APs.

[0049] Among them, in step two, the inventory robot locates the signal strength and tag position of the RFID tag through the RFID phased antenna module, and the RFID phased antenna module can dynamically adjust the radiation direction according to the instruction to achieve accurate identification of tags at different positions.

[0050] Each of the intelligent electricity meters has an RFID tag, and this tag is used to identify the unique identity of the device and store the basic information, status data and maintenance records of the electricity meter.

[0051] These tags have strong anti-interference and durability. Even in the power grid environment with high temperature, high humidity and strong electromagnetic interference, they can still maintain a stable operating state, ensuring that the robot can quickly read during the inspection process, avoiding data loss caused by signal occlusion, and improving the inspection efficiency.

[0052] Among them, when the inventory robot reaches each intelligent electricity meter, the RFID reader will read the RFID tag on the electricity meter, obtain the basic information, operating status and maintenance records of the electricity meter, and detect the appearance of the electricity meter through the integrated vision camera to judge whether there are damages and abnormalities.

[0053] Among them, the electricity meter robot reads tags through the EFQ algorithm, and its algorithm formula is as follows: Initial frame length setting, initialize the frame length F0, and estimate the total number of tags N through historical data or environmental characteristics; Slot status detection, according to the slot feedback in the read frame, divide the tag response into three states: Successful slot (Psucc): Only one tag responds; Collision slot (Pcoll): Multiple tags respond simultaneously; Empty slot (Pempty): No tag responds.

[0054] Estimation of the number of tags, using the data of collision and successful slots, estimate the number of unrecognized tags in the current frame The formula is as follows:

[0055] Among them, Ccoll is the number of collision slots, and F is the frame length;

[0056] Dynamic frame adjustment, according to the estimated number of unrecognized tags, update the frame length F, and the formula is:

[0057]

[0058] Among them, α is the adjustment factor, and usually the optimal value is obtained by adjusting parameters in the experiment;

[0059] Tag priority optimization, by allocating additional slots to key tags, improve their recognition probability; Iterative reading, repeat the above steps until all tags are successfully recognized.

[0060] Among them, the dynamic frame adjustment strategy of the EFQ algorithm includes: Collision detection and adjustment, when the number of consecutive collision slots exceeds the threshold Th coll Increase the frame length to reduce collisions; Empty slot detection and adjustment, when the number of consecutive empty slots exceeds the threshold Th empty Reduce the frame length to improve resource utilization, and the frame length update rule is:

[0061]

[0062] Among them, ΔF is the adjustment step size of the frame length;

[0063] By introducing a dynamic frame adjustment mechanism, the EFQ algorithm can estimate the number of tags in real time and dynamically optimize the frame length, which fundamentally improves the system throughput and solves the problem of slot resource waste under a fixed frame length. Secondly, the algorithm designs a tag priority mechanism, allocates more resources in the identification of power grid key equipment tags, and ensures that important data is captured and passed first, effectively meeting the special requirements for high-value tags in power grid equipment management.

[0064] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or elements inherent to such process, method, article or device.

[0065] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A hybrid indoor positioning method for an inventory counting robot based on WAPI and RFID, characterized in that: This method combines WAPI and RFID technology to achieve accurate positioning and navigation of the robot in an indoor environment. The WAPI is used to estimate the approximate position of the robot, and the RFID is used to accurately locate and collect data for the smart energy meter. The specific steps are as follows: Step 1: Autonomous positioning of the robot: When the inventory robot moves in an indoor environment, the WAPI system estimates the approximate location of the robot based on the signal strength with multiple wireless access points; Step 2: RFID tag identification and positioning: When the inventory robot approaches the smart energy meter, the RFID phased antenna module starts to scan the RFID tag on the meter. The system monitors the location information of the tag in real time based on the signal radiation direction. Step 3: Data collection and upload: The inventory robot reads the meter information through the RFID reader and uploads the collected data to the background management system through the wireless communication module; Step 4: Robot path planning: The inventory robot plans the inspection path through laser radar, ultrasonic sensors and visual cameras. At the same time, the RFID phased antenna system continuously adjusts the scanning area to ensure that the robot can cover all meters and determine the direction and position of the meters in real time. Step 5: Intelligent fault feedback: Through real-time monitoring of the meter status, the system can detect abnormal conditions of the equipment and provide timely warnings for maintenance personnel.

2. According to claim 1, a WAPI and RFID-based indoor hybrid positioning method for inventory counting robots is characterized by: The RFID phased antenna module includes a signal transceiver, a phase shift unit, a power distribution device, a PLC and an RFID reader / writer. The signal transceiver includes a signal transceiver and a controlled phase shift unit, which can adjust the radiation direction and scan a specific area according to PLC instructions.

3. According to claim 2, a WAPI and RFID-based indoor hybrid positioning method for inventory counting robots is characterized by: The RFID reader / writer identifies and collects data from the RFID tag on the electric meter; the phase shifter is used to control the phase of the radio frequency signal and can accurately scan the electronic tags in a specific area; the power distribution device is used to optimize the distribution of signals in different areas.

4. According to claim 1, a WAPI and RFID-based indoor hybrid positioning method for inventory counting robots is characterized by: The inventory counting robot also integrates laser radar, ultrasonic sensor and visual camera, among which the laser radar is used to scan the surrounding environment and cooperate with the ultrasonic sensor to assist the robot in positioning and obstacle avoidance. The visual camera is used to capture the electric meter equipment in real time. The inventory counting robot also includes a wireless communication module.

5. According to claim 1, a WAPI and RFID-based indoor hybrid positioning method for inventory counting robots is characterized by: When the inventory robot is running, the WAPI scans the wireless signals in the environment, records the position and signal strength of each AP, and provides an initial positioning reference for the robot based on the known AP positions.

6. The method for indoor hybrid positioning of an inventory counting robot based on WAPI and RFID according to claim 1, characterized in that: In step 2, the inventory robot locates the signal strength and tag position of the RFID tag through the RFID phased antenna module, and the RFID phased antenna module can dynamically adjust the radiation direction according to the instruction to achieve accurate identification of tags in different positions.

7. The method for indoor hybrid positioning of an inventory counting robot based on WAPI and RFID according to claim 1 is characterized in that: Each of the smart electric energy meters has an RFID tag, and the tag is used to identify the unique identity of the device and store basic information, status data and maintenance records of the electric energy meter.

8. The method for indoor hybrid positioning of an inventory counting robot based on WAPI and RFID according to claim 1, characterized in that: When the inventory robot arrives at each smart meter, the RFID reader / writer reads the RFID tag on the meter to obtain the basic information, operating status and maintenance records of the meter, and inspects the appearance of the meter through the integrated visual camera to determine whether there is any damage or abnormality.

9. The method for indoor hybrid positioning of an inventory counting robot based on WAPI and RFID according to claim 1, characterized in that: The electric meter robot reads the tag using the EFQ algorithm, and the algorithm formula is: Tag quantity estimation: using the data of conflict and success time slots, the number of unrecognized tags in the current frame is estimated The formula is as follows: Dynamic frame adjustment, based on the estimated number of unrecognized tags, updates the frame length F, the formula is:

10. The method for indoor hybrid positioning of an inventory counting robot based on WAPI and RFID according to claim 9, characterized in that: The dynamic frame adjustment strategy of the EFQ algorithm includes: conflict detection and adjustment, when the continuous conflict time slot exceeds the threshold Th coll When the number of consecutive idle time slots exceeds the threshold Th, the frame length is increased to reduce conflicts; idle time slot detection and adjustment, when the consecutive idle time slots exceed the threshold Th empty When , the frame length is reduced to improve resource utilization, and the frame length update rule is:

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