CN103823469A - Positioning device for unmanned line-tracking robot and positioning method thereof - Google Patents
Positioning device for unmanned line-tracking robot and positioning method thereof Download PDFInfo
- Publication number
- CN103823469A CN103823469A CN201410088145.1A CN201410088145A CN103823469A CN 103823469 A CN103823469 A CN 103823469A CN 201410088145 A CN201410088145 A CN 201410088145A CN 103823469 A CN103823469 A CN 103823469A
- Authority
- CN
- China
- Prior art keywords
- frequency
- robot
- tag
- write
- radio
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a positioning device for an unmanned line-tracking robot. The positioning module comprises a power supply, a microcontroller, n radio frequency readers, an RS232 communication interface and a host computer, wherein serial ports of the n radio frequency readers are connected with the serial ports of the microcontroller respectively, the power supply supplies power for the microcontroller, and an asynchronous serial port of the microcontroller is connected with the RS232 interface of the host computer through the RS communication interface. The positioning device can realize the precise positioning of the robot. Meanwhile, the invention further discloses a positioning method of the positioning device, and the positioning method is simple and easily operated, and can realize the precise positioning of the robot during the travelling of the robot.
Description
Technical field
The invention belongs to the field of radio frequency identification of robot, specifically, relate to a kind of for unmanned locating device and the localization method thereof that guides the robot that tracks.
Background technology
REID has been inherited the concept of Radar Technology the earliest.As far back as 1948, Harry's Stockman was delivered " utilizing the communication of reflective power " and has established the theoretical foundation of radio-frequency (RF) identification (RFID).Pass through subsequently the development of over half a century, its technology also reaches its maturity, and has also moved towards the road of Standardization Development.Meanwhile, RFID product is also enriched constantly, as active electronic label, passive electronic label and half passive electronic label.Cost is also in continuous reduction, and industry size application constantly expands.Along with the theory of RFID technology is constantly enriched and perfect, single-chip electronic tag, multiple electronic label recognition, wireless-readable can be write, the remote identification of passive electronic label, the radio-frequency (RF) identification that adapts to high-speed mobile object also become a reality gradually.
There is many drawbacks in traditional recognition technology, as bar code recognition, not only data volume is very little, and need to be by beam alignment bar code, identifies sensitively not, and recognition time is also longer, and bar code is also easily damaged simultaneously.Although nowadays the data volume of popular Quick Response Code storage is large, need to carry out the computing of image processing method face, therefore recognition speed is also slower, and identification equipment is also had to very high requirement, and the most fatal is in fast moving, to identify.The appearance of RFID technology has made up these defects just, not only still all even better aspect reliability, accuracy, rapidity aspect cost.
Current REID generally just reads and writes the data in label, is difficult to the relative position of electronic tag and identification module carry out comparatively accurate identification and control.And in Material Flow System of Automatic Workshop, not only the dispensing of material is had the requirement of rapidity and accuracy, and sometimes also need to realize comparatively accurate position control.
Summary of the invention
technical matters:technical matters to be solved by this invention is: provide a kind of for the unmanned locating device that guides the robot that tracks; this locating device can be realized the precise positioning of robot; simultaneously; the localization method of this locating device is also provided; this localization method is simple to operation; in the walking process of robot, can realize the precise positioning of robot.
technical scheme:for solving the problems of the technologies described above, the technical solution used in the present invention is:
A kind of for the unmanned locating device that guides the robot that tracks, this locating module comprises power supply, microcontroller, a n frequency read/write, RS232 communication interface and host computer, the serial port of a described n frequency read/write is connected with the serial port of microcontroller respectively, power supply is microcontroller power supply, and the asynchronous serial port of microcontroller is connected with the RS232 interface of host computer by RS232 communication interface; N is positive even numbers.
Further, described also comprise state indicating module for the track locating device of robot of unmanned guiding, state indicating module is connected with microcontroller.
Further, described for the track locating device of robot of unmanned guiding, also comprise CAN communication interface.CAN communication interface is connected with the CAN controller peripheral port of microcontroller.
The above-mentioned localization method for the unmanned locating device that guides the robot that tracks, this localization method comprises the following steps:
Step 10) arranges robot locating area, the corresponding induction region of each frequency read/write, between induction region corresponding to each frequency read/write, there is an intersecting area, in this intersecting area, have the part induction region that each frequency read/write is corresponding, this intersecting area is robot locating area;
Step 20) each frequency read/write responds in its corresponding induction region whether have radio-frequency (RF) tag, if each frequency read/write senses radio-frequency (RF) tag, enter step 50), all sense radio-frequency (RF) tag if not whole frequency read/writes, enter step 30);
Step 30) frequency read/write obtains the station numbering of the radio-frequency (RF) tag that is arranged in induction region, and pass to microcontroller, microcontroller passes to host computer by RS232 communication interface by station numbering and the residing induction region of radio-frequency (RF) tag in radio-frequency (RF) tag, host computer carries out analyzing and processing after receiving this information, send move according to the residing induction region of current radio-frequency (RF) tag to robot, robot walks after receiving this move automatically, after robot moves a control cycle, stop moving, enter step 40);
Step 40) each frequency read/write responds in its corresponding induction region whether have radio-frequency (RF) tag, if each frequency read/write senses radio-frequency (RF) tag, enters step 50); All sense radio-frequency (RF) tag if not whole frequency read/writes, return to step 30), until each frequency read/write senses radio-frequency (RF) tag;
Step 50) each frequency read/write obtains the station numbering of the radio-frequency (RF) tag that is arranged in each self-corresponding induction region, and pass to microcontroller, microcontroller is numbered all stations and locate successfully mark by RS232 communication interface and passes to host computer, host computer carries out analyzing and processing after receiving this information, show the position of this robot, and starting honeybee give repeated exhortations device and LED light, prompting is located successfully.
Further, in described step 10), regulate distance between each frequency read/write, change the size of intersecting area.
beneficial effect:compared with prior art, technical scheme of the present invention can realize the precise positioning of robot.
Technical scheme of the present invention can not only be carried out data to electronic radio frequency tags and be read, also adopted antithesis radio frequency to read recognition methods simultaneously, as long as regulate the distance between frequency read/write, just can regulate accuracy of identification, make it in the middle of automated production process.This device has good Dynamic Recognition performance, and robot still can normally read the storage information of radio-frequency card in rapid movement process, to obtain the station of current robot, and the information such as section, then guided robot carries out the stop of accurate position.In addition, technical scheme of the present invention, has adopted antithesis radio frequency to read recognition method, and not only accuracy of identification is adjustable, and can make identification range expand.Radio-frequency (RF) tag in induction region is quick on the draw, and the speed of identification is fast, can within very short time, get data, therefore in mobile process, still can normally identify, and obtaining of induction region can be carried out exact position stop by guided robot., can modify at any time with section to the data in label, the data of storage are also not easy to be damaged, and have good safety and reliability meanwhile.This locating device also comprises CAN communication interface, makes module also have extensibility, also may be used in the middle of other field.The present invention is widely used, and not only can apply to the accurate location of the unmanned station that guides the robot (AGV robot) that tracks of workshop logistics system, also can apply to bus operation system, handling of goods and materials, the fields such as access control.
Accompanying drawing explanation
Fig. 1 is the FB(flow block) of localization method of the present invention.
Fig. 2 is the structured flowchart of the embodiment of the present invention 1.
Fig. 3 is the antithesis recognition principle figure of the embodiment of the present invention 1.
Fig. 4 is the structured flowchart of the embodiment of the present invention 2.
Fig. 5 is the antithesis recognition principle figure of the embodiment of the present invention 2.
Embodiment
Below in conjunction with the drawings and specific embodiments, further illustrate technical scheme of the present invention, should understand these embodiment is only not used in and limits the scope of the invention for the present invention is described, after having read the present invention, those skilled in the art all fall within the application's claims limited range to the modification of the various equivalent form of values of the present invention.
The present invention is a kind of for the unmanned locating device that guides the robot that tracks, comprise power supply, microcontroller, a n frequency read/write, RS232 communication interface and host computer, the serial port of a described n frequency read/write is connected with the serial port of microcontroller respectively, power supply is microcontroller power supply, and the asynchronous serial port of microcontroller is connected with the RS232 interface of host computer by RS232 communication interface; N is positive even numbers.As preferably, described n is 2 or 4.
Further, described also comprise state indicating module for the track locating device of robot of unmanned guiding, state indicating module is connected with microcontroller.When the unmanned robot that tracks that guides enters intersecting area, to realize after precise positioning, state indicating module sends signal, boundary outside announcement.Described state indicating module is any one or two kinds that LED light, honeybee are given repeated exhortations in device.LED light is connected with microcontroller, and the honeybee device of giving repeated exhortations is connected with microcontroller.
Further, described for the track locating device of robot of unmanned guiding, also comprise CAN communication interface.CAN communication interface is connected with the CAN controller peripheral port of microcontroller.The CAN agreement peripheral hardware that CAN communication interface is set is microcontroller provides protection and short-circuit protection.CAN communication interface can use TJA1050T chip, and uses 120 Ohmages to carry out impedance matching.The effect of CAN communication interface is mainly that the networking of convenient device is later used, and does functional expansion.
As shown in Figure 1, the above-mentioned localization method for the unmanned locating device that guides the robot that tracks, comprises the following steps:
Step 10) arranges robot locating area, the corresponding induction region of each frequency read/write, between induction region corresponding to each frequency read/write, there is an intersecting area, in this intersecting area, have the part induction region that each frequency read/write is corresponding, this intersecting area is robot locating area;
Step 20) each frequency read/write responds in its corresponding induction region whether have radio-frequency (RF) tag, if each frequency read/write senses radio-frequency (RF) tag, enter step 50), all sense radio-frequency (RF) tag if not whole frequency read/writes, enter step 30);
Step 30) frequency read/write obtains the station numbering of the radio-frequency (RF) tag that is arranged in induction region, and pass to microcontroller, microcontroller passes to host computer by RS232 communication interface by station numbering and the residing induction region of radio-frequency (RF) tag in radio-frequency (RF) tag, host computer carries out analyzing and processing after receiving this information, send move according to the residing induction region of current radio-frequency (RF) tag to robot, robot walks after receiving this move automatically, after robot moves a control cycle, stop moving, enter step 40);
Step 40) each frequency read/write responds in its corresponding induction region whether have radio-frequency (RF) tag, if each frequency read/write senses radio-frequency (RF) tag, enters step 50); All sense radio-frequency (RF) tag if not whole frequency read/writes, return to step 30), until each frequency read/write senses radio-frequency (RF) tag;
Step 50) each frequency read/write obtains the station numbering of the radio-frequency (RF) tag that is arranged in each self-corresponding induction region, and pass to microcontroller, microcontroller is numbered all stations and locate successfully mark by RS232 communication interface and passes to host computer, host computer carries out analyzing and processing after receiving this information, show the position of this robot, and starting honeybee give repeated exhortations device and LED light, prompting is located successfully.
Further, in described step 10), regulate distance between each frequency read/write, change the size of intersecting area.When intersecting area area is less, the location of robot is more accurate.According to actual needs, by regulating distance between each frequency read/write, can control the size of intersecting area.
Locating device of the present invention can be stored, read the data in the radio-frequency (RF) tag of all ISO14443 of meeting typeA agreements, and radio-frequency (RF) tag is carried out to location, accurate position.In the present invention, power supply can use 5V externally fed, and provides 3.3V voltage for device.The high-speed microprocessor that it is C8051F040 that microcontroller preferably adopts with the model of CAN communication peripheral hardware, frequency read/write is selected and can be carried out the storage of data and the module reading to the radio-frequency (RF) tag of all ISO14443 of meeting typeA agreements.The serial port chip that RS232 communication interface uses is MX232ESE, is connected with host computer by 9 needle serial port seats.
In locating device of the present invention, between frequency read/write and microcontroller, carry out communication by serial ports.Microcontroller provides 5V voltage for frequency read/write.If radio-frequency module detects standard compliant radio-frequency (RF) tag, will make the corresponding Chinese of IN0(: external interrupt 0 pin) step-down level, thus make microcontroller enter external interrupt.It is mutual that host computer carries out communication by RS232 communication interface and microcontroller, completes reading and changing radio-frequency (RF) tag.
Locating device of the present invention is mainly by Dflag(interrupt flag bit) judge whether to receive radio-frequency module data, and to the data analysis receiving, see whether be the data that need, if data are correct, isolate station, area information, then these data are packed, send by CAN bus or RS232.In the time that frequency read/write detects the radio-frequency (RF) tag that meets ISO14443 typeA standard, by external interrupt IN0, make microcontroller enter interruption status.Microcontroller sends the data read command to frequency read/write, and frequency read/write will return to the information of radio-frequency (RF) tag by serial ports, and microcontroller enters serial ports receive interruption.Microcontroller enters in serial ports and has no progeny, and will, to interrupt flag bit zero clearing, the data of receiving be saved in buffer memory, if data receiver completes, zone bit Dflag is carried out to mark.Label data reading flow is: frequency read/write by obtain data by serial ports by Packet Generation to microcontroller, the packet content of acquisition is carried out verification, decoding by microcontroller, data are integrated and encapsulated, and sent to host computer by RS232 interface.
Locating device of the present invention can not only carry out data to electronic radio frequency tags and read, and has also adopted antithesis radio frequency to read recognition methods simultaneously, as long as regulate the distance between frequency read/write, just can regulate accuracy of identification.Technical scheme of the present invention, has adopted antithesis radio frequency to read recognition method, and not only accuracy of identification is adjustable, and can make identification range expand.Frequency read/write is crossed serial ports by the information exchange of acquisition and is sent to microcontroller, microcontroller receives and analyzes packet, judge the induction region at radio-frequency (RF) tag place, then the data in the induction region information of acquisition and radio-frequency (RF) tag are integrated and encapsulated, and sending to host computer by RS232 communication interface, host computer is shown the data of acquisition in interface.And a reverse process that is stored as this step of data.This frequency read/write has non-contact read-write ability and antijamming capability, can in 6cm and in motion process, reliably read radio-frequency (RF) tag.Whether timing microprocessor detects has the radio-frequency (RF) tag that can Gong read to exist around, points out, and data are sent by RS232 or CAN interface if having by LED or hummer.Locating device based on RFID technology of the present invention, can not only carry out Obtaining Accurate to the data in electronic tag, can also carry out location, comparatively accurate position simultaneously, makes it in the middle of automated production process.This device has good Dynamic Recognition performance, and robot still can normally read the storage information of radio-frequency card in rapid movement process, to obtain the station of current robot, and the information such as section, then guided robot carries out the stop of accurate position.
Embodiment 1
As shown in Figure 2, this locating device comprises power supply, microcontroller, the first frequency read/write and 2 frequency read/writes of the second frequency read/write, RS232 communication interface, host computer, LED light and the honeybee device of giving repeated exhortations, the serial port of 2 frequency read/writes is connected with the serial port of microcontroller respectively, power supply is microcontroller power supply, and the asynchronous serial port of microcontroller is connected with the RS232 interface of host computer by RS232 communication interface; LED light and the honeybee device of giving repeated exhortations is connected with microcontroller respectively.
As shown in Figure 3, the corresponding induction region A of the first frequency read/write, the corresponding induction region B of the second frequency read/write, induction region A and induction region B intersection area are intersecting area.The bootable robot of this locating device enters intersecting area, realizes precise positioning.When intersecting area is less, robot location is more accurate.Concrete position fixing process is:
Step 10) arranges robot locating area, and two induction regions corresponding to frequency read/write have an intersecting area, and this intersecting area is robot locating area;
Step 20) two frequency read/writes respond to respectively in its corresponding induction region whether have radio-frequency (RF) tag, if two frequency read/writes all sense radio-frequency (RF) tag, enter step 50), if have a frequency read/write or two frequency read/writes all not to sense radio-frequency (RF) tag, enter step 30);
Step 30) frequency read/write obtains the station numbering of the radio-frequency (RF) tag that is arranged in induction region, and pass to microcontroller, microcontroller passes to host computer by RS232 communication interface by station numbering and the residing induction region of radio-frequency (RF) tag in radio-frequency (RF) tag, host computer carries out analyzing and processing after receiving this information, send move according to the residing induction region of current radio-frequency (RF) tag to robot, robot walks after receiving this move automatically, after robot moves a control cycle, stop moving, enter step 40);
Step 40) two frequency read/writes respond in its corresponding induction region whether have radio-frequency (RF) tag, if two frequency read/writes all sense radio-frequency (RF) tag, enter step 50); If have a frequency read/write or two frequency read/writes all not to sense radio-frequency (RF) tag, return to step 30), until two frequency read/writes all sense radio-frequency (RF) tag;
Step 50) two frequency read/writes obtain the station numbering of the radio-frequency (RF) tag that is arranged in each self-corresponding induction region, and pass to microcontroller, microcontroller is numbered station and locate successfully mark by RS232 communication interface and passes to host computer, host computer carries out analyzing and processing after receiving this information, show the position of this robot, and starting honeybee give repeated exhortations device and LED light, prompting is located successfully.
Original single region perception is expanded to paired region sensing range by technical scheme of the present invention, and induction range has been expanded to nearly one times.Due to the expansion of induction range, make robot still can recognize electronic tag in the situation of fast moving comparatively, after entering induction zone, slow down, after arriving accurate identified region, stop immediately, realize the Accurate Position Control of robot, material is parked in to position accurately, conveniently it is carried out to follow-up processing.Meanwhile, enter the sequencing of induction region A, induction region B by analyzing radio-frequency (RF) tag, can also obtain the direction of motion of robot.
Embodiment 2
As shown in Figure 4, this locating device comprises power supply, microcontroller, the first frequency read/write, the second frequency read/write, the 3rd frequency read/write, 4 frequency read/writes of the 4th frequency read/write, RS232 communication interface, host computer, LED light and the honeybee device of giving repeated exhortations, the serial port of 4 frequency read/writes is connected with the serial port of microcontroller respectively, power supply is microcontroller power supply, and the asynchronous serial port of microcontroller is connected with the RS232 interface of host computer by RS232 communication interface; LED light and the honeybee device of giving repeated exhortations is connected with microcontroller respectively.
As shown in Figure 5, the corresponding induction region A of the first frequency read/write, the corresponding induction region B of the second frequency read/write, the corresponding induction region C of the 3rd frequency read/write, the corresponding induction region D of the 4th frequency read/write, induction region A, induction region B, induction region C and induction region D intersection area are intersecting area.The bootable robot of this locating device enters intersecting area, realizes precise positioning.When intersecting area is less, robot location is more accurate.Concrete position fixing process is:
Step 10) arranges robot locating area, and four induction regions corresponding to frequency read/write have an intersecting area, and this intersecting area is robot locating area;
Step 20) four frequency read/writes respond to respectively in its corresponding induction region whether have radio-frequency (RF) tag, if four frequency read/writes all sense radio-frequency (RF) tag, enter step 50), all sense radio-frequency (RF) tag if not four frequency read/writes, enter step 30);
Step 30) frequency read/write obtains the station numbering that is arranged in the radio-frequency (RF) tag of induction region separately, and pass to microcontroller, microcontroller passes to host computer by RS232 communication interface by station numbering and the residing induction region of radio-frequency (RF) tag in radio-frequency (RF) tag, host computer carries out analyzing and processing after receiving this information, send move according to the residing induction region of current radio-frequency (RF) tag to robot, robot walks after receiving this move automatically, after robot moves a control cycle, stop moving, enter step 40);
Step 40) four frequency read/writes respond in its corresponding induction region whether have radio-frequency (RF) tag, if four frequency read/writes all sense radio-frequency (RF) tag, enter step 50); All sense radio-frequency (RF) tag if not four frequency read/writes, return to step 30), until four frequency read/writes all sense radio-frequency (RF) tag;
Step 50) four frequency read/writes obtain the station numbering of the radio-frequency (RF) tag that is arranged in each self-corresponding induction region, and pass to microcontroller, microcontroller is numbered station and locate successfully mark by RS232 communication interface and passes to host computer, host computer carries out analyzing and processing after receiving this information, show the position of this robot, and starting honeybee give repeated exhortations device and LED light, prompting is located successfully.
The technical scheme of the present embodiment can realize the location aware of 9 regions (8 orientation zone and overlapping region, 1 center), makes it in a planar range, carry out location guide to robot.
Claims (7)
1. one kind guides the locating device of the robot that tracks for nobody, it is characterized in that, this locating module comprises power supply, microcontroller, a n frequency read/write, RS232 communication interface and host computer, the serial port of a described n frequency read/write is connected with the serial port of microcontroller respectively, power supply is microcontroller power supply, and the asynchronous serial port of microcontroller is connected with the RS232 interface of host computer by RS232 communication interface; N is positive even numbers.
2. it is characterized in that for the unmanned locating device that guides the robot that tracks according to claimed in claim 1, described n is 2 or 4.
3. it is characterized in that for the unmanned locating device that guides the robot that tracks according to claimed in claim 1, also comprise state indicating module, state indicating module is connected with microcontroller.
4. it is characterized in that for the track locating device of robot of unmanned guiding according to claimed in claim 3, described state indicating module is any one or two kinds that LED light, honeybee are given repeated exhortations in device.
5. it is characterized in that for the unmanned locating device that guides the robot that tracks according to claimed in claim 3, also comprise CAN communication interface, CAN communication interface is connected with the CAN controller peripheral port of microcontroller.
6. the localization method for the unmanned locating device that guides the robot that tracks claimed in claim 1, is characterized in that, this localization method comprises the following steps:
Step 10) arranges robot locating area, the corresponding induction region of each frequency read/write, between induction region corresponding to each frequency read/write, there is an intersecting area, in this intersecting area, have the part induction region that each frequency read/write is corresponding, this intersecting area is robot locating area;
Step 20) each frequency read/write responds in its corresponding induction region whether have radio-frequency (RF) tag, if each frequency read/write senses radio-frequency (RF) tag, enter step 50), all sense radio-frequency (RF) tag if not whole frequency read/writes, enter step 30);
Step 30) frequency read/write obtains the station numbering of the radio-frequency (RF) tag that is arranged in induction region, and pass to microcontroller, microcontroller passes to host computer by RS232 communication interface by station numbering and the residing induction region of radio-frequency (RF) tag in radio-frequency (RF) tag, host computer carries out analyzing and processing after receiving this information, send move according to the residing induction region of current radio-frequency (RF) tag to robot, robot walks after receiving this move automatically, after robot moves a control cycle, stop moving, enter step 40);
Step 40) each frequency read/write responds in its corresponding induction region whether have radio-frequency (RF) tag, if each frequency read/write senses radio-frequency (RF) tag, enters step 50); All sense radio-frequency (RF) tag if not whole frequency read/writes, return to step 30), until each frequency read/write senses radio-frequency (RF) tag;
Step 50) each frequency read/write obtains the station numbering of the radio-frequency (RF) tag that is arranged in each self-corresponding induction region, and pass to microcontroller, microcontroller is numbered all stations and locate successfully mark by RS232 communication interface and passes to host computer, host computer carries out analyzing and processing after receiving this information, show the position of this robot, and starting honeybee give repeated exhortations device and LED light, prompting is located successfully.
7. according to the localization method for the unmanned locating device that guides the robot that tracks claimed in claim 6, it is characterized in that, in described step 10), regulate distance between each frequency read/write, change the size of intersecting area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410088145.1A CN103823469B (en) | 2014-03-12 | 2014-03-12 | Positioning device for unmanned line-tracking robot and positioning method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410088145.1A CN103823469B (en) | 2014-03-12 | 2014-03-12 | Positioning device for unmanned line-tracking robot and positioning method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103823469A true CN103823469A (en) | 2014-05-28 |
| CN103823469B CN103823469B (en) | 2017-02-08 |
Family
ID=50758581
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410088145.1A Active CN103823469B (en) | 2014-03-12 | 2014-03-12 | Positioning device for unmanned line-tracking robot and positioning method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103823469B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105891774A (en) * | 2016-03-29 | 2016-08-24 | 北京九星智元科技有限公司 | Dynamic tracking positioning system and method for robot dolly |
| CN107132844A (en) * | 2017-05-24 | 2017-09-05 | 浙江大学 | A kind of mobile robot is based on attitude detection module and distinguishingly target motion from antidote |
| CN107363833A (en) * | 2017-07-17 | 2017-11-21 | 深圳市微付充科技有限公司 | A kind of mobile robot and its control method and device |
| CN109008806A (en) * | 2018-06-25 | 2018-12-18 | 东莞市光劲光电有限公司 | A kind of sweeping robot positioning system and method based on the positioning of LED intelligent lamp |
| CN109917802A (en) * | 2017-12-13 | 2019-06-21 | 翔升（上海）电子技术有限公司 | Herds travel track monitoring method and system based on unmanned plane |
| CN110320513A (en) * | 2019-07-05 | 2019-10-11 | 南京简睿捷软件开发有限公司 | A kind of production factors positioning system and method for large area workshop based on RFID |
| CN112965447A (en) * | 2021-02-01 | 2021-06-15 | 上海同普电力技术有限公司 | Heavy-load AGV (automatic guided vehicle) large-gradient operation control system |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1779481A (en) * | 2004-11-26 | 2006-05-31 | 国际商业机器公司 | Position identifying method, mobile terminal and system |
| US20060125605A1 (en) * | 2004-12-13 | 2006-06-15 | Atmel Germany Gmbh | Method for locating a backscatter-based transponder |
| CN2904002Y (en) * | 2006-01-16 | 2007-05-23 | 徐海军 | On vehicle integrated positioning and wireless communication apparatus based on GPS and GPRS |
| CN101625573A (en) * | 2008-07-09 | 2010-01-13 | 中国科学院自动化研究所 | Digital signal processor based inspection robot monocular vision navigation system |
| CN201641885U (en) * | 2009-12-11 | 2010-11-24 | 杭州亿脑智能科技有限公司 | Cleaning robot positioning system |
| CN101957447A (en) * | 2009-07-16 | 2011-01-26 | 北京石油化工学院 | System and method for positioning indoor moveable robot based on active RFID |
| CN102340894A (en) * | 2011-08-26 | 2012-02-01 | 东北大学 | Wireless-sensor-network-based remote control rescue robot system and control method |
| CN301957447S (en) * | 2011-10-14 | 2012-06-20 | 胡金高 | Glass visible lid |
| CN102621984A (en) * | 2012-04-11 | 2012-08-01 | 廖海龙 | Manner for positioning and navigating automatic walking robot by utilizing radio frequency identification tags |
| CN103126862A (en) * | 2013-02-04 | 2013-06-05 | 江苏科技大学 | Outdoor blind guiding robot based on global position system (GPS), general packet radio service (GPRS) and radio frequency identification devices (RFID) and navigational positioning method |
-
2014
- 2014-03-12 CN CN201410088145.1A patent/CN103823469B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1779481A (en) * | 2004-11-26 | 2006-05-31 | 国际商业机器公司 | Position identifying method, mobile terminal and system |
| US20060125605A1 (en) * | 2004-12-13 | 2006-06-15 | Atmel Germany Gmbh | Method for locating a backscatter-based transponder |
| CN2904002Y (en) * | 2006-01-16 | 2007-05-23 | 徐海军 | On vehicle integrated positioning and wireless communication apparatus based on GPS and GPRS |
| CN101625573A (en) * | 2008-07-09 | 2010-01-13 | 中国科学院自动化研究所 | Digital signal processor based inspection robot monocular vision navigation system |
| CN101957447A (en) * | 2009-07-16 | 2011-01-26 | 北京石油化工学院 | System and method for positioning indoor moveable robot based on active RFID |
| CN201641885U (en) * | 2009-12-11 | 2010-11-24 | 杭州亿脑智能科技有限公司 | Cleaning robot positioning system |
| CN102340894A (en) * | 2011-08-26 | 2012-02-01 | 东北大学 | Wireless-sensor-network-based remote control rescue robot system and control method |
| CN301957447S (en) * | 2011-10-14 | 2012-06-20 | 胡金高 | Glass visible lid |
| CN102621984A (en) * | 2012-04-11 | 2012-08-01 | 廖海龙 | Manner for positioning and navigating automatic walking robot by utilizing radio frequency identification tags |
| CN103126862A (en) * | 2013-02-04 | 2013-06-05 | 江苏科技大学 | Outdoor blind guiding robot based on global position system (GPS), general packet radio service (GPRS) and radio frequency identification devices (RFID) and navigational positioning method |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105891774A (en) * | 2016-03-29 | 2016-08-24 | 北京九星智元科技有限公司 | Dynamic tracking positioning system and method for robot dolly |
| CN107132844A (en) * | 2017-05-24 | 2017-09-05 | 浙江大学 | A kind of mobile robot is based on attitude detection module and distinguishingly target motion from antidote |
| CN107132844B (en) * | 2017-05-24 | 2019-07-16 | 浙江大学 | A kind of mobile robot is based on attitude detection module and distinguishingly target is moved from antidote |
| CN107363833A (en) * | 2017-07-17 | 2017-11-21 | 深圳市微付充科技有限公司 | A kind of mobile robot and its control method and device |
| CN109917802A (en) * | 2017-12-13 | 2019-06-21 | 翔升（上海）电子技术有限公司 | Herds travel track monitoring method and system based on unmanned plane |
| CN109917802B (en) * | 2017-12-13 | 2022-02-22 | 翔升（上海）电子技术有限公司 | Unmanned aerial vehicle-based herd traveling track monitoring method and system |
| CN109008806A (en) * | 2018-06-25 | 2018-12-18 | 东莞市光劲光电有限公司 | A kind of sweeping robot positioning system and method based on the positioning of LED intelligent lamp |
| CN109008806B (en) * | 2018-06-25 | 2023-06-20 | 东莞市光劲光电有限公司 | Floor sweeping robot positioning system and method based on LED intelligent lamp positioning |
| CN110320513A (en) * | 2019-07-05 | 2019-10-11 | 南京简睿捷软件开发有限公司 | A kind of production factors positioning system and method for large area workshop based on RFID |
| CN112965447A (en) * | 2021-02-01 | 2021-06-15 | 上海同普电力技术有限公司 | Heavy-load AGV (automatic guided vehicle) large-gradient operation control system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103823469B (en) | 2017-02-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103823469A (en) | Positioning device for unmanned line-tracking robot and positioning method thereof | |
| CN209198940U (en) | The automatic Following Car in library | |
| CN103839092B (en) | A kind of ultrahigh frequency radio frequency identification (RFID) reader | |
| CN203038111U (en) | Indoor robot positioning and navigating system based on RFID | |
| CN102509062B (en) | RFID (radio frequency identification) dataflow multi-tag cleaning method based on sliding windows | |
| CN205463244U (en) | Commodity circulation letter sorting system based on FRID | |
| CN106355218A (en) | Active electronic tag system for positioning accurately | |
| CN103177355A (en) | Automatic warehouse audit system | |
| CN203689152U (en) | Automatic navigation device based on radio frequency identification technology | |
| CN102968606A (en) | Radio frequency identification (RFID) bidirectional authentication method | |
| CN203149585U (en) | Mobile robot positioning system based on regular graphic code composite tags | |
| CN204101738U (en) | A kind of for accurately locating the device of looking for something | |
| CN107632284A (en) | A Mobile type indoor intelligent positioning system and method based on WIFI and RFID technique | |
| CN204143467U (en) | RFID accurate positioning device | |
| CN203659041U (en) | Composite positioning tag and composite card reader | |
| CN203287969U (en) | Intelligent device for Internet of Things | |
| CN203799395U (en) | Ultrahigh frequency RFID reader-writer | |
| CN206451041U (en) | Robot and robot localization running gear | |
| CN204557522U (en) | A kind of RFID double frequency read-write equipment | |
| CN209613578U (en) | Logistics express delivery sorting equipment and system based on RFID | |
| CN200986591Y (en) | Multi-recognition radius track positioning apparatus using RFID | |
| CN203520408U (en) | Pallet label reader for fork trucks | |
| CN202584247U (en) | Radio frequency identification system for in and out state identification | |
| CN203727751U (en) | Packing box production line with RFID devices | |
| CN205466238U (en) | Biography dish robot of RFID location |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20140528 Assignee: Rui Rui Intelligent Technology (Kunshan) Co., Ltd. Assignor: Southeast University Contract record no.: 2018320000008 Denomination of invention: Positioning device for unmanned line-tracking robot and positioning method thereof Granted publication date: 20170208 License type: Exclusive License Record date: 20180109 |