Patent ID: 11953903
Assignee: DB (CHONGQING) INTELLIGENT TECHNOLOGY RESEARCH INSTITUTE CO., LTD
Field: Control (Instruments)
Classification: CPC G  H | IPC G  H

Claim 1:
2. The neural network-based method for calibration and localization of an indoor inspection robot according to claim 1, wherein the computing an actual coordinate of the robot at the tth moment in step S230 specifically comprises:
S231: assuming that an inspection robot R provided with the reader-writer has a coordinate of (x,y), and coordinates of the n label signal sources are (x1,y1), (x2,y2), (x3,y3), . . . , (xn,yn):, {
     
      
       
        
         
          
           
            (
            
             
              x
              1
             
             -
             x
            
            )
           
           2
          
          +
          
           
            (
            
             
              y
              1
             
             -
             y
            
            )
           
           2
          
         
         =
         
          d
          1
          2
         
        
       
      
      
       
        
         
          
           
            (
            
             
              x
              2
             
             -
             x
            
            )
           
           2
          
          +
          
           
            (
            
             
              y
              2
             
             -
             y
            
            )
           
           2
          
         
         =
         
          d
          2
          2
         
        
       
      
      
       
        
         
          
           
            (
            
             
              x
              3
             
             -
             x
            
            )
           
           2
          
          +
          
           
            (
            
             
              y
              3
             
             -
             y
            
            )
           
           2
          
         
         =
         
          d
          3
          2
         
        
       
      
      
       
        …
       
      
      
       
        
         
          
           
            (
            
             
              x
              n
             
             -
             x
            
            )
           
           2
          
          +
          
           
            (
            
             
              y
              n
             
             -
             y
            
            )
           
           2
          
         
         =
         
          d
          n
          2
         
        
       
      
     
    
   
   
    
     (
     
      2
      -
      5
     
     )
    
   
  
 

wherein, d1, d2, d3, . . . , dn represent distances from the label signal sources to the inspection robot R, respectively;
S232: substituting eq. (2-4) into eq. (2-5) to obtain:, {
     
      
       
        
         
          
           x
           1
           2
          
          -
          
           x
           n
           2
          
          -
          
           
            x
            ⁡
            (
            
             
              x
              1
             
             -
             
              x
              n
             
            
            )
           
           ⁢
           x
          
          +
          
           y
           1
           2
          
          -
          
           y
           n
           2
          
          -
          
           2
           ⁢
           
            (
            
             
              y
              1
             
             -
             
              y
              n
             
            
            )
           
           ⁢
           y
          
         
         =
         
          
           d
           1
           2
          
          -
          
           d
           n
           2
          
         
        
       
      
      
       
        
         
          
           x
           2
           2
          
          -
          
           x
           n
           2
          
          -
          
           x
           ⁢
           
            (
            
             
              x
              2
             
             -
             
              x
              n
             
            
            )
           
           ⁢
           x
          
          +
          
           y
           2
           2
          
          -
          
           y
           n
           2
          
          -
          
           2
           ⁢
           
            (
            
             
              y
              2
             
             -
             
              y
              n
             
            
            )
           
           ⁢
           y
          
         
         =
         
          
           d
           2
           2
          
          -
          
           d
           n
           2
          
         
        
       
      
      
       
        …
       
      
      
       
        
         
          
           x
           
            n
            -
            1
           
           2
          
          -
          
           x
           n
           2
          
          -
          
           x
           ⁢
           
            (
            
             
              x
              
               n
               -
               1
              
             
             -
             
              x
              n
             
            
            )
           
           ⁢
           x
          
          +
          
           y
           
            n
            -
            1
           
           2
          
          -
          
           y
           n
           2
          
          -
          
           2
           ⁢
           
            (
            
             
              y
              
               n
               -
               1
              
             
             -
             
              y
              n
             
            
            )
           
           ⁢
           y
          
         
         =
         
          
           d
           
            n
            -
            1
           
           2
          
          -
          
           d
           n
           2
          
         
        
       
      
     
    
   
   
    
     (
     
      2
      -
      6
     
     )
    
   
  
 

representing eq. (2-6) with a linear equation as:

AX=b  (2-7)

wherein:, A
   =
   
    [
    
     
      
       
        2
        ⁢
        
         (
         
          
           x
           1
          
          -
          
           x
           n
          
         
         )
        
        ⁢
        2
        ⁢
        
         (
         
          
           y
           1
          
          -
          
           y
           n
          
         
         )
        
       
      
     
     
      
       
        2
        ⁢
        
         (
         
          
           x
           2
          
          -
          
           x
           n
          
         
         )
        
        ⁢
        2
        ⁢
        
         (
         
          
           y
           2
          
          -
          
           y
           n
          
         
         )
        
       
      
     
     
      
       …
      
     
     
      
       
        2
        ⁢
        
         (
         
          
           x
           
            n
            ⁢
            ‐
            ⁢
            1
           
          
          -
          
           x
           n
          
         
         )
        
        ⁢
        2
        ⁢
        
         (
         
          
           y
           
            n
            ⁢
            ‐
            ⁢
            1
           
          
          -
          
           y
           n
          
         
         )
        
       
      
     
    
    ]
   
  
  ,
 

 
  
   b
   =
   
    [
    
     
      
       
        
         x
         1
         2
        
        -
        
         x
         n
         2
        
        +
        
         y
         1
         2
        
        -
        
         y
         n
         2
        
        +
        
         d
         n
         2
        
        -
        
         d
         1
         2
        
       
      
     
     
      
       
        
         x
         2
         2
        
        -
        
         x
         n
         2
        
        +
        
         y
         2
         2
        
        -
        
         y
         n
         2
        
        +
        
         d
         n
         2
        
        -
        
         d
         2
         2
        
       
      
     
     
      
       
        
         x
         
          n
          ⁢
          ‐
          ⁢
          1
         
         2
        
        -
        
         x
         n
         2
        
        +
        
         y
         
          n
          ⁢
          ‐
          ⁢
          l
         
         2
        
        -
        
         y
         n
         2
        
        +
        
         d
         n
         2
        
        -
        
         d
         
          n
          ⁢
          ‐
          ⁢
          1
         
         2
        
       
      
     
    
    ]
   
  
  ,
  
   X
   =
   
    [
    
     
      
       x
      
     
     
      
       y
      
     
    
    ]
   
  
 

S233: processing eq. (2-7) with a standard least squares estimation method to obtain:

J=[b−A{circumflex over (X)}]T[b−A{circumflex over (X)}]=[bT−{circumflex over (X)}TAT][b−A{circumflex over (X)}]  (2-8)

wherein, A is a non-singular matrix; M>2, namely an overdetermined system in which a number of equations is greater than a number of unknowns; a reciprocal of {circumflex over (X)} is obtained with eq. (2-8); and XTATb=bTA{circumflex over (X)} leads to:, ∂
       J
      
      
       ∂
       
        X
        ˆ
       
      
     
     =
     
      
       
        [
        
         
          
           b
           T
          
          ⁢
          b
         
         -
         
          2
          ⁢
          
           
            X
            ˆ
           
           T
          
          ⁢
          
           A
           T
          
          ⁢
          b
         
         +
         
          
           
            X
            ˆ
           
           T
          
          ⁢
          
           A
           T
          
          ⁢
          A
          ⁢
          
           X
           ˆ
          
         
        
        ]
       
       
        ∂
        
         X
         ˆ
        
       
      
      =
      
       
        
         
          -
          2
         
         ⁢
         
          A
          T
         
         ⁢
         b
        
        +
        
         2
         ⁢
         
          A
          T
         
         ⁢
         A
         ⁢
         
          X
          ˆ
         
        
       
       =
       0
      
     
    
   
   
    
     (
     
      2
      -
      9
     
     )
    
   
  
 

obtaining a predicted coordinate when the inspection robot reads an nth label:

{circumflex over (X)}=(ATA)−1ATb  (2-10)

S234: computing an actual coordinate when the inspection robot reads the nth label, the actual coordinate being specifically given by:, {
     
      
       
        
         
          x
          ⁡
          (
          t
          )
         
         =
         
          
           x
           ⁡
           (
           
            t
            _
           
           )
          
          +
          
           v
           ⁢
           cos
           ⁢
           
            θ
            ⁡
            (
            
             t
             _
            
            )
           
          
         
        
       
      
      
       
        
         
          y
          ⁡
          (
          t
          )
         
         =
         
          
           y
           ⁡
           (
           
            t
            _
           
           )
          
          +
          
           v
           ⁢
           sin
           ⁢
           
            θ
            ⁡
            (
            
             t
             _
            
            )
           
          
         
        
       
      
     
    
   
   
    
     (
     
      2
      -
      11
     
     )
    
   
  
 

wherein, t represents the tth moment, and t represents a time mean from a (t−1)th moment to the tth moment; and
S235: substituting eq. (2-7) into eq. (2-11) to obtain eq. (2-3), eq. (2-3) being the actual coordinate of the robot at the tth moment.