CN105891774A - Dynamic tracking positioning system and method for robot dolly - Google Patents
Dynamic tracking positioning system and method for robot dolly Download PDFInfo
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- CN105891774A CN105891774A CN201610188377.3A CN201610188377A CN105891774A CN 105891774 A CN105891774 A CN 105891774A CN 201610188377 A CN201610188377 A CN 201610188377A CN 105891774 A CN105891774 A CN 105891774A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0294—Trajectory determination or predictive filtering, e.g. target tracking or Kalman filtering
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Abstract
The invention provides a dynamic tracking positioning system and method for a robot dolly. The positioning system comprises an ultrahigh frequency radio telecontrol label, a main control board and at least two ultrahigh frequency radio base stations, wherein each base station is arranged on the robot dolly, and the connecting lines between the base station form a geometric figure, the mobile telecontrol label is carried on a fixed position of a dolly owner, the main control board is installed on a fixed pedestal of the robot dolly, the telecontrol label communicates with each base station for range finding, and each base station further communicates with the main control board. The orientation of the robot dolly relative to the dolly owner is obtained according to the range finding data. Accurate positioning of the robot dolly relative to the dolly owner is realized.
Description
Technical field
The present invention relates to the field of independently following of robot car, be specifically related to a kind of robot car dynamic tracking alignment system and method.
Background technology
Existing robot car many employings remote control mode moves, and the both hands of manipulator are remotely-controlled device and take and cannot be carried out other activities.If making robot car autonomous retinue manipulator's motion under non-remote state, then robot car is needed to have real-time judge oneself and the operator ability relative to position.And owing to robot car is the least with the distance of operator, the even numerical value of actual range itself broadly falls into range of error, if dolly is based on using traditional positioning result calculated such as modes such as straight line range finding or GPS location to follow operator, often there is a certain degree of deviation even mistake.
Summary of the invention
In view of this, the present invention provides a kind of robot car dynamic tracking alignment system and method, for accurately determining the relative position of robot car and the person of being followed (car owner).
The technical solution used in the present invention particularly as follows:
A kind of robot car dynamic tracking alignment system, including ultra-high frequency wireless electrical remote control label, master control borad and at least two ultra-high frequency wireless electricity base station；Wherein:
Each arrangement of base stations is on robot car, and the line of each base station is the geometric figure set；Movably remote control label is carried on the fixed position of car owner；
Described master control borad is installed on the fixed pedestal of robot car, described remote control label and each base station communication distance measuring, each base station further with master control borad communication, the ranging data according to obtaining draws the robot car orientation relative to car owner.
In above-mentioned robot car dynamic tracking alignment system, each described base station is in sustained height plane.A kind of robot car dynamic tracking localization method, comprises the steps:
S10) communication distance measuring step:
N the base station being arranged on robot car with the geometric figure set and remote control label periodically communication distance measuring, the distance that each base station obtains between itself and remote control label according to the distance measuring signal received is respectively d1～dn, is optimized ranging data based on optimized algorithm；And
Assess each base station and receive the credit rating of distance measuring signal；
S20) base station screening step:
Each base station will optimize after ranging data and the credit rating of distance measuring signal of correspondence be sent to master control borad, master control borad selects base station that the satisfactory distance measuring signal of credit rating is corresponding as effectively positioning data basestation, finds range；
S30) positioning step:
Master control borad determines that each effectively positions the data basestation orientation relative to dolly respectively, and further determines that out the person of the being followed position relative to dolly based on the orientation that each orientation is corresponding；
Master control borad, by periodically communicating with each base station, obtains the credit rating of the distance measuring signal of new ranging data and correspondence；
Repeat the above steps, redefines robot car and is not followed the position of person relatively.
In above-mentioned robot car dynamic tracking localization method, in step S10) in, the optimization of ranging data includes:
For ambient temperature and the impact of supply voltage, when finding range every time, first read temperature and the supply voltage of base station transceiver chip, then provide the compensation measurement data of correspondence according to the variable quantity of temperature and voltage value；
For reducing the undulatory property of ranging data, the ranging data of base station is carried out the filtering optimization of amplitude limit average；Specifically:
Each base station and the range finding of remote control label periodical communication, the distance obtained between itself and remote control label is respectively d1～dn；Specifically:
In the most each cycle, each base station surveys that one group N number of and range data between remote control label respectively, if the range data of first base station is SN ..., S3, S2, S1, if this distance S1 recorded is compared without departing from default threshold X with distance measurement value S2 last time, the most not to the process of data S1, otherwise then the value of S1 is replaced with S1=S2+X or S1=S2-X, it is carried out clipping operation；
Secondly these group data after clipping operation are averaged, obtain the final d1 in this cycle, it may be assumed that d1=(S1+S2+ ...+SN)/N；
Based on same principle, obtain the distance between other base stations and remote control label respectively.
In above-mentioned robot car dynamic tracking localization method, base station transceiver chip reads the head of the distance measuring signal received and reaches path magnitude A and average noise amplitude M, the credit rating=A/M of definition distance measuring signal.The beneficial effect comprise that:
The dynamic tracking localization method principle of the present invention is simple, it is easy to accomplish (amount of calculation is little, it is achieved low cost), and can be under motion or resting state, and precision carries out positioning realization to robot car relative to the orientation of car owner higher and follows.
Accompanying drawing explanation
When considered in conjunction with the accompanying drawings, it is possible to be more completely more fully understood that the present invention.Accompanying drawing described herein is used for providing a further understanding of the present invention, embodiment and explanation thereof to be used for explaining the present invention, is not intended that inappropriate limitation of the present invention.
Fig. 1 is the logic diagram of the present invention a kind of robot car dynamic tracking localization method；
Fig. 2 is the schematic diagram of two architectures of the present invention a kind of robot car dynamic tracking localization method；
Fig. 3 is the principle schematic that two base stations cannot position；
Fig. 4 is three architecture schematic diagrams of the present invention a kind of robot car dynamic tracking localization method.
Detailed description of the invention
Below in conjunction with the accompanying drawings and technical scheme is described in further detail by embodiment.
After the present invention determines the orientation of car owner's opposed robots's dolly based on ultra-high frequency wireless power technology, furthermore achieved that the dynamic tracking of car owner is positioned by robot car, dynamic positioning system mainly includes ultra-high frequency wireless electrical remote control label, master control borad and at least two ultra-high frequency wireless electricity base station (in the present embodiment by three as a example by base station)；Wherein:
Master control borad is arranged on the fixed pedestal of robot car, and the summit of three base station correspondence isosceles triangles is distributed on robot car, and three base stations are in sustained height plane, and the remote control label of movement is then carried by car owner (person of being followed).
In actual application, one group of base station can be arranged at each base station location according to required precision, or the position such as midpoint such as each edge can also be increased further, or arrange based on square, regular polygon layer pattern.Using two base stations can carry out the location in the range of 180 °, three and above base station then can realize the location in the range of 180 °, can realize again the location of 360 ° of scopes.When the number of base station is the most, and the data of redundancy can improve reliability of positioning and precision.
Dynamic positioning system realize robot car position relative car owner position fixing process as it is shown in figure 1, particularly as follows:
S10) communication distance measuring step:
Three base stations and remote control label periodically communication distance measuring, each base station obtains the distance between itself and remote control label and is respectively d1～d3, and is optimized ranging data based on optimized algorithm.Assess the credit rating of the distance measuring signal that each base station receives simultaneously；Specifically:
Ultra-high frequency wireless electrical measurement is away from being the transmission speed computed range aloft transmitting time and wireless signal based on wireless signal.Because the transmission speed of wireless signal is very fast, error small on transmission time measurement all can cause the very big change of measurement data.And the spacing of robot car and the person of being followed is shorter, uses ultra-high frequency wireless electricity directly range error relatively big, and ultra-high frequency wireless electrical measurement is away from easily being affected by ambient temperature and supply voltage, it is therefore desirable to ranging data is optimized.
For the impact of the factor such as ambient temperature and supply voltage, when finding range every time, first read temperature and the supply voltage of base station transceiver chip, then compensate measurement data accordingly according to temperature and voltage value.As: with ambient temperature 30 DEG C, supply voltage be the data recorded during 3.3V as benchmark data, actual power voltage often changes 1V, then measurement data changes 3.35cm accordingly, and temperature often changes 1 DEG C, then the change 2.15cm that measurement data is corresponding.In actual application, compensating parameter and concrete offset rule can be set according to experimental data or based on classical theory.
It addition, be the undulatory property reducing ranging data, the present invention uses the optimized algorithm of amplitude limit mean filter to be optimized the ranging data of base station；Specifically:
First, ultra-high frequency wireless electricity ranging data is carried out clipping operation, it may be assumed that during Perodic ranging, surveying one group of data (within each cycle survey 32 times as a example by) within each cycle, this moment records distance for S1, and a upper moment records distance for S2, limiting threshold is X, then:
| S1-S2 |≤X if i), changing value is less than limiting threshold X, S1 is not carried out extra process；
Ii) if (S1-S2) > change of S1 more than limiting threshold X, is then limited in X, S1=S2+X by X, i.e. S1 more than S2 and changing value；
Iii) if (S1-S2) <-X, i.e. S1 are less than limiting threshold X less than S2 and changing value, then the change of S1 be limited in X, S1=S2-X.
Above-mentioned for judging to optimize the setting of the limiting threshold X of data, the walking speed of Main Basis range frequency and people determines.
Secondly, after respectively the one group of data measured being carried out clipping operation, average and obtain final d1, it may be assumed that d1=(S1+S2+ ...+S32)/32.
Based on same principle, obtain distance d2 between other two base stations and remote control labels, d3 respectively.
The determination of the credit rating of the distance measuring signal of each base station can be:
Base station transceiver chip reads the head received and reaches amplitude A of path distance measuring signal and average noise amplitude M, and as the credit rating of distance measuring signal being defined as A/M, the quality rating value of distance measuring signal is the biggest, then it represents that the signal of this base station is the most reliable.
It is of course also possible to draw the quality of the credit rating of the distance measuring signal of each base station with the combination of other relevant parameters or parameter that can characterize signal reliability.
S20) base station screening step:
Each base station will optimize after ranging data and the credit rating of distance measuring signal of correspondence be sent to master control borad, find range as effectively location data basestation in the base station that master control borad selects distance measuring signal that credit rating is higher corresponding.
If three base station datas all meet preset quality standard, then it is all positioned as effectively location data；In addition: if the ranging data of only two or one base stations meets preset quality standard, selecting and meet the base station data of preset quality standard, do not meet preset quality standard, reviewing its last time meets the data of preset quality standard；
If three base station datas do not comply with preset quality standard, then along being used for positioning by the ranging data carved a period of time.
S30) positioning step:
Filtering out after effectively positioning data, master board runs location algorithm, determines the position (distance, direction) of robot car and label-carrier according to the principle of architecture.
Repeat the above steps, redefines robot car and is not followed the position of person relatively.
The principle of two architectures is:
As in figure 2 it is shown, two base stations are arranged in parallel in the side of dolly direction of advance, two base stations, according to the range finding distance of oneself, can each determine a circle, and two circles intersect, and can determine that two intersection points, and the two intersection point is the position that label is possible.The location mode of two base stations cannot uniquely determine an anchor point at two dimensional surface, therefore the layout of two base stations is only used for determining the location of direction (180 °), as shown in Fig. 2 redness dash area, then can uniquely determine the position that anchor point 1 is label.
Assuming that two base station spacing of intelligent carriage are Da, the distance of base station 1 and label is R1, and the distance of base station 2 and label is R2.Setting up Descartes's rectangular coordinate system with the center of two base stations for coordinate axes zero point, right-hand rule is followed in coordinate system direction, thus can calculate x-axis and y-axis coordinate x, the y of label point；As shown in Figure 2, label and the angle theta (0 < θ < 180) at line midpoint, base station；Label and distance R at line midpoint, base station.It is calculated as follows:
X=(R12-R22)/2*Da (1)
θ=a tan2 (y, x) (4)
During location, it is possible that situation about cannot position as shown in Figure 3；I.e.
The ranging data of base station (1,2) is respectively R1 and R2, and due to the factor of range error, 2 circles with R1 and R2 as radius do not have intersection point, position unsuccessfully.
As the present invention can solve, by the method that two base station ranging datas are mutually approached, the situation that this type of location is failed.
As R1 < R2, anchor point corresponding x and y value cannot be obtained by calculating, illustrate that, now because range error cannot position, source of error is less than normal than actual value in the range finding of R1, and the range finding of R2 is bigger than normal than actual value, and both gaps cause the most greatly positioning unsuccessfully.Now R1 being increased a preset value C (R1=R1+C), R2 reduces a preset value C (R2=R2 C), then uses new R1 and R2 to carry out coordinate computation.If x and y value still can not be obtained, illustrating that location is the most unsuccessful, repeating the algorithm that above-mentioned ranging data is mutually approached, until calculating x and y value.Then angle, θ and distance R are calculated according to x and y value.
As R1 > R2 time, the principle approached mutually is identical, does not repeats them here.On this basis, the positioning principle of three base stations is further illustrated:
As shown in Figure 4, base station (1,2,3) are distributed on intelligent carriage in the way of isosceles triangle, and base station (1,2) are arranged in the side of dolly direct of travel abreast, at a distance of Da；Base station 3 is then arranged on the center line of base station (1,2), and the distance between the midpoint of base station 1 and base station 2 line is Db.If base station 1 and line midpoint, base station 2 are coordinate axes zero point, then the coordinate of base station (1,2,3) is respectively as follows: base station 1 (-Da/2,0), base station 2 (Da/2,0), base station 3 (0 ,-Db).The range finding distance of three base stations is respectively as follows: R1, R2, R3.
Base station 1 and base station 2, according to the location Calculation mode of both of the aforesaid base station, can calculate two anchor points, its coordinate be respectively anchor point 1 (x, y), anchor point 2 (x ,-y).
Now can calculate anchor point 1 and anchor point 2 to distance P1 of base station 3 and P2: i.e.
Relatively absolute value C1 and C2 of the difference of the distance measurement value R3 of P1, P2 and base station 3；I.e.
C1=| P1-R3 | (7)
C2=| P2-R3 | (8)
If C1 < C2, then anchor point 1 is then the final label position calculated；Otherwise, anchor point 2 is the final label position calculated.
After determining unique anchor point, then according to its two-dimensional coordinate, angle, θ and distance R of anchor point can be calculated according to the identical calculations mode of above-mentioned two architecture situation.The location data now utilizing three base stations can realize the omnidirectional location in the range of 360 °, and the excursion of orientation angle θ value is-179 < θ < 180 °.
Being explained embodiments of the invention above in association with accompanying drawing, accompanying drawing herein is used to provide a further understanding of the present invention.Obviously; the foregoing is only the present invention preferably detailed description of the invention; but protection scope of the present invention is not limited thereto, any be to one skilled in the art can readily occur in, essentially without departing from the change of the present invention or replacement, within being also all contained in protection scope of the present invention.
Claims (5)
1. a robot car dynamic tracking alignment system, it is characterised in that include ultra-high frequency wireless
Electrical remote control label, master control borad and at least two ultra-high frequency wireless electricity base station；Wherein:
Each arrangement of base stations is on robot car, and the line of each base station is the geometry set
Figure；
Movably remote control label is carried on the fixed position of car owner；
Described master control borad is installed on the fixed pedestal of robot car, and described remote control label is with each
Individual base station communication distance measuring, each base station further with master control borad communication, according to obtain range finding number
According to drawing the robot car orientation relative to car owner.
Robot car dynamic tracking alignment system the most according to claim 1, it is characterised in that
Each described base station is in sustained height plane.
3. a robot car dynamic tracking localization method, it is characterised in that comprise the steps:
S10) communication distance measuring step:
N the base station being arranged on robot car with the geometric figure set and remote control label week
Phase property ground communication distance measuring, each base station obtains itself and remote control label according to the distance measuring signal received
Between distance be respectively d1～dn, based on optimized algorithm, ranging data is optimized；And
Assess each base station and receive the credit rating of distance measuring signal；
S20) base station screening step:
Each base station will optimize after ranging data and the credit rating of distance measuring signal of correspondence send out
Delivering to master control borad, master control borad selects the base station that the satisfactory distance measuring signal of credit rating is corresponding to make
For effectively positioning data basestation, find range；
S30) positioning step:
Master control borad determines that each effectively positions the data basestation orientation relative to dolly, and base respectively
The orientation corresponding in each orientation further determines that out the person of the being followed position relative to dolly；
Master control borad, by periodically communicating with each base station, obtains new ranging data and correspondence
The credit rating of distance measuring signal；
Repeat the above steps, redefines robot car and is not followed the position of person relatively.
Robot car dynamic tracking localization method the most according to claim 3, it is characterised in that
In step S10) in, the optimization of ranging data particularly as follows:
For ambient temperature and the impact of supply voltage, when finding range, first read each base station every time
The temperature of transceiving chip and supply voltage, be then given according to the variable quantity of temperature and voltage value
Corresponding compensation measurement data；
For reducing the undulatory property of ranging data, the ranging data of base station is carried out the filter of amplitude limit average
Ripple optimizes；Specifically:
Each base station and the range finding of remote control label periodical communication, obtain between itself and remote control label
Distance respectively d1～dn；Specifically:
In the most each cycle, each base station survey that one group N number of respectively and between remote control label away from
It is SN from data, the such as range data of first base station ..., S3, S2, S1, if this
Distance S1 recorded is compared without departing from default threshold X with distance measurement value S2 last time, the most right
The process of data S1, on the contrary then the value of S1 is replaced with S1=S2+X or S1=S2-X,
It is carried out clipping operation；
Secondly these group data after clipping operation are averaged, obtain the final d1 in this cycle,
That is: d1=(S1+S2+ ...+SN)/N；
Based on same principle, obtain the distance between other base stations and remote control label respectively.
Robot car dynamic tracking localization method the most according to claim 3, it is characterised in that
Base station transceiver chip reads the head of the distance measuring signal received and reaches path magnitude A and average noise width
Value M, the credit rating=A/M of definition distance measuring signal.
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| CN106211080A (en) * | 2016-09-28 | 2016-12-07 | 深圳市普渡科技有限公司 | A kind of UWB base station coordinates method for self-calibrating |
| CN106217348A (en) * | 2016-08-30 | 2016-12-14 | 北京九星智元科技有限公司 | A kind of mobile robot based on ultra-high frequency wireless electricity location |
| CN106240724A (en) * | 2016-08-30 | 2016-12-21 | 北京九星智元科技有限公司 | A kind of folding robot carriage |
| CN109212470A (en) * | 2017-06-30 | 2019-01-15 | 沈阳新松机器人自动化股份有限公司 | A kind of position and orientation estimation method based on UWB array module, system and robot |
| CN109348426A (en) * | 2018-11-26 | 2019-02-15 | 黎国溥 | A kind of system for tracking and method based on UWB |
| CN109429333A (en) * | 2017-08-29 | 2019-03-05 | 西安中兴新软件有限责任公司 | A kind of localization method and base station |
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| CN110026993A (en) * | 2019-04-11 | 2019-07-19 | 中国地质大学（武汉） | A kind of human body based on UWB and pyroelectric infrared sensor follows robot |
| CN110377020A (en) * | 2018-09-19 | 2019-10-25 | 北京京东尚科信息技术有限公司 | The running method of unmanned equipment, device and system |
| CN112171659A (en) * | 2020-08-17 | 2021-01-05 | 深圳市优必选科技股份有限公司 | Robot and method and device for identifying limited area of robot |
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| CN106217348A (en) * | 2016-08-30 | 2016-12-14 | 北京九星智元科技有限公司 | A kind of mobile robot based on ultra-high frequency wireless electricity location |
| CN106240724A (en) * | 2016-08-30 | 2016-12-21 | 北京九星智元科技有限公司 | A kind of folding robot carriage |
| CN106240724B (en) * | 2016-08-30 | 2019-05-14 | 北京九星智元科技有限公司 | A kind of folding robot carriage |
| CN106211080A (en) * | 2016-09-28 | 2016-12-07 | 深圳市普渡科技有限公司 | A kind of UWB base station coordinates method for self-calibrating |
| CN109212470A (en) * | 2017-06-30 | 2019-01-15 | 沈阳新松机器人自动化股份有限公司 | A kind of position and orientation estimation method based on UWB array module, system and robot |
| CN109429333A (en) * | 2017-08-29 | 2019-03-05 | 西安中兴新软件有限责任公司 | A kind of localization method and base station |
| CN109936712A (en) * | 2017-12-19 | 2019-06-25 | 陕西外号信息技术有限公司 | Localization method and system based on optical label |
| CN109936712B (en) * | 2017-12-19 | 2020-12-11 | 陕西外号信息技术有限公司 | Positioning method and system based on optical label |
| CN110377020A (en) * | 2018-09-19 | 2019-10-25 | 北京京东尚科信息技术有限公司 | The running method of unmanned equipment, device and system |
| CN109348426A (en) * | 2018-11-26 | 2019-02-15 | 黎国溥 | A kind of system for tracking and method based on UWB |
| CN110026993A (en) * | 2019-04-11 | 2019-07-19 | 中国地质大学（武汉） | A kind of human body based on UWB and pyroelectric infrared sensor follows robot |
| CN112171659A (en) * | 2020-08-17 | 2021-01-05 | 深圳市优必选科技股份有限公司 | Robot and method and device for identifying limited area of robot |
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