CN101661102A - Tracking-positioning system for robots - Google Patents
Tracking-positioning system for robots Download PDFInfo
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- CN101661102A CN101661102A CN200810042311A CN200810042311A CN101661102A CN 101661102 A CN101661102 A CN 101661102A CN 200810042311 A CN200810042311 A CN 200810042311A CN 200810042311 A CN200810042311 A CN 200810042311A CN 101661102 A CN101661102 A CN 101661102A
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Abstract
The invention discloses a tracking-positioning system for robots, which comprises a signal acquisition module, at least four signal receiving modules, at least three signal transmitting modules, a plurality of peripherals and relevant calculation software, wherein the signal acquisition module is in non-electrical connection with the peripherals, can transmit signals to every peripheral in a system or receive the signals of every peripheral in the system, and can process the signals; the signal receiving modules can identify the existence and categories of the signals, process relevant subsidiary information and transmit processed data to a signal acquisition device; and the signal transmitting modules transmit the signals and can receive identification commands of the signal acquisition device. Compared with the prior art, the system has the advantages of simple operation, comprehensive positioning orientations, short response time, high positioning accuracy and capability of realizing three-dimensional positioning and the like.
Description
Technical field
The present invention relates to a kind of tracing-positioning system, be specifically related to a kind of tracing-positioning system of robot.
Background technology
In the hypermarket shopping, we wish that and then we walk trolley oneself; When transfusion, we wish not confined in bed, and and then we sashay to wish infusion bottle oneself when needs are gone to toilet ... so we need the robot that can follow specified object automatically to finish our needs.Generally there are three classes in the robotic tracking system of robot use at present: one, ultrasonic locating, orientation: use three ultrasonic receivers, follow the tracks of a ultrasonic emitting machine.Carry out trigonometric function operation by the range data that three receivers measure, calculate the relative position of robot and tracked end, realize following the tracks of.But the ultrasound wave coverage is little, because wave interference and diffraction phenomena produce mutually easily and disturb, causes a deviation.Two, laser guidance: on tracked end, place a generating laser.Three optical sensors of placement are caught laser on the tracking end, thereby calculate the relative position of robot and tracked end, realize following the tracks of.But it is relatively poor to exist distance to judge, leaks target easily, seeks the relatively problem of difficulty of target.Three, camera is caught.Use vision technique, image processing technique in addition, tracking target.Be subjected to external interference big, make complicated.
Summary of the invention
The objective of the invention is for a kind of tracing-positioning system of robot is provided, to solve the problems referred to above of prior art.
Purpose of the present invention can be achieved through the following technical solutions.
A kind of robotic tracking's positioning system, its equipment comprises: signal acquisition module; At least 4 signal receiving modules; At least 3 signal emission module; Plurality of peripheral equipment, correlation computations software; Described signal emission module and the signal that signal receiving module transmitted and received are two kinds of different signals of electromagnetic wave signal and ultrasonic signal.
The modular structure of above-mentioned positioning system and data flow are:
Signal acquisition module comprise electromagnetic wave signal receiver, electromagnetic wave signal transmitter and with the serial communication module of dataphone.The electromagnetic wave signal of module and signal emission module is accepted in the collection of electromagnetic wave signal receiver from signal; The electromagnetic wave signal transmitter is given signal receiving module and signal emission module electromagnetic signals; The serial communication module is used for that the data of collecting are passed to computer and does further data processing.
Signal receiving module comprises electromagnetic wave signal receiver, ultrasonic signal receiver and electromagnetic wave signal transmitter.The electromagnetic wave signal receiver receives by signal acquisition module and the next electromagnetic wave signal of signal emission module emission; The ultrasonic signal receiver receives by the next ultrasonic signal of signal emission module emission; The electromagnetic wave signal transmitter is by the electromagnetic wave signal ultrasonic signal that emission was handled to signal acquisition module.
Signal emission module comprises electromagnetic wave transmitter, ultrasonic transmitter and electromagnetic wave receiver.Electromagnetic wave transmitter is used for to signal receiving module and signal acquisition module electromagnetic signals; Ultrasonic transmitter is used for to signal receiving module emission ultrasonic signal; Electromagnetic wave receiver is used for the electromagnetic wave signal that the emission of received signal acquisition module comes.
Embodiment
Further specify technical characterstic of the present invention below in conjunction with specific embodiment:
Signal acquisition module comprise electromagnetic wave signal receiver, electromagnetic wave signal transmitter and with the serial communication module of dataphone.The electromagnetic wave signal of module and signal emission module is accepted in the collection of electromagnetic wave signal receiver from signal; The electromagnetic wave signal transmitter is given signal receiving module and signal emission module electromagnetic signals; The serial communication module is used for that the data of collecting are passed to computer and does further data processing.
Signal receiving module comprises electromagnetic wave signal receiver, ultrasonic signal receiver and electromagnetic wave signal transmitter.The electromagnetic wave signal receiver receives by signal acquisition module and the next electromagnetic wave signal of signal emission module emission; The ultrasonic signal receiver receives by the next ultrasonic signal of signal emission module emission; The electromagnetic wave signal transmitter is by the electromagnetic wave signal ultrasonic signal that emission was handled to signal acquisition module.
Signal emission module comprises electromagnetic wave transmitter, ultrasonic transmitter and electromagnetic wave receiver.Electromagnetic wave transmitter is used for to signal receiving module and signal acquisition module electromagnetic signals; Ultrasonic transmitter is used for to signal receiving module emission ultrasonic signal; Electromagnetic wave receiver is used for the electromagnetic wave signal that the emission of received signal acquisition module comes.
A) by the location of emissive source to reception sources
Determine the emissive source accurate coordinates on ground, by signal projector respectively to signal receiver electromagnetic signals and ultrasonic signal, utilization receives the mistiming that the different time of electromagnetic wave and two kinds of ripples of ultrasound wave obtains, and calculates the distance of emissive source and reception sources; The accurate coordinates of known signal transmitter just can obtain the projection coordinate of signal receiver on XOY plane again.
B) by the location of reception sources to emissive source
After obtaining the accurate coordinates of each reception sources, to the distance between certain signal projector, the coordinate that reaches signal receiver utilizes formula to calculate the projection coordinate of emissive source on XOY plane by signal receiver.
By robotic tracking's positioning system that technical solution of the present invention designs, the ripple that utilizes two kinds of different velocities of wave propagate appointment apart from the time used time the difference method of coming computed range, thereby the system that further emissive source or reception sources is positioned.Compare with prior art, have have simple to operate, the orientation, location is complete, the reaction time is short, the bearing accuracy height can be realized advantages such as three-dimensional localization.
Claims (1)
1, a kind of robotic tracking's positioning system is characterized in that, comprises following equipment: signal acquisition module; At least 4 signal receiving modules; At least 3 signal emission module; Plurality of peripheral equipment; Correlation computations software; It is characterized in that: described signal emission module and the signal that signal receiving module transmitted and received are two kinds of different signals of electromagnetic wave signal and ultrasonic signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810042311A CN101661102A (en) | 2008-08-29 | 2008-08-29 | Tracking-positioning system for robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810042311A CN101661102A (en) | 2008-08-29 | 2008-08-29 | Tracking-positioning system for robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101661102A true CN101661102A (en) | 2010-03-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200810042311A Pending CN101661102A (en) | 2008-08-29 | 2008-08-29 | Tracking-positioning system for robots |
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| CN (1) | CN101661102A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104399139A (en) * | 2014-11-25 | 2015-03-11 | 苏州贝多环保技术有限公司 | Intelligent infusion support positioning system based on target searching and intelligent infusion support movement controlling method |
| CN106782458A (en) * | 2016-12-01 | 2017-05-31 | 山东大学 | Play method and device in space based on three-dimensional localization principle |
-
2008
- 2008-08-29 CN CN200810042311A patent/CN101661102A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104399139A (en) * | 2014-11-25 | 2015-03-11 | 苏州贝多环保技术有限公司 | Intelligent infusion support positioning system based on target searching and intelligent infusion support movement controlling method |
| CN104399139B (en) * | 2014-11-25 | 2017-04-19 | 苏州贝多环保技术有限公司 | Intelligent infusion support positioning system based on target searching and intelligent infusion support movement controlling method |
| CN106782458A (en) * | 2016-12-01 | 2017-05-31 | 山东大学 | Play method and device in space based on three-dimensional localization principle |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Open date: 20100303 |