CN103117579B - Auxiliary wireless sensing network node of swarm robotic wireless charging - Google Patents
Auxiliary wireless sensing network node of swarm robotic wireless charging Download PDFInfo
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- CN103117579B CN103117579B CN201310052081.5A CN201310052081A CN103117579B CN 103117579 B CN103117579 B CN 103117579B CN 201310052081 A CN201310052081 A CN 201310052081A CN 103117579 B CN103117579 B CN 103117579B
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Abstract
The invention relates to an auxiliary wireless sensing network node of swarm robotic wireless charging. The auxiliary wireless sensing network node of swarm robotic wireless charging comprises a transparent plastic shell, a node lithium battery, a node circuit board, a magnetic shielding layer, an electric power receiving coil and a wireless sensing network node upper cover which are arranged from the bottom up. The middle of the wireless sensing network node upper cover is provided with a countersunk head screw hole, the middle of the transparent plastic shell is provided with a cylindrical through hole, a screw is arranged and fixed on the ground through the through hole from the upper cover, the electric power receiving coil is tightly attached to the wireless sensing node upper cover and used for sensing charging of lithium batteries, the magnetic shielding layer is arranged between the electric power receiving coil and the node lithium battery, the outer edge of the transparent plastic shell is cone-shaped, and the inner side of the cone shape is coated with reflecting materials. The auxiliary wireless sensing network node of swarm robotic wireless charging is used for assisting positioning, navigation and cooperation of swarm robotics,; adopts ground-attaching mounting mode, and accordingly node arrangement is simple and convenient; and the auxiliary wireless sensing network node of swarm robotic wireless charging is low in cost, convenient to be produced and manufactured in large-scale.
Description
Technical field
The present invention relates to a kind of localization method, particularly a kind of auxiliary radio sensing network node of group robot wireless charging.
Background technology
Group robot system is a class of multi-robot system, a large amount of simple autonomous robots, consists of, and it mainly, by mutual, produce self-organizing behavior, thereby realize emerging in large numbers of colony's Macro-Functions.For realizing the Macro-Functions of group robot, emerge in large numbers, need to first realize the basic function such as location, navigation, information interaction of single robot.For example, for realizing group robot cooperation carrying, first require single robot to position self, then according to self-position, with cartographic information, navigate, finally, by Local Interaction, by task point, attracted, monomer closes and forms carrying colony at task point set, associating carrying, this precision of wherein locating, navigating is particularly important.
Summary of the invention
The present invention be directed to the important problem of precision of location in group robot system, navigation, proposed a kind of auxiliary radio sensing network node of group robot wireless charging, in order to location, navigation, the cooperation of auxiliary group robot.
Technical scheme of the present invention is: a kind of auxiliary radio sensing network node of group robot wireless charging, comprise shell, node lithium battery, node circuit plate, magnetic masking layer, electric power receiving coil, the radio sensing network node upper cover installed from top to bottom, in the middle of radio sensing network node upper cover, there is countersunk head screw hole, in the middle of shell, have cylindrical hole, screw is mounted on ground by through hole from upper cover; Electric power receiving coil is close to wireless sensing node upper cover, for giving lithium battery induction charging; Magnetic masking layer is arranged between electric power receiving coil and node lithium battery; In shell and outside is tapered, and tapered side scribbles reflectorized material.
Described shell is transparent plastic, and taper inner side scribbles reflectorized material.
Described shell taper outside scribbles reflectorized material.
Described node circuit plate comprises wireless power receiving management circuit, radio sensing network circuit, acceleration transducer Acquisition Circuit and node lithium battery management circuit, and it is arranged on magnetic masking layer below.
Described radio sensing network node upper cover, electric power receiving coil, magnetic masking layer are donut shape, and circle ring center's hole size and transparent plastic shell intermediate cylindrical clear size of opening match.
Beneficial effect of the present invention is: the auxiliary radio sensing network node of group robot wireless charging of the present invention, adopt the mode that ground is installed of pasting, and node is arranged simple and convenient.The scalability that meets group robot zone of action, coverage can manually expand at any time; Adopt wireless sensing network system, node can be broadcasted the coordinate position of oneself constantly, and robot, with reference to self pose, can improve the discrimination of guidepost system in image, reduces the possibility of obscuring because road sign is similar; Radio sensing network can carry out wireless power by group robot and supplement, position self-calibration, map self-forming, improved radio sensing network from maintenance with from error detection; The position of having demarcated can directly be stored in node, and position data bottom disperses storage, has guaranteed the consistency of artificial landmark data.Simultaneously accurate positional information also contributes to the cluster management algorithm of radio sensing network; Radio sensing network node can also provide for group robot other miscellaneous functions such as navigation, task distribution, virtual information element simultaneously.Form and mix group's dynamical system; The node structure of the present invention design is simple, with low cost, be convenient to large-scale production manufacture.
Accompanying drawing explanation
Fig. 1 is wireless sensing node structure chart of the present invention;
Fig. 2 is wireless sensing node cutaway view of the present invention;
Fig. 3 is group robot monomer schematic diagram of the present invention;
Fig. 4 is that the present invention arranges to install to organize radio sensing network node figure more near group robot.
Embodiment
Radio sensing network node structure chart and cutaway view, comprise radio sensing network node upper cover 1, electric power receiving coil 2, magnetic masking layer 3, node circuit plate 4, node lithium battery 5, transparent plastic shell 6 as shown in Figure 1, 2.
Wireless sensing node upper cover 1, opaque, there is countersunk head screw hole centre, for the ground of node, installs.
Electric power receiving coil 2, for wireless power transmission, charges to lithium battery in node.It is close to wireless sensing node upper cover 1.
Magnetic masking layer 3, is used for improving wireless power transmission efficiency.It is arranged between electric power receiving coil 2 and node lithium battery 5.
Node circuit plate 4, has wireless power receiving management circuit, radio sensing network circuit, acceleration transducer Acquisition Circuit and node lithium battery management circuit on it.There is the functions such as wireless charging management, wireless network transmitting-receiving, node vibration monitoring, li-ion cell protection.It is arranged on magnetic masking layer 3 belows.
Transparent plastic shell 6, there is cylindrical hole centre, for ground screw, installs.Medial and lateral, edge are tapered, and taper inner side scribbles reflectorized material 7, reflective to the interference of personnel's vision for preventing, require wireless sensing node upper cover 1 slightly to cover reflectorized material 7.Also can shell 6 without transparent plastic, outer side covers reflectorized material 7, reaches the object of detection according to environmental requirement.Wireless sensing node upper cover 1 and transparent plastic shell 6 should the higher engineering plastics of working strength, prevent the damage that causes radio node because trampling.
Group robot has a lot of modes to the use of invented radio sensing network node: one by one typical case's application is described below:
1) single robot is to the identification of node and charge maintenance:
As Fig. 3 group robot monomer schematic diagram, left side is designed group robot monomer 10.Right side is the radio sensing network node 20 of invention, and it keeps flat and is installed on ground.When node installation, the absolute position, space of establishing radio sensing network node 20 is known, and the locus of radio sensing network node 20 is through demarcating, and then these wireless sensing nodes 20 are in the transmission self-position information of space periodicity.
Comprehensive speculum 11(curved surface is vertically installed down in robot), transparent pipe 12, camera 13(camera lens is upward), the fully-directional visual system of composition robot.Camera needs infrared-sensitive.One circle infrared emission LED14 is installed in robot, and reality is the robot infrared proximity distance measuring sensor of a week.Infrared ray reflects by artificial landmark taper, forms bright spot, after robot omnibearing optically-captured, by image rectification, processing, analyzes, just can obtain the range-azimuth of the relative robot of radio sensing network node.Because the position of radio sensing network is demarcated in advance, so can instead extrapolate position, the attitude of robot in space.As Fig. 4 arranges many group radio sensing network node figure are installed near group robot, the several radio sensing network nodes 20 of fixed discharge, robot monomer 10 motion therein arbitrarily, all can test the position of robot monomer 10, when nodal distance monomer is far away, also can utilize the radio strength information of a plurality of nodes to carry out monomer coarse localization.
The outer circle infrared LED 14 of robot monomer 10 can shine very brightly by near node, is easy to process and identify with image, after range finding, direction finding, utilizes least square or SLAM algorithm just can obtain the self-position of robot monomer 10.Although there is inertial navigation system single robot inside, but accelerometer is at integration after a period of time, positioning precision meeting step-down, after robot monomer 10 is near a node, just can obtain by picture system and wireless sensing system the information of node, self locus of revising by data fusion that single robot uses that inner inertial navigation calculates.
Robot is furnished with on chassis wireless power transmission coil, can send electric power to the electric power receiving coil of radio sensing network node 20.When wireless sensing node 20 power shortage, can ride thereon radio sensing network node 20 is charged by group robot, safeguard that whole Radio Network System is stable.Because group robot quantity is huge, thus to a lot of radio sensing network nodes 20 simultaneously charge maintenances also than being easier to.When in addition, 7 layers of the reflectorized materials of radio sensing network node 20 are also conducive to robot charging, it is ridden and connects location.In addition, because node only has reflector in edge, and top also blocked by wireless sensing node upper cover 1, so can't disturb Field Force's vision.And short robot can utilize the reflective position of carrying out recognition node.
2) group robot is to the demarcation of node and self poisoning:
Artificial installation after node, demarcation is not measured in the locus of node, can utilize group robot to space interior nodes automatic Calibration, if near installation node initial point has obtained global space position through measuring, by group robot monomer, around initial point, move, relative distance, the angle of while image measurement known location node and unknown node, global position in conjunction with known node, can obtain by data fusion method the position of unknown node, fusion method comprises expansion kalman filter, particle filter etc.And the unknown node position calculating is sent in respective nodes and gone by radio sensing network, just realized node location from the unknown to known conversion.Based on this, robot expands outwardly movement, goes that calibration position is known, other unknown node at unknown edge, until the node location of full working space is only all demarcated as.Utilize group robot to all directions, to demarcate simultaneously, can accelerate this process.
There is acceleration transducer radio node inside in the present invention's design, and when node is loosening or illegally remove, intra-node has induction.It can by radio sensing network to by way of group robot notify.Then group robot can, with reference to the position of other radio sensing network nodes, utilize blending algorithm again to demarcate changing the node of position.
By such use, can make node installation of the present invention easy, do not need accurate measurement, group robot just can carry out location position to node in the mobile process of work, be conducive to the carrying out that node construction is installed, and in regular maintenance process, the node also easily position being changed is demarcated again.In the process of data fusion, robot also positions self simultaneously, so the present invention designs location when being applicable to group robot and builds figure (SLAM).
3) group robot utilizes node to navigate at full working space:
The distinguishing feature of group robot is exactly that cost is low, guarantee can be produced in a large number like this, but practical work environment is very complicated again, the AGV for example using in industrial logistics carrying field, just adopted laser radar to make environmentally sensitive, this kind of transducer is expensive, so be difficult to each group robot monomer, installs.Can the type radar be installed to a small amount of monomer in group robot, form detection monomer, survey monomer by radar scanning, gained environmental data can be directly used in robot conversion zone and control, to guarantee the safety moving of monomer.Simultaneously, radar scanning data because can utilizing node, single robot realize overall situation location, so also can, by obstacle rasterizing, be set up grating map, this map can be used for robot navigation, by path planning algorithm, finds the shortest path between 2.But because grating map requires memory space huge, monomer cannot be stored the grating map of whole working space, so surveying monomer is able to local grid to be stored in the designed node of the present invention nearby, in the time of near single robot passes through this node, just can from node, transfer environment grating map, utilize path planning algorithm just can realize near Local Navigation node, from a node to another node without touching optimum path.And the position of all nodes in space and communication information packing, storage becomes topological map.Information is due to highly abstract, and the nodal information of the overall situation can deposit single robot easily in, and its map that can be used as global path planning is used.Robot according to global path from a node motion to the process of another node, monomer and adjacent node are mutual, from intra-node, obtain local space grating map, as the map of monomer local paths planning, use.When the map of node storage, in actual, while not being inconsistent, when monomer is walked by map local paths planning, cannot avoid obstacle arrival target, can carry out mark to node, the local environment map that waits monomer to be detected to come in new node more.
In sum, group robot utilizes the present invention to do global space navigation, in colony, only equip on the basis of a small amount of laser radar, just can realize the global path planning of all robots, saved total system cost expense, the node that utilizes the present invention to design has played vital effect in the environmental modeling of group robot.
4) group robot is used node to carry out alternately:
During group robot process node, the information such as oneself state, destination node, source Nodes, the time of advent can be stored in node, when this node of other robot approach, just can make with reference to the information of other robot the decision-making of self.
Claims (5)
1. the auxiliary radio sensing network node of a group robot wireless charging, it is characterized in that, comprise shell (6), node lithium battery (5), node circuit plate (4), magnetic masking layer (3), electric power receiving coil (2), the radio sensing network node upper cover (1) installed from top to bottom, in the middle of radio sensing network node upper cover (1), there is countersunk head screw hole, in the middle of shell (6), have cylindrical hole, screw is mounted on ground by through hole from upper cover; Electric power receiving coil (2) is close to radio sensing network node upper cover (1), for giving lithium battery induction charging; Magnetic masking layer (3) is arranged between electric power receiving coil (2) and node lithium battery (5); In shell (6) and outside is tapered, and tapered side scribbles reflectorized material (7).
2. the auxiliary radio sensing network node of group robot wireless charging according to claim 1, is characterized in that, described shell (6) is transparent plastic, and taper inner side scribbles reflectorized material (7).
3. the auxiliary radio sensing network node of group robot wireless charging according to claim 1, is characterized in that, described shell (6) taper outside scribbles reflectorized material (7).
4. the auxiliary radio sensing network node of group robot wireless charging according to claim 1, it is characterized in that, described node circuit plate (4) comprises wireless power receiving management circuit, radio sensing network circuit, acceleration transducer Acquisition Circuit and node lithium battery management circuit, and it is arranged on magnetic masking layer (3) below.
5. the auxiliary radio sensing network node of group robot wireless charging according to claim 1, it is characterized in that, described radio sensing network node upper cover (1), electric power receiving coil (2), magnetic masking layer (3) are donut shape, and circle ring center's hole size and transparent plastic shell (6) intermediate cylindrical clear size of opening matches.
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| GB2559147A (en) * | 2017-01-26 | 2018-08-01 | Bombardier Primove Gmbh | A receiving device and a method of manufacturing a receiving device |
| CN110109503B (en) * | 2019-05-30 | 2020-06-09 | 中电九天智能科技有限公司 | Intelligent manufacturing robot power consumption control device for automatic warehouse logistics |
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| KR100734850B1 (en) * | 2005-11-29 | 2007-07-03 | 한국전자통신연구원 | Simulation apparatus and method for design of sensor network |
| CN101033971B (en) * | 2007-02-09 | 2011-02-16 | 中国科学院合肥物质科学研究院 | Mobile robot map building system and map building method thereof |
| CN202190128U (en) * | 2011-07-04 | 2012-04-11 | 东南大学 | Mobile wireless power charging device of wireless sensor network node |
| CN102497079A (en) * | 2011-12-22 | 2012-06-13 | 重庆大学 | Miniature high efficiency water wave energy acquisition apparatus |
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