CN104731102A - Follow robot positioning system based on ultrasonic waves and Bluetooth - Google Patents
Follow robot positioning system based on ultrasonic waves and Bluetooth Download PDFInfo
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- CN104731102A CN104731102A CN201510068427.XA CN201510068427A CN104731102A CN 104731102 A CN104731102 A CN 104731102A CN 201510068427 A CN201510068427 A CN 201510068427A CN 104731102 A CN104731102 A CN 104731102A
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Abstract
The invention provides a follow robot positioning system based on ultrasonic waves and Bluetooth. A Bluetooth module of the system is in communicated with a Bluetooth module of a handheld device. The position of the handheld device is positioned through a positioning module according to data of an analysis module. A local grid map module establishes a local grid map according to information which is analyzed through a detection module and scanned through ultrasonic radar. A follow area planning module plans an area where a robot can advance according to the position of the handheld device and the local gird map. A follow module drives a walking device according to the area which is planned through the follow area planning module and allows the robot to advance. The local grid map is established through the communication between the Bluetooth modules and by analyzing communication data between the Bluetooth modules and comprehensively utilizing information, scanned by the ultrasonic radar, in front of the robot, and the following aim of the robot is achieved; it is ensured that autonomous following of the robot can be safely and reliably achieved in a complex environment, and meanwhile the robot following economic cost can be reduced.
Description
Technical field
The present invention relates to described robot localization method, particularly a kind of technical field of following robot positioning system based on ultrasound wave and bluetooth.
Background technology
Follow robot be man-machine interaction research in a hot issue, in described robot, neighborhood has a wide range of applications, such as, Caddie bag on wide incomparable golf course follow described robot, emporium follow shopping cart, the luggage weight on airport follows described robot etc.Process of following is carried out often in the environment of more complicated, therefore needs to position the target of following and can avoiding obstacles, realizes the function of following intended target.
Existing localization method of following described robot mainly utilizes the vision system on robot body described in installation to gather the information of target and surrounding environment at present, then the algorithm of image procossing is utilized to position target, this method is easily disturbed by similar object in environment, and described in there will be Static and dynamic barrier in the robot process of following, described robot must possess barrier avoiding function, and current obstacle avoidance algorithm complexity is higher, there is the defect easily entering local optimum.Meanwhile, utilize vision system to follow described robot cost high, the economic capability of most people can not be adapted to.
Summary of the invention
Technical matters to be solved by this invention is to provide one and reduces costs, and what can be applicable to the economic capability of most people follows described robot localization method based on ultrasonic and bluetooth, for this reason, the present invention by the following technical solutions:
Follow a robot positioning system based on ultrasound wave and bluetooth, described robot is equiped with running gear; Described system comprises bluetooth module, ultrasonic radar, analysis module, locating module, detection module, Local grid mapping module, follows regional planning module and follow module, the bluetooth module of described system communicates with the bluetooth module of handheld device, described handheld device is the equipment that removable person carries, analysis module analyzes the position of handheld device signal source according to the power of signal of communication, and locating module locates the position of described handheld device according to the data (i.e. the data of the position of handheld device signal source) of analysis module; Described ultrasonic radar is for scanning the information of surrounding objects, and described detection module analyzes the information of described scanning surrounding objects, the information architecture Local grid map that described Local grid mapping module is analyzed according to described detection module; Described regional planning module of following cooks up according to the position of described handheld device and Local grid map the region that can advance, described in follow module according to follow regional planning module planning the region of advancing drive running gear.Described bluetooth module can comprise the bluetooth module of multiple bluetooth combination, and multiple bluetooth module communicates with the bluetooth module tidying up equipment, makes the data of acquisition more accurate.
On the basis adopting technique scheme, the present invention also can adopt following further technical scheme:
Described system is also provided with collision avoidance protection module; described collision avoidance protection module is according to described region of advancing and described Local grid map binding analysis preceding object thing; when there is suddenly barrier in the region that can advance; and in the scope of Local grid map, described system can control described running gear and dodge barrier.
Described analysis module analyzes relative distance between described robot with described handheld device and relative deflection angle, thus the Distance geometry direction calculated between described handheld device and described robot, described locating module locates the position of described handheld device according to the data of analysis module.
Follow module described in described collision avoidance protection module has precedence over and control described running gear.
When the holder of described handheld device moves, described robot follows; When described handheld device stops mobile, described robot enters standby mode.
Described ultrasonic radar can scan the barrier in two meter, and the information architecture Local grid map utilizing described ultrasonic radar to scan.
Described robot is also provided with standby mode handover module, and when described handheld device stops mobile, described standby mode handover module controls described robot and enters standby mode; During described handheld mobile device, described standby mode handover module controls described robot and cancels standby mode, and described robot carries out following the handheld device of movement.
Owing to adopting technical scheme of the present invention, beneficial effect of the present invention is: the present invention is by the communication between bluetooth module, and the communication data analyzed between bluetooth module, and, the described robot front information scanned in conjunction with utilizing ultrasonic radar, build Local grid map, realize the object that robot follows; The present invention ensures that the realization that described robot can be safe and reliable in complex environment is independently followed, and can reduce the financial cost of following described robot simultaneously.
Accompanying drawing explanation
Fig. 1 provided by the inventionly a kind ofly follows robot positioning system's module diagram based on ultrasound wave and bluetooth.
Embodiment
Follow a robot positioning system based on ultrasound wave and bluetooth, described robot is equiped with running gear 900; Described system comprises bluetooth module 200, ultrasonic radar 300, described bluetooth module 200 communicates with the bluetooth module 200 of handheld device, analysis module 400 analyzes the position relative to handheld device of handheld device signal source according to the power of signal of communication, and locating module 401 locates the position of described handheld device according to the data of analysis module 400; Described ultrasonic radar 300 is for scanning the information of surrounding objects, and detection module 500 analyzes the information of described surrounding objects, and Local grid mapping module is according to the information architecture Local grid map of described detection module 500; Follow regional planning module 700 and cook up according to the position of described handheld device and Local grid map the region that can advance, follow module 800 and drive running gear 900 according to the region that can advance.Described bluetooth module 200 can comprise the bluetooth module 200 of multiple bluetooth combination, and multiple bluetooth module 200 communicates with the bluetooth module 200 tidying up equipment, makes the data of acquisition more accurate.
Described system is also provided with collision avoidance protection module 801, and described collision avoidance protection module 801 according to described region of advancing and described Local grid map binding analysis preceding object thing, and drives described running gear 900 pairs of barriers to dodge.
Described tooth module in described robot is communicated by the bluetooth module 200 of handheld device, described analysis module 400 analyzes relative distance between described robot with described handheld device and relative deflection angle, thus the Distance geometry direction calculated between described handheld device and described robot, described locating module 401 locates the position of described handheld device according to the data of analysis module 400.
When described robot follow with keep away hinder produce conflict time, described robot prioritizing selection keeps away barrier.
During described handheld mobile device, described robot follows; When described handheld device stops mobile, described robot enters standby mode.
Described ultrasonic radar 300 can scan the barrier in two meter, and the information architecture Local grid map utilizing described ultrasonic radar 300 to scan.
The process that user specifically uses handheld device to arrange robot to carry out following is as follows:
Open the power supply of robot and handheld device, described tooth module in described robot is led to and is communicated with the bluetooth module 200 of described handheld device, obtain the position of handheld device, and the relative distance analyzed between described robot with described handheld device and relative deflection angle, the holder of handheld device positions.Then, robot is according to the Distance geometry direction calculated between the described handheld device of gained and described robot, and in conjunction with Local grid map, that cooks up that described robot follows described handheld device follows route.In the process of following, when described robot follow with keep away hinder produce conflict time, described robot prioritizing selection keeps away barrier.
Described robot is also provided with standby mode handover module 110, and when described handheld device stops mobile, described standby mode handover module controls each module of described robot, overshot ripple radar enters standby mode; During described handheld mobile device, described standby mode handover module 110 controls described robot and cancels standby mode, and described robot carries out following the handheld device of movement.
Claims (5)
1. follow a robot positioning system based on ultrasound wave and bluetooth, it is characterized in that, described robot is equiped with running gear; Described system comprises bluetooth module, ultrasonic radar, analysis module, locating module, detection module, Local grid mapping module, follows regional planning module and follow module, the bluetooth module of described system communicates with the bluetooth module of handheld device, described analysis module analyzes the position of handheld device signal source according to the power of signal of communication, and described locating module locates the position of described handheld device according to the data of analysis module; Described ultrasonic radar is for scanning the information of surrounding objects, and described detection module analyzes the information of described surrounding objects, and described Local grid mapping module builds Local grid map; Described regional planning module planning of following goes out the region that can advance, described in follow module and drive running gear according to the region that can advance.
2. a kind ofly as claimed in claim 1 follow robot positioning system based on ultrasound wave and bluetooth; it is characterized in that; described system is also provided with collision avoidance protection module; described collision avoidance protection module according to described region of advancing and described Local grid map binding analysis preceding object thing, and controls described running gear and dodges barrier.
3. a kind ofly as claimed in claim 1 follow robot positioning system based on ultrasound wave and bluetooth, it is characterized in that, described analysis module analyzes relative distance between described robot with described handheld device and relative deflection angle, thus the Distance geometry direction calculated between described handheld device and described robot, described locating module locates the position of described handheld device according to the data of analysis module.
4. a kind ofly as claimed in claim 2 follow robot positioning system based on ultrasound wave and bluetooth, it is characterized in that, follow module described in described collision avoidance protection module has precedence over and control described running gear.
5. a kind ofly as claimed in claim 1 follow robot positioning system based on ultrasound wave and bluetooth, it is characterized in that, described robot is also provided with standby mode handover module, and when described handheld device stops mobile, described standby mode handover module controls described robot and enters standby mode; During described handheld mobile device, described standby mode handover module controls described robot and cancels standby mode, and described robot carries out following the handheld device of movement.
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| CN201510068427.XA CN104731102B (en) | 2015-02-10 | 2015-02-10 | It is a kind of that robot positioning system is followed based on ultrasonic wave and bluetooth |
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Cited By (24)
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| CN105751217A (en) * | 2016-04-15 | 2016-07-13 | 东莞理工学院 | Follow robot with Bluetooth positioning and automatic following technology |
| CN105785996A (en) * | 2016-03-31 | 2016-07-20 | 浙江大学 | Intelligent tracking shopping cart for supermarkets and tracking method thereof |
| CN105867368A (en) * | 2016-03-31 | 2016-08-17 | 纳恩博（北京）科技有限公司 | Information processing method and mobile device |
| CN106094818A (en) * | 2016-06-16 | 2016-11-09 | 国家电网公司 | A kind of with the electric power tool certainly following function |
| CN106647815A (en) * | 2017-01-23 | 2017-05-10 | 昆山市工研院智能制造技术有限公司 | Intelligent following robot based on multi-sensor information fusion and control method thereof |
| CN106681359A (en) * | 2016-07-18 | 2017-05-17 | 歌尔股份有限公司 | Method for controlling intelligent baby pram, intelligent baby pram and control system |
| CN106774326A (en) * | 2016-12-23 | 2017-05-31 | 湖南晖龙股份有限公司 | A kind of shopping guide robot and its shopping guide method |
| CN106923542A (en) * | 2017-03-10 | 2017-07-07 | 深圳市赛亿科技开发有限公司 | Intelligent chair |
| CN106994993A (en) * | 2017-03-17 | 2017-08-01 | 浙江大学 | Navigate tracking smart supermarket shopping cart and its method based on local positioning system |
| CN107073711A (en) * | 2015-09-08 | 2017-08-18 | 深圳市赛亿科技开发有限公司 | A kind of robot follower method |
| CN107526356A (en) * | 2017-07-25 | 2017-12-29 | 夏煜林 | One kind is intelligently carried based on Arduino platform courses and follows robot and control method |
| CN108072861A (en) * | 2016-11-17 | 2018-05-25 | 广东大仓机器人科技有限公司 | The robot of high-precision beacon position tracking is realized using ultrasonic wave combination bluetooth |
| CN108614563A (en) * | 2018-06-12 | 2018-10-02 | 北京康力优蓝机器人科技有限公司 | A method of realizing that mobile robot target follows by location navigation |
| CN108694788A (en) * | 2018-06-14 | 2018-10-23 | 中国地质大学（武汉） | A kind of home shopping robot and home shopping system |
| CN109745677A (en) * | 2019-02-15 | 2019-05-14 | 东南大学 | A kind of multi-functional tennis picks up ball machine |
| CN109986605A (en) * | 2019-04-09 | 2019-07-09 | 深圳市发掘科技有限公司 | A kind of intelligence automatically tracks robot system and method |
| CN110502036A (en) * | 2019-07-24 | 2019-11-26 | 苏宁智能终端有限公司 | A kind of follower method and system based on Bluetooth technology |
| TWI695243B (en) * | 2019-01-25 | 2020-06-01 | 孟菁 | Obstacle avoiding guidance system |
| CN111966023A (en) * | 2020-08-28 | 2020-11-20 | 王旭飞 | Intelligent following method and device and electronic equipment |
| TWI742644B (en) * | 2020-05-06 | 2021-10-11 | 東元電機股份有限公司 | Following mobile platform and method thereof |
| CN114115250A (en) * | 2021-11-11 | 2022-03-01 | 深圳市中舟智能科技有限公司 | Robot motion map construction method, robot motion method and robot |
| CN114415689A (en) * | 2022-01-25 | 2022-04-29 | 无锡市金沙田科技有限公司 | Following vehicle decision method and system |
| CN117255313A (en) * | 2023-11-17 | 2023-12-19 | 双擎科技(杭州)有限公司 | Service robot control method and system based on cloud platform |
| CN111966023B (en) * | 2020-08-28 | 2024-04-30 | 王旭飞 | Intelligent following method and device and electronic equipment |
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| CN105867368B (en) * | 2016-03-31 | 2019-03-01 | 纳恩博（常州）科技有限公司 | A kind of information processing method and mobile device |
| CN105785996A (en) * | 2016-03-31 | 2016-07-20 | 浙江大学 | Intelligent tracking shopping cart for supermarkets and tracking method thereof |
| CN105867368A (en) * | 2016-03-31 | 2016-08-17 | 纳恩博（北京）科技有限公司 | Information processing method and mobile device |
| US10222807B2 (en) | 2016-03-31 | 2019-03-05 | Ninebot (Beijing) Tech Co., Ltd. | Method, mobile device and computer storage medium for processing information |
| CN105751217A (en) * | 2016-04-15 | 2016-07-13 | 东莞理工学院 | Follow robot with Bluetooth positioning and automatic following technology |
| CN106094818A (en) * | 2016-06-16 | 2016-11-09 | 国家电网公司 | A kind of with the electric power tool certainly following function |
| CN106681359A (en) * | 2016-07-18 | 2017-05-17 | 歌尔股份有限公司 | Method for controlling intelligent baby pram, intelligent baby pram and control system |
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| CN108072861A (en) * | 2016-11-17 | 2018-05-25 | 广东大仓机器人科技有限公司 | The robot of high-precision beacon position tracking is realized using ultrasonic wave combination bluetooth |
| CN106774326A (en) * | 2016-12-23 | 2017-05-31 | 湖南晖龙股份有限公司 | A kind of shopping guide robot and its shopping guide method |
| CN106647815A (en) * | 2017-01-23 | 2017-05-10 | 昆山市工研院智能制造技术有限公司 | Intelligent following robot based on multi-sensor information fusion and control method thereof |
| CN106923542A (en) * | 2017-03-10 | 2017-07-07 | 深圳市赛亿科技开发有限公司 | Intelligent chair |
| CN106994993A (en) * | 2017-03-17 | 2017-08-01 | 浙江大学 | Navigate tracking smart supermarket shopping cart and its method based on local positioning system |
| CN107526356A (en) * | 2017-07-25 | 2017-12-29 | 夏煜林 | One kind is intelligently carried based on Arduino platform courses and follows robot and control method |
| CN108614563A (en) * | 2018-06-12 | 2018-10-02 | 北京康力优蓝机器人科技有限公司 | A method of realizing that mobile robot target follows by location navigation |
| CN108694788A (en) * | 2018-06-14 | 2018-10-23 | 中国地质大学（武汉） | A kind of home shopping robot and home shopping system |
| TWI695243B (en) * | 2019-01-25 | 2020-06-01 | 孟菁 | Obstacle avoiding guidance system |
| CN109745677A (en) * | 2019-02-15 | 2019-05-14 | 东南大学 | A kind of multi-functional tennis picks up ball machine |
| CN109986605A (en) * | 2019-04-09 | 2019-07-09 | 深圳市发掘科技有限公司 | A kind of intelligence automatically tracks robot system and method |
| CN110502036A (en) * | 2019-07-24 | 2019-11-26 | 苏宁智能终端有限公司 | A kind of follower method and system based on Bluetooth technology |
| TWI742644B (en) * | 2020-05-06 | 2021-10-11 | 東元電機股份有限公司 | Following mobile platform and method thereof |
| CN111966023A (en) * | 2020-08-28 | 2020-11-20 | 王旭飞 | Intelligent following method and device and electronic equipment |
| CN111966023B (en) * | 2020-08-28 | 2024-04-30 | 王旭飞 | Intelligent following method and device and electronic equipment |
| CN114115250A (en) * | 2021-11-11 | 2022-03-01 | 深圳市中舟智能科技有限公司 | Robot motion map construction method, robot motion method and robot |
| CN114415689A (en) * | 2022-01-25 | 2022-04-29 | 无锡市金沙田科技有限公司 | Following vehicle decision method and system |
| CN117255313A (en) * | 2023-11-17 | 2023-12-19 | 双擎科技(杭州)有限公司 | Service robot control method and system based on cloud platform |
| CN117255313B (en) * | 2023-11-17 | 2024-02-06 | 双擎科技(杭州)有限公司 | Service robot control method and system based on cloud platform |
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