CN104793618B - Oriented array system, positioning blanket and performance method are performed by robot - Google Patents
Oriented array system, positioning blanket and performance method are performed by robot Download PDFInfo
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- CN104793618B CN104793618B CN201510180695.0A CN201510180695A CN104793618B CN 104793618 B CN104793618 B CN 104793618B CN 201510180695 A CN201510180695 A CN 201510180695A CN 104793618 B CN104793618 B CN 104793618B
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Abstract
The invention discloses a kind of robots to perform oriented array system, comprising: lines up several wireless signal anchor points of array；Each wireless signal anchor point corresponds to the wireless signal of the wireless signal locating point position towards transmitting in a pre-configured orientation angle vertically upward, so that robot receives and determines the current position of robot.The present invention further correspondingly discloses robot performance positioning blanket and robot performance method.Using technical solution of the present invention, can be positioned for robot when carrying out mobile performance, it is ensured that robot motion accurately completes track.
Description
Technical field
The present invention relates to electronic technology field, more particularly to a kind of robot performance oriented array system, positioning blanket with
And performance method.
Background technique
Robot is a kind of electronic device that can voluntarily execute work.Robot can receive mankind commander, Huo Zheyun
The program that row prelists is taken action according to the principle that artificial intelligence technology is formulated.
Currently, robot has been widely used in multiple fields, such as under the scenes such as home education, entertainment, often
One or more robots are often needed to carry out mobile performance, robot is moved according to default or user's layout track
It is dynamic.Therefore, it is desirable to provide it is a kind of to perform oriented array system for the robot that the robot is positioned when robot is mobile, determine
Position blanket and performance method.
Summary of the invention
Based on this, it is necessary to a kind of robot performance oriented array system, positioning blanket and performance method are provided, using this
Inventive technique scheme can be positioned for robot when carrying out mobile performance, it is ensured that robot motion track is accurate
It completes on ground.
A kind of robot performance oriented array system, comprising: line up several wireless signal anchor points of array；Each institute
State the nothing that wireless signal anchor point corresponds to the wireless signal locating point position towards transmitting in a pre-configured orientation angle vertically upward
Line signal, so that robot receives and determines the current position of robot.
In one embodiment, several described wireless signal anchor points are arranged in the square of alignment along preset direction
Battle array；Or
Several described wireless signal anchor points are arranged along preset direction, and between adjacent row, column mutually
Be staggered a wireless signal anchor point.
In one embodiment, signal transmission ranges of each wireless signal point in corresponding pre-configured orientation angle are mutual
It is staggered.
In one embodiment, each wireless signal anchor point all includes the gold corresponding to the pre-configured orientation angle
Belong to shielding case.
In one embodiment, the wireless signal anchor point is infrared transmitter, the infrared light of the infrared transmitter
Infrared fileter is equipped at line transmitting；Or
The wireless signal anchor point is 2.4G signal projector or RFID transmitter.
In one embodiment, several described wireless signal anchor points are embedded into substrate, and the substrate is porcelain, wood
Matter or plastic base.
Oriented array system is performed by above-mentioned robot, includes the wireless signal anchor point that several are arranged in array, often
A wireless signal anchor point emits the wireless signal corresponding to its position vertically upward, when performance robot is moved to some wirelessly
It can be positioned according to the signal received above signal framing point, so that it is guaranteed that robot motion track is accurately completed.
A kind of robot performance positioning blanket, including positioning blanket ontology, and the machine being embedded into the positioning blanket ontology
People performs oriented array system；
Oriented array system is performed by the robot, is that oriented array system is performed by the robot in previous embodiment.
In one embodiment, the positioning blanket ontology is cotton blanket, cortex blanket or plastics blanket.
Above-mentioned robot performance positioning blanket, includes the wireless signal anchor point that several are arranged in array, each wireless
Signal framing point emits the wireless signal corresponding to its position vertically upward, determines when performance robot is moved to some wireless signal
It can be positioned according to the signal received above site, so that it is guaranteed that robot motion track is accurately completed, and on
Stating robot performance positioning blanket can crimp, easy to carry.
Method is performed by a kind of robot, be suitable for a performance robot and robot above-mentioned performance oriented array system or
Robot performance positioning blanket, comprising:
The robot performance oriented array is adjusted previously according to the coordinate reference system of the performance robot built-in
The placement direction of system or robot performance positioning blanket；
Perform robot and obtains the motion profile to be completed of performance；
The performance robot determines the performance according to the corresponding wireless signal anchor point of wireless signal is currently received
The initial position of robot；
The performance robot is prestored according to the motion profile, the initial position and the performance robot
The position of all wireless signal anchor points, the motion profile each wireless signal to be passed through to determine the performance robot are fixed
Site and sequence；
The performance robot adjusts moving direction according to built-in coordinate reference system, successively passes through the movement rail
The corresponding each wireless signal anchor point of mark.
In one embodiment, the coordinate reference system includes electronic compass.
Method, pre-adjusted robot performance oriented array system or robot performance positioning blanket are performed by above-mentioned robot
Placement direction, perform robot later and obtain the track to be completed of performance and initial position, and determine and successively to pass through
Each wireless signal anchor point, moving direction is then adjusted according to built-in coordinate reference system, successively pass through each point, thus
Complete motion profile.
Detailed description of the invention
Fig. 1 is the schematic diagram of the robot performance oriented array system in one embodiment；
Fig. 2A and Fig. 2 B is the wireless signal anchor point arrangement that robot performs in oriented array system in one embodiment
Array schematic diagram；
Fig. 3 is the schematic top plan view of the robot performance positioning blanket in one embodiment；
Fig. 4 is the flow diagram of the robot performance method in one embodiment；
Fig. 5 is the movement locus schematic diagram in one embodiment in robot performance method.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Referring to Fig. 1, a kind of robot performance oriented array system is provided in one embodiment.Robot performance is fixed
Bit array system includes: to line up several wireless signal anchor points of array.Wherein, each wireless signal anchor point is vertically upward
Transmitting corresponds to the wireless signal of the wireless signal locating point position in towards a pre-configured orientation angle, so that robot receives and determines
The current position of robot.Specifically, wireless signal anchor point contains wireless signal transmitting device, such as RF transmitter or
Infrared launcher, NFC communication device etc. correspond to the wireless communication of a number towards transmitting in a pre-configured orientation angle vertically upward
Mark, the number are corresponding with each wireless signal anchor point (position).Robot has received radio receiver vertically downward,
It is corresponding with the emitter of wireless signal anchor point, such as be simultaneously infrared facility or radio-frequency unit etc., when robot moves
It moves above a certain wireless signal anchor point, based on the received wireless beacon, so that it may determine mobile position.
In one embodiment, optionally, such as Fig. 2A, several described wireless signal anchor points are arranged along preset direction
The matrix of alignment is arranged into, or such as Fig. 2 B, several wireless signal anchor points are arranged along preset direction, and adjacent
A wireless signal anchor point is mutually staggered between row, column.Specifically in the present embodiment, preset direction can be with " up north and down south "
Direction it is consistent.Under the application scenarios, robot can be with built-in electronic compass, and it is fixed that each wireless signal is stored in advance
The relative position in site.Robot can obtain a coordinate reference direction according to electronic compass in this way, further according to place
Wireless signal anchor point, the next wireless signal anchor point to be gone and initial moving direction can calculate one currently
As soon as the steering angle of the lower wireless signal anchor point of wireless signal anchor point whereabouts can move after robot steering to the next position
It is dynamic.
In one embodiment, the signal transmission power of wireless signal anchor point is arranged in a reasonable value, each wireless communication
The signal transmission ranges of number point in corresponding pre-configured orientation angle mutually stagger, thus robot within the scope of a certain location error not
The corresponding wireless signal in two positions can be received simultaneously, avoid positioning mistake.
It in one embodiment, is further that the signal of each wireless signal anchor point is mutually isolated, each wireless signal
Anchor point all includes the metallic shield corresponding to pre-configured orientation angle, which can be the materials such as copper, tinplate
It is made.
In one embodiment, wireless signal anchor point emits form using different signals.For example, wireless signal
Anchor point can be infrared transmitter, be equipped with infrared fileter at the infrared light transmitting of the infrared transmitter；Or wireless communication
Number anchor point is 2.4G signal projector or RFID transmitter.
In one embodiment, optionally, robot performance oriented array system further include a porcelain, wooden or plastics base
Plate, wireless signal anchor point are embedded into substrate.When robot is performed, performed on the substrate.
Oriented array system is performed by robot in above-described embodiment, includes the wireless signal that several are arranged in array
Anchor point, each wireless signal anchor point emit the wireless signal corresponding to its position vertically upward, when performance robot is mobile
It can be positioned according to the signal received above to some wireless signal anchor point, so that it is guaranteed that robot motion track is smart
It completes quasi-ly.
Referring to Fig. 3, a kind of robot performance positioning blanket, including positioning blanket ontology are provided in one embodiment, and
The robot performance oriented array system being embedded into positioning blanket ontology.Specifically, oriented array system is performed by robot, for figure
1, oriented array system is performed by robot described in Fig. 2A or Fig. 2 B embodiment.Positioning blanket ontology be cotton blanket, cortex blanket or
Plastics blanket.
Robot performance positioning blanket in above-described embodiment, includes the wireless signal positioning that several are arranged in array
Point, each wireless signal anchor point emit the wireless signal corresponding to its position vertically upward, when performance robot is moved to certain
It can be positioned according to the signal received above a wireless signal anchor point, so that it is guaranteed that robot motion track is accurately
It completes, and above-mentioned robot performance positioning blanket can crimp, it is easy to carry.
Referring to fig. 4 and Fig. 5, a kind of robot performance method is provided in one embodiment, is suitable for a performance machine
Robot performance oriented array system or robot performance positioning blanket in people (abbreviation robot) and previous embodiment.This method
Include:
Step 401, robot performance oriented array is adjusted previously according to the coordinate reference system of performance robot built-in
The placement direction of system or robot performance positioning blanket.
Specifically, the coordinate reference system of robot built-in contains electronic compass, east, south, west, north can be known
Direction, and know angle of the robot current kinetic direction relative to a certain fixed-direction (such as due north), exist convenient for robot
Steering angle is calculated when needing to turn to.In addition, the coordinate reference system of robot built-in can also include one according to robot
Perform oriented array system or robot performance positioning blanket according to the electronic map of scale smaller, when robot receives a certain nothing
When the signal of line signal framing point, a specific position on the electronic map is then corresponded to.In this step, sat according to robot built-in
Frame of reference is marked to adjust placement direction, four sides that can be, but not limited to performing robot into positioning blanket are according to " up north and down south "
Mode is placed.
Step 402, performance robot obtains the motion profile to be completed of performance.
Specifically, the motion profile of robot is determined by the program to prelist, or can be inputted in real time by controller.Fortune
Dynamic rail mark can be circle, regular polygon, and parameter of these geometric figures such as radius, side length etc. can be fixed as a certain number in advance
Value, can also be by artificially inputting.
Step 403, performance robot determines performance according to the corresponding wireless signal anchor point of wireless signal is currently received
The initial position of robot.
Specifically, the transmitting of wireless signal anchor point corresponds to the wireless beacon of its position, robot is connect by reception device
When receiving wireless beacon, it will be able to determine initial position.
Step 404, performance robot is according to motion profile, initial position, and performance robot prestore it is all wireless
Each wireless signal anchor point and sequence that the motion profile of robot to be passed through are performed to determine in the position of signal framing point.
Specifically, two kinds of tracks are listed in Fig. 5, round and equilateral triangle.By taking circle as an example, if initial position is
W3 when robot knows that motion profile is round, and assumes the radius of the circular trace to fix preset value, and the circular rail
Mark is defaulted as rotating clockwise, then robot is using W3 as a bit round upper near " north ", and calculates other according to radius
Point is followed successively by W4, W5, W13 etc..The track principle of equilateral triangle is similar, repeats no more.
Step 405, performance robot adjusts moving direction according to built-in coordinate reference system, successively by movement rail
The corresponding each wireless signal anchor point of mark.
Specifically, illustrated with circular trace in Fig. 5, when robot motion is to W5, according to built-in electronic compass
Determination is gone to the angle that W13 to be turned to and is turned to, and is moved to W13 adjustment direction again to robot, mobile to W20, directly
All wireless signal anchor points to be passed through on motion profile are sequentially completed to robot.In the present embodiment, each wireless communication
The arrangement of number anchor point is enough to close, although being straight line segment between two neighboring wireless signal anchor point, when enough
Wireless signal anchor point be linked to be a track and can form a circle.In addition, every one wireless signal of arrival of robot is fixed
Site will compare the mobile sequence of the point and initial calculation, when there is deviation, can be counted again according to motion profile
The point to be passed through is calculated, guarantee is precisely accomplished motion profile.
Method, pre-adjusted robot performance oriented array system or robot are performed by robot in above-described embodiment
The placement direction of performance positioning blanket performs robot later and obtains the track and initial position that performance to be completed, and determines institute
Each wireless signal anchor point successively to pass through, then adjusts moving direction according to built-in coordinate reference system, successively passes through
Each point is crossed, to complete motion profile.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
Limitations on the scope of the patent of the present invention therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the invention
Protect range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (3)
1. oriented array system is performed by a kind of robot characterized by comprising line up several wireless signals positioning of array
Point；Each wireless signal anchor point corresponds to the wireless signal anchor point towards transmitting in a pre-configured orientation angle vertically upward
The wireless signal of position, so that robot receives and determines the current position of robot；
Several described wireless signal anchor points are arranged along preset direction, and are mutually staggered between adjacent row, column
One wireless signal anchor point；
Signal transmission ranges of each wireless signal point in corresponding pre-configured orientation angle mutually stagger；
Each wireless signal anchor point all includes the metallic shield corresponding to the pre-configured orientation angle；
The wireless signal anchor point is infrared transmitter, is equipped with infrared filtering at the infrared light transmitting of the infrared transmitter
Piece；Or
The wireless signal anchor point is 2.4G signal projector or RFID transmitter；
Several described wireless signal anchor points are embedded into substrate, and the substrate is porcelain, wooden or plastic base.
2. a kind of robot performance positioning blanket, which is characterized in that including positioning blanket ontology, and be embedded into the positioning blanket ontology
In robot perform oriented array system；
Oriented array system is performed by the robot, is that oriented array system is performed by robot described in claim 1；
The positioning blanket ontology be cotton blanket, cortex blanket or plastics blanket, it is rollable, it is easy to carry.
3. method is performed by a kind of robot, it is suitable for a performance robot and robot described in claim 1 performance positioning battle array
Column system or robot as claimed in claim 2 performance positioning blanket characterized by comprising
The robot performance oriented array system is adjusted previously according to the coordinate reference system of the performance robot built-in
Or the placement direction of the robot performance positioning blanket；
Perform robot and obtains the motion profile to be completed of performance；
The performance robot determines the performance machine according to the corresponding wireless signal anchor point of wireless signal is currently received
The initial position of people；
The performance robot prestores all according to the motion profile, the initial position and the performance robot
The position of wireless signal anchor point, to determine the motion profile each wireless signal anchor point to be passed through of the performance robot
And sequence；
The performance robot adjusts moving direction according to built-in coordinate reference system, successively passes through the motion profile pair
Each wireless signal anchor point answered；
The coordinate reference system includes electronic compass, can know the direction of east, south, west, north, and knows that robot works as
Angle of the preceding direction of motion relative to a certain fixed-direction, calculates steering angle when needing to turn to convenient for robot；
The coordinate reference system further include one according to robot perform oriented array system or robot performance positioning blanket according to
The electronics is then corresponded to when robot receives the signal of a certain wireless signal anchor point according to the electronic map of scale smaller
A specific position on map.
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| CN201510180695.0A CN104793618B (en) | 2015-04-16 | 2015-04-16 | Oriented array system, positioning blanket and performance method are performed by robot |
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| CN201510180695.0A CN104793618B (en) | 2015-04-16 | 2015-04-16 | Oriented array system, positioning blanket and performance method are performed by robot |
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| CN104793618B true CN104793618B (en) | 2018-12-04 |
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| CN106530449A (en) * | 2015-09-11 | 2017-03-22 | 上海冠豪网络科技有限公司 | Smart home security system |
| CN108627196B (en) * | 2017-03-23 | 2024-02-20 | 台湾积体电路制造股份有限公司 | Environment monitoring system |
| CN107993495B (en) * | 2017-11-30 | 2020-11-27 | 北京小米移动软件有限公司 | Story teller and control method and device thereof, storage medium and story teller playing system |
| CN109917789B (en) * | 2019-03-13 | 2021-07-20 | 珠海格力电器股份有限公司 | Automatic transportation method and device for household appliances and storage medium |
| CN110450162A (en) * | 2019-08-15 | 2019-11-15 | 浙江树人学院（浙江树人大学） | Industrial robot track following and motion planning method |
| CN113759970B (en) * | 2021-09-04 | 2024-02-02 | 杭州西湖喷泉设备成套有限公司 | Control method, system and storage medium for common performance of multi-floating water show platform |
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| KR20030080436A (en) * | 2002-04-08 | 2003-10-17 | 삼성전자주식회사 | Localization apparatus and method of mobile robot |
| KR100478452B1 (en) * | 2002-06-12 | 2005-03-23 | 삼성전자주식회사 | Localization apparatus and method for mobile robot |
| WO2005071597A1 (en) * | 2004-01-22 | 2005-08-04 | University Of Florida Research Foundation, Inc. | Location determination and navigation using arrays of passive rfid tags |
| CN1925988A (en) * | 2004-03-27 | 2007-03-07 | 微型机器人株式会社 | Navigation system for position self control robot and floor materials for providing absolute coordinates used thereof |
| DE102005045549A1 (en) * | 2005-09-23 | 2007-04-05 | Vorwerk & Co. Interholding Gmbh | Method for equipping a carpet with electronic components, device therefor, and carpet with electronic components |
| CN102626554B (en) * | 2012-03-27 | 2014-08-13 | 西安电子科技大学 | Mechanical shadow structure and movement angle and movement positioning control methods thereof |
| CN102621984A (en) * | 2012-04-11 | 2012-08-01 | 廖海龙 | Manner for positioning and navigating automatic walking robot by utilizing radio frequency identification tags |
| CN103439973B (en) * | 2013-08-12 | 2016-06-29 | 桂林电子科技大学 | Self-built map household cleaning machine people and clean method |
| CN104361371A (en) * | 2014-11-10 | 2015-02-18 | 中国航天时代电子公司 | Positioning system and method based on RIFD technology |
| CN204679857U (en) * | 2015-04-16 | 2015-09-30 | 嘉兴市德宝威微电子有限公司 | Robot performance oriented array system, location blanket |
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