CN104848852B - A kind of alignment system and method for annular sensor array - Google Patents
A kind of alignment system and method for annular sensor array Download PDFInfo
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- CN104848852B CN104848852B CN201510317778.XA CN201510317778A CN104848852B CN 104848852 B CN104848852 B CN 104848852B CN 201510317778 A CN201510317778 A CN 201510317778A CN 104848852 B CN104848852 B CN 104848852B
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- sensor array
- alignment system
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- annular sensor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of alignment system and method for annular sensor array, the system includes annular sensor array module, collecting sensor signal module, processing circuit module；The sensor array of annular sensor array module is arranged in a ring.The face alignment system is positioned over putting down for grid, by detecting that annular sensor array module detects the signal of grid, and utilize localization method of the present invention, processing circuit module gathers sensing data, coordinate position and angle are obtained by data processing, and data are transmitted to host computer by certain communication protocol, when mobile, the alignment system is with regard to that can obtain itself angle relative to the displacement of grid and rotation, so as to obtain the exact position of alignment system.The present invention can accurately obtain position and posture, not produce error accumulation, and design is simple, and cost is low, and reliability is high, can be extensively using autonomous mobile apparatus outer location navigation indoors.
Description
Art
The invention belongs to field of locating technology, more particularly to mobile robot and AGV etc. field of locating technology.
Background technology
Autonomous mobile robot and, the application of automatically guiding trolley is more and more universal, and location navigation is to ensure that it is more moved
The dynamic key worked freely, at present, studies and has following several using more location navigation modes both at home and abroad：
The first is navigated in magnetic stripe mode, detects the relative position of magnetic stripe to control using a row or multi-row Magnetic Sensor
Robot or dolly processed follow magnetic stripe movement all the time.Advantage is that cost is low, and design is simple, and deficiency is robot or dolly
Magnetic stripe motion can be followed, and Magnetic Sensor can not be relied on and accurately obtains current location.
Second is based on ultra wide band positioning；There is higher positioning precision based on ultra wideband location techniques, mainly by connecing
Device, reference label and active tag is received to constitute.Timing receiver receives the signal of label transmitting, and filters out various noises, most
Positioned afterwards by TDOA time-delay distance findings.There is low, strong, carrierfree of penetration power of transmission power etc. based on ultra wideband location techniques
Advantage, but its cost is too high, and may be by reasons such as electromagnetic interference influence reliabilities, it is impossible to suitable large-scale application.
The third is the indoor positioning based on inertial sensor, and it is passed through to acceleration using gyroscope and accelerometer
Triple integral obtains the coordinate angle of robot, due to pure the problem of error accumulation, it is impossible to which guarantee is accurately positioned for a long time.
4th kind is laser radar positioning, and laser radar can be good at carrying out indoor positioning, but involve great expense.5th
It is camera positioning to plant, and camera carries out indoor status algorithm complexity, and reliability is low, is relatively difficult to ripe utilization, cost phase
It is pair still higher.
If can develop one kind can accurately obtain position and posture, deviation accumulation is not produced, design is simple, into
This is low, and reliability high location navigation sensor-based system and corresponding positioning navigation method, will be very significant.
The content of the invention
The purpose of the present invention is to avoid weak point present in above-mentioned technology there is provided a kind of cost of implementation is low, positioning is accurate
The high Position Fixing Navigation System of exactness and method, the alignment system is by annular sensor array module, collecting sensor signal module, place
Manage circuit module.The alignment system is positioned in the plane of grid, by detecting that annular sensor array module intersects with line
Signal, and utilize localization method of the present invention, when mobile, the alignment system is with regard to that can obtain itself position relative to grid
The angle moved and rotated, so as to obtain the exact position of alignment system.
The principle of the present invention is as follows：As shown in figure 1, when alignment system is moved, around annular sensor array module one week
Sensor whether in its lower section will detect grid lines, if annular sensor array module intersects with grid lines, detect
The respective sensor of grid lines can change.And displacement and angle change of this change with location-plate have certain corresponding relation,
Go back simultaneously and location-plate is relevant with the relative position of grid, so that by founding mathematical models, we just can find this correspondence
Relation, and then the position and attitude of location-plate can be obtained.
The alignment system of the annular sensor array of the present invention includes：Annular sensor array module, collecting sensor signal mould
Block, processing circuit module.The sensor array of annular sensor array module is arranged in a ring, can be a ring or polycyclic, ring
Shape can be circular or ellipse or the closed ring of other shapes.The alignment system is positioned over to the plane of grid
On, by detecting that annular sensor array module detects the signal of grid, and localization method of the present invention is utilized, it is mobile
When, the alignment system is with regard to that can obtain itself angle relative to the displacement of grid and rotation, so as to obtain the accurate of alignment system
Position.Processing circuit module gathers sensing data, obtains coordinate position and angle by data processing, and data are passed through into certain
Plant communication protocol and be transmitted to host computer, for location navigation.
The alignment system of annular sensor array three degree of freedom can be moved in the planes；It is motion, the Y of X-direction respectively
The motion in direction, the rotation angle θ of location-plate itself.
The sensor array of annular sensor array module is arranged in a ring, can be a ring or polycyclic, and the shape of ring can be with
It is circular or ellipse or the closed ring of other shapes.
Monocyclic sensor array annular arrangement is typically arranged as, ground grid lines is square net.Adjacent sensing
The width for being smaller than the grid lines of reference during positioning between device.The diameter of annular is more than the side of the square net line of reference
It is long.
The square net of reference during positioning in above-mentioned, in practice, every piece of floor that can be ready-made is constituted
Grid or the artificial grid marked on the ground, can also be the lattice that ceiling is constituted.
The alignment system of annular sensor array can also include wired or wireless communication module, and it passes through wired or wireless
Mode carries out the transmitting-receiving of data, and it is connected with micro-chip processor, and wireless communication module is comprising Wifi wireless modules, Zigbee is wireless
Module, bluetooth radio module, 2.4G wireless modules, GPRS wireless modules.
The alignment system of foregoing two kinds annular sensor arrays, they can also all include application module, using mould
Block is to realize the device of certain application function, such as mechanical arm, dust catcher module.
Present invention additionally comprises a kind of localization method of the alignment system of annular sensor array, this method comprises the following steps：
S1. calculated according to the coordinate and goniometer of the alignment system of annular sensor array each in annular sensor array module
The coordinate and angle of individual sensor；The coordinate at former and later two moment is made the difference to the displacement for the alignment system for obtaining annular sensor array
Vector, latter moment coordinate and angle are unknown numbers, wait to be solved.
S2. set up matching error model, ask for be located at grid lines on sensor matching error and it is all be located at grid
Total matching error of sensor on line；
S3. motion vector when total matching error value takes minimum value is tried to achieve by iterative algorithm, and using its displacement as calmly
The displacement of position plate；
Can be combined with Kalman filtering algorithm in step, and combination other sensors carry out data fusion positioning,
Such as inertial sensor accelerometer gyroscope.
The geometric meaning of this algorithm is centered on lamp plate previous moment coordinate, to be moved in a little scope, when
It is which that just can be deduced when being moved to certain position and detect the sensor of line, if detect the sensor of line just with
The displacement of the sensor matching of currently detected line then at this moment is just uniquely determined, and now matching error E is minimum.
Advantages of the present invention is as follows：
1. equipment cost of implementation is low, beneficial to input daily use.The sensor that alignment system is used can be photoelectric sensing
For device or Magnetic Sensor, the sensor compared to positioning such as laser, radar, gyroscopes, cost is substantially reduced, beneficial to input
Volume production.
2. the present invention can accurately obtain position and posture, deviation accumulation is not produced, design is simple, and reliability is high, energy
It is enough extensively using autonomous mobile apparatus outer location navigation indoors.
Brief description of the drawings
Fig. 1 is the alignment system principle schematic in the embodiment of the present invention；Wherein, the corresponding title of Fig. 1 marks：1- determines
Position plate, 2- post exercise location-plates, 3- grid lines, the biography intersected when 4- is positioned on the grid of reference, 5- location-plates with grid lines
Sensor.
Fig. 2 is location-plate coordinate and geographical coordinates schematic diagram in the embodiment of the present invention.
Fig. 3 is the location-plate described in embodiment.
Embodiment：
The localization method of alignment system to make annular sensor array of the present invention is more clearly understood, below in conjunction with tool
Body embodiment, the present invention is described in more detail.
The alignment system embodiment of annular sensor array：
A kind of domestic sweeper device people, it is included：Driving part, location-plate, photoelectric sensor, signal acquisition module is micro-
Processor, wireless communication module, dust catcher module.
Driving part, it is completed by a tripod robot, the mode mainly set according to controlled in wireless or owner,
The motion of formula line by line is carried out indoors.Motion that it can be in X direction, the motion of Y-direction, can be rotated with rotation angle θ around itself.
Location-plate, as shown in figure 3, it is annular, it is installed with photoelectric sensor at its edge, and it is fixed on driving part
On.
Photoelectric sensor, it uses phototriode, and quantity is between 20 to 150, its cloth in a ring on location-plate
Put, spacing when annular diameter is more than positioning between the length of side of the square net line of reference, adjacent photoelectric sensor is small
The width of the square net line of reference when positioning.
Signal acquisition module gathers photo-sensor signal.
The square net of reference during positioning in above-mentioned, in practice, the net for selecting every piece of ready-made floor to be constituted
Lattice.
Wireless communication module, from Zigbee wireless modules.
Dust catcher module, for completing the absorption to dust and the processing to rubbish, it is to be fixed on driving part.
The embodiment of the localization method of the alignment system of annular sensor array：
Each specific method of step can be：
S1 method is：
Coordinate system is set up on ground for x-o-y, i-th of photoelectricity on coordinate system x '-o '-y ', lamp plate is set up on location-plate
Sensor is A in the middle coordinates of x '-o '-y 'i′(xi′,yi'), coordinate is A in x-o-yi(xi,yi),θjIt is location-plate in x, y institute
The angle rotated in the plane of composition, pose of the j moment location-plate under geographical coordinates is oj(xoj,yoj,θj), then
It is carved with during J+1
J moment and the displacement of i-th of photoelectric sensor on j+1 moment lamp plates are
S2 method is：
Assuming that i-th of photoelectric sensor at the moment of jth+1 above white line, then the coordinate of its nearest white line intersection point is
Wherein, p is the number of photoelectric sensor,
It can obtain：
If | Δ xbi|≤|Δybi| then
If | Δ xbi| ＞ | Δ ybi| then
Matching error
The photoelectric sensor fallen on white line has n, then total matching error is：If (i photoelectric transfer
Sensor is at the moment of jth+1 above white line)
It can be expressed as：
E=Σei=f (Δ xoj,Δyoj,Δθj)
(Δ x when E takes minimum valueoj,Δyoj,Δθj) be it is required,
Now the coordinate posture of location-plate is
According to above-described embodiment, the present invention just can be realized well.What deserves to be explained is, before above-mentioned design principle
Put, to solve same technical problem, some made on architecture basics disclosed in this invention are without substantial
Change or polish, the essence of the technical scheme used is still as the present invention, therefore it should also be as the protection model in the present invention
In enclosing.
Claims (6)
1. a kind of alignment system of annular sensor array, the system includes：Annular sensor array module, collecting sensor signal mould
Block, processing circuit module, it is characterised in that：
Annular sensor array module is circular layout in module housing by multiple sensing elements that can sense grid, sensing element bag
Containing photoelectric sensor, magnetic detecting element, sensing element is connected with collecting sensor signal module, annular arrangment of sensors array bag
Containing a ring or polycyclic, the shape of ring includes circular, ellipse, closed ring；Being smaller than between adjacent sensing element is fixed
The width of the grid lines of reference during position, annular diameter is more than the length of side of the square net line of reference；
Collecting sensor signal module is connected with processing circuit module, and it gathers the grid letter that annular sensor array module is sensed
Number, it can be integrated on sensing element, or individually module.
2. the alignment system of annular sensor array according to claim 1, in addition to wired and wireless communication module, it is special
Levy and be, it carries out the transmitting-receiving of data by wired or wireless mode, it is connected with micro-chip processor, wireless communication module bag
Wireless module containing Wifi, Zigbee wireless modules, bluetooth radio module, 2.4G wireless modules, GPRS wireless modules.
3. the alignment system of annular sensor array according to claim 1 or 2, in addition to application module, it is characterised in that
The application module is that can realize the device of certain application function, such as mechanical arm, dust catcher module.
4. a kind of localization method of the alignment system of annular sensor array, the method comprising the steps of：
S1. each biography in annular sensor array module is calculated according to the coordinate and goniometer of the alignment system of annular sensor array
The coordinate and angle of sensor；By the coordinate at former and later two moment make the difference the displacement of the alignment system for obtaining annular sensor array to
Amount, latter moment coordinate and angle are unknown numbers, wait to be solved；
S2. set up matching error model, ask for be located at grid lines on sensor matching error and it is all be located at grid lines on
Sensor total matching error；
S3. motion vector when total matching error value takes minimum value is tried to achieve by iterative algorithm, and regard its displacement as location-plate
Displacement.
5. the localization method of the alignment system of annular sensor array according to claim 4, in addition to step S4, i.e.,：Will
The displacement of ring location-plate is added with the initial position of location-plate obtains the new position of location-plate.
6. the localization method of the alignment system of the annular sensor array according to claim 4 or 5, it is characterised in that part
Kalman filtering algorithm is had also combined in step.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105466419B (en) * | 2015-11-21 | 2018-05-18 | 吉林大学 | A kind of sensor array alignment system |
| CN106525023B (en) * | 2016-08-30 | 2019-10-11 | 杭州可余文化创意有限公司 | A kind of array positioning device and the array localization method based on data analysis |
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| US4281384A (en) * | 1979-12-07 | 1981-07-28 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Rim inertial measuring system |
| US6244111B1 (en) * | 1998-10-30 | 2001-06-12 | Robert Bosch Gmbh | Micromechanical gradient sensor |
| CN1309338A (en) * | 2000-02-16 | 2001-08-22 | 精工电子有限公司 | Electronic instrument with magnetic sensor |
| CN101765091A (en) * | 2010-01-14 | 2010-06-30 | 上海交通大学 | Wireless sensor network positioning method based on Thiessen polygon |
| CN1849524B (en) * | 2003-09-12 | 2010-07-21 | 莱卡地球系统公开股份有限公司 | Method for determination of the direction to an object for surveying |
| WO2013071190A1 (en) * | 2011-11-11 | 2013-05-16 | Evolution Robotics, Inc. | Scaling vector field slam to large environments |
| CN204649206U (en) * | 2015-06-10 | 2015-09-16 | 刘述亮 | A kind of positioning system of annular sensor array |
-
2015
- 2015-06-10 CN CN201510317778.XA patent/CN104848852B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4281384A (en) * | 1979-12-07 | 1981-07-28 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Rim inertial measuring system |
| US6244111B1 (en) * | 1998-10-30 | 2001-06-12 | Robert Bosch Gmbh | Micromechanical gradient sensor |
| CN1309338A (en) * | 2000-02-16 | 2001-08-22 | 精工电子有限公司 | Electronic instrument with magnetic sensor |
| CN1849524B (en) * | 2003-09-12 | 2010-07-21 | 莱卡地球系统公开股份有限公司 | Method for determination of the direction to an object for surveying |
| CN101765091A (en) * | 2010-01-14 | 2010-06-30 | 上海交通大学 | Wireless sensor network positioning method based on Thiessen polygon |
| WO2013071190A1 (en) * | 2011-11-11 | 2013-05-16 | Evolution Robotics, Inc. | Scaling vector field slam to large environments |
| CN204649206U (en) * | 2015-06-10 | 2015-09-16 | 刘述亮 | A kind of positioning system of annular sensor array |
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Granted publication date: 20170825 Termination date: 20200610 |