CN105527607A - Dish delivery robot with indoor supersonic positioning function - Google Patents
Dish delivery robot with indoor supersonic positioning function Download PDFInfo
- Publication number
- CN105527607A CN105527607A CN201510453889.3A CN201510453889A CN105527607A CN 105527607 A CN105527607 A CN 105527607A CN 201510453889 A CN201510453889 A CN 201510453889A CN 105527607 A CN105527607 A CN 105527607A
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- China
- Prior art keywords
- control module
- supersonic
- module
- ultrasound wave
- ultrasonic
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
Abstract
The invention discloses a dish delivery robot with an indoor supersonic positioning function, belongs to the indoor positioning technology, and overcomes defects of wifi and zigbee positioning technologies in which the dish delivery robot carries out positioning according to the signal intensity. The dish delivery robot mainly comprises a supersonic emission control module, an emission module, a supersonic reception control module, reception modules and a computer-end monitoring system. The supersonic emission control module controls the emission module to emit supersonic signals via a bus, and emits time calibration signals of 433Mhz by itself; the supersonic reception control module receives the time calibration signals and then makes a timer zero; the reception modules receive the supersonic signals and generates interruption; and the supersonic reception control module processes the interruption signal and records time that the supersonic signal reaches each reception module, and thus calculates the spatial coordinate position of the robot and sends the spatial coordinate position to the computer-end monitoring system.
Description
Technical field
The present invention relates to indoor ultrasonic location technology, especially a kind of Song Cai robot with indoor ultrasonic positioning function.
Background technology
Song Cai robot indoor positioning technologies is a kind of highly difficult location technology, generally utilizes measure signal intensity to calculate distance, such as wifi, zigbee etc. in the past.Due to the circumstance complication of indoor, signal there will be attenuation state when penetrating barrier, can cause error during measurement, thus reduces positioning precision.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of Song Cai robot with indoor ultrasonic positioning function, object be utilize ultrasonic signal transmitting-receiving mistiming computing node between distance, thus utilize space geometry algorithm to calculate the coordinate position at Song Cai robot place, to reach the function precisely sending dish.
Following technical scheme is adopted: 1, ultrasound wave transmitting and receiving technology in order to solve the problems of the technologies described above the present invention.Song Cai robot is installed ultrasound wave emission control module, and each time interval of transmitter module sends ultrasonic signal.Ultrasound wave receiver module responds after receiving signal, calculates ultrasound wave from transmitter module to the time of each receiver module, thus location Song Cai robot.2,433Mhz wireless communication technology.The while that ultrasound wave emission control module sending hyperacoustic, send time calibration signal by 433Mhz module, ultrasound wave receives control module and receives zero setting timer after calibrating signal.
Accompanying drawing explanation
Fig. 1 is the Song Cai robot general illustration of band indoor ultrasonic positioning function
Fig. 2 is ultrasonic transmission device schematic diagram
Fig. 3 is ultrasonic probe, ultrasonic receiver schematic diagram
Fig. 4 is computer end supervisory system schematic diagram
Embodiment
The content of the Song Cai robot of band indoor ultrasonic positioning function of the present invention is specifically set forth below in conjunction with accompanying drawing embodiment.
One, the transmitting and receiving of signal
As shown in Figure 1, ultrasound wave emission control module (1) and transmitter module (2) are arranged on above Song Cai robot, and ultrasound wave receives control module (3) and receiver module (4) is arranged on the top positions such as ceiling.
As shown in Figure 2, ultrasound wave emission control module (1) initiatively can send ultrasonic signal by transmitter module (2) when each time interval, sends time calibration signal by 433Mhz wireless signal simultaneously.Because ultrasonic signal belongs to sound wave, speed is about 340m/s, and 433Mhz signal belongs to electromagnetic wave, and speed is about 3*10
8m/s, so 433Mhz signal far can arrive receiving trap prior to ultrasonic signal, the time error produced almost can be ignored.
As shown in Figure 3, ultrasound wave receives control module (1) and receives zero setting timer after time calibration signal, can produce response and interrupt after receiver module (2) receives ultrasonic signal.Ultrasound wave reception control module receives in each receiver module has no progeny, and reads the time of corresponding timer.
Two, the calculating of volume coordinate
Calculate the distance of ultrasound wave emission control module to each receiver module according to formula s=v*t, thus calculate the coordinate position of ultrasound wave emission control module in o-xyz space coordinates by space geometry algorithm.
Three, computer end monitoring
As shown in Figure 3, ultrasound wave receives control module (1) and the coordinate of Song Cai robot is uploaded to computer (3) by communication modes such as USB, with supervisory system (interface is as Fig. 4) in computer end, for effector's viewing and control.
Claims (4)
- The invention discloses a kind of Song Cai robot with indoor ultrasonic positioning function, it has a kind of simple and effective location technology---and ultrasound wave is located, and namely utilizes the mistiming of ultrasonic transmission to calculate the position of Song Cai robot at coordinate system.Application the present invention can locate Song Cai robot, effectively to reach the function precisely sending dish.1. the Song Cai robot with indoor ultrasonic positioning function, is characterized in that: ultrasound wave emission control module is arranged in Song Cai robot, and transmitter module sends ultrasonic signal and time calibration signal every a time interval.The look-at-me of timer zero setting wait-receiving mode module after ultrasound wave reception control module time of reception calibrating signal.Receiver module produces after receiving ultrasonic signal and interrupts, and ultrasound wave receives the time of arrival that control module record ultrasonic signal arrives each receiver module, thus calculates the spatial coordinate location of Song Cai robot.
- 2. the Song Cai robot of band indoor ultrasonic positioning function according to claim 1, is characterized in that: transmitter module is equipped with ultrasonic generator, and ultrasound wave emission control module sends ultrasonic signal by bus marco transmitter module.In addition, ultrasound wave emission control module also with the radio communication function of 433MHz, for transmitting time calibrating signal.
- 3. the Song Cai robot of band indoor ultrasonic positioning function according to claim 1, is characterized in that: ultrasound wave receives the radio communication function time of reception calibrating signal of control module by 433MHz, then zero setting timer.Receiver module is equipped with ultrasonic receiver, receiver module produces look-at-me after receiving ultrasonic signal, ultrasound wave receives control module and responds the look-at-me of each receiver module and record the time that ultrasonic signal arrives each receiver module, thus calculates the spatial coordinate location of Song Cai robot.
- 4. ultrasound wave receives control module and the spatial coordinate location of Song Cai robot is uploaded to computer by the bus mode such as USB and serial ports simultaneously, and computer end is with supervisory system, for effector's viewing and control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510453889.3A CN105527607A (en) | 2015-07-23 | 2015-07-23 | Dish delivery robot with indoor supersonic positioning function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510453889.3A CN105527607A (en) | 2015-07-23 | 2015-07-23 | Dish delivery robot with indoor supersonic positioning function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105527607A true CN105527607A (en) | 2016-04-27 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510453889.3A Pending CN105527607A (en) | 2015-07-23 | 2015-07-23 | Dish delivery robot with indoor supersonic positioning function |
Country Status (1)
| Country | Link |
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| CN (1) | CN105527607A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106019231A (en) * | 2016-06-19 | 2016-10-12 | 哈尔滨理工大学 | Indoor ultrasonic positioning device |
| CN106546972A (en) * | 2016-09-29 | 2017-03-29 | 莫冰 | A kind of ultrasound wave of VR and infrared ray joint distance-measuring equipment and its method |
| CN110365419A (en) * | 2019-07-26 | 2019-10-22 | 秒针信息技术有限公司 | The communication means and meal delivery robot of room service |
Citations (2)
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| CN101661098A (en) * | 2009-09-10 | 2010-03-03 | 上海交通大学 | Multi-robot automatic locating system for robot restaurant |
| CN102540144A (en) * | 2012-01-05 | 2012-07-04 | 厦门大学 | Ultrasonic wave and wireless-based jointed location method |
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2015
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101661098A (en) * | 2009-09-10 | 2010-03-03 | 上海交通大学 | Multi-robot automatic locating system for robot restaurant |
| CN102540144A (en) * | 2012-01-05 | 2012-07-04 | 厦门大学 | Ultrasonic wave and wireless-based jointed location method |
Non-Patent Citations (3)
| Title |
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| 华蕊 等: ""超声波定位系统的设计"", 《国外电子测量技术》 * |
| 李娟 等: ""基于CC1101射频技术的室内超声波定位系统"", 《自动化与仪表》 * |
| 李晶 等: ""基于单片机的超声波简易定位系统的设计"", 《机电一体化》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106019231A (en) * | 2016-06-19 | 2016-10-12 | 哈尔滨理工大学 | Indoor ultrasonic positioning device |
| CN106546972A (en) * | 2016-09-29 | 2017-03-29 | 莫冰 | A kind of ultrasound wave of VR and infrared ray joint distance-measuring equipment and its method |
| CN110365419A (en) * | 2019-07-26 | 2019-10-22 | 秒针信息技术有限公司 | The communication means and meal delivery robot of room service |
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Application publication date: 20160427 |
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| WD01 | Invention patent application deemed withdrawn after publication |