CN105807260B - A kind of dynamic positioning system and method based on ultrasonic sensor - Google Patents
A kind of dynamic positioning system and method based on ultrasonic sensor Download PDFInfo
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- CN105807260B CN105807260B CN201610245466.7A CN201610245466A CN105807260B CN 105807260 B CN105807260 B CN 105807260B CN 201610245466 A CN201610245466 A CN 201610245466A CN 105807260 B CN105807260 B CN 105807260B
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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
A kind of dynamic positioning system and method based on ultrasonic sensor, belongs to technical field of information processing.Two groups of ultrasonic wave receiving modules are connected on robot car with identical height；Every group of ultrasonic wave receiving module includes two ultrasonic sensors, and there are setting angles for two ultrasonic sensors；Ultrasonic wave transmitting module is carried by the person of being followed；If same group of two ultrasonic sensors receive ultrasonic signal, take the average value of the two as corresponding ultrasonic wave receiving unit at a distance from ultrasonic wave transmitting module.The invention has the advantages that realizing real-time positioning of the robot car with respect to the person of being followed；Location algorithm highly effective；Blind location area is reduced, there is preferable positioning accuracy and biggish orientation range.
Description
Technical field
The present invention relates to a kind of dynamic positioning system and method based on ultrasonic sensor belongs to information processing technology neck
Domain.
Background technique
Follow robot that people can be helped to solve the problems, such as many in real life, such as the camera shooting of autonomous follow shot,
Shopping is followed, follows and leads the way, therefore follows robot just to become a main trend of robot development.If wanting to realize robot pair
People's follows, it is necessary to solve the problems, such as it is that robot can determine that its orientation with respect to the person of being followed, i.e. small range position in real time
Problem.Currently, solve the problems, such as that this main method has less radio-frequency positioning, binocular visual positioning, ultrasonic sensor positioning etc.,
But existing solution comes with some shortcomings, for example less radio-frequency positioning is interfered vulnerable to periphery electromagnetic environment, and binocular vision is fixed
Position is influenced vulnerable to light intensity, localization by ultrasonic has the small positioning accuracy difference of orientation range.
Summary of the invention
For overcome the deficiencies in the prior art, to realize more accurate, quick small range positioning, to realize robot pair
The dynamic following of people, the present invention propose a kind of dynamic positioning system and method based on ultrasonic sensor.
The invention has the advantages that
1, real-time positioning of the robot car with respect to the person of being followed is realized；
2, location algorithm highly effective；
3, blind location area is reduced, there is preferable positioning accuracy and biggish orientation range.
Detailed description of the invention
When considered in conjunction with the accompanying drawings, by referring to following detailed description, the present invention can be more completely and better understood with
And be easy to learn many adjoint advantages, but the drawings described herein are used to provide a further understanding of the present invention,
A part of the invention is constituted, the illustrative embodiments of the present invention and their descriptions are used to explain the present invention, does not constitute to this hair
Bright improper restriction is such as schemed wherein:
Fig. 1 is location structure schematic diagram of the invention；
Fig. 2 is the mounting structure schematic diagram of two sides ultrasonic sensor of the invention；
Fig. 3 is the same side ultrasonic sensor mounting structure schematic diagram of the invention；
Fig. 4 is the location algorithm of the invention based on four ultrasonic sensors.
Present invention will be further explained below with reference to the attached drawings and examples.
Specific embodiment
Obviously, those skilled in the art belong to guarantor of the invention based on many modifications and variations that spirit of the invention is done
Protect range.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific term) there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Should also
Understand, those terms such as defined in the general dictionary, which should be understood that, to be had and the meaning in the context of the prior art
The consistent meaning of justice, and unless defined as here, it will not be explained in an idealized or overly formal meaning.
In order to facilitate understanding of embodiments of the present invention, it is done by taking several specific embodiments as an example below in conjunction with attached drawing further
Explanation, and each embodiment does not constitute the restriction to the embodiment of the present invention.
Embodiment 1: a kind of dynamic positioning system based on ultrasonic sensor, a ultrasonic wave transmitting module D, such as Fig. 1 institute
Show.
Master control borad is fixedly mounted on robot car body, and for handling ultrasonic signal, and calculating robot's trolley is opposite
The orientation for the person of being followed.
Ultrasonic wave transmitting module is carried by the person of being followed, and ultrasonic wave transmitting module should be towards robot car when carrying
Ultrasonic wave receiving module, and holding position is constant with the person of being followed.
Two groups of ultrasonic wave receiving modules are respectively fixedly connected in the two sides of robot car, and are in same mounting height.
Every group of ultrasonic wave receiving module is made of two ultrasonic sensors, for receiving the sending of ultrasonic wave transmitting module
Ultrasonic wave, to expand the range of receiving of ultrasonic wave, the mounting means of two sides ultrasonic sensor is as shown in Figure 2 and Figure 3.
As shown in Figures 2 and 3, the mounting distance of two sides ultrasonic sensor is d, and the scattered angle of ultrasonic wave is ζ, it is assumed that side
The angle of sensor installation is θ, then the ultrasound of the same side ultrasonic sensor receives range beta, the supersonic sensing of the same side two
The coincidence angle of device is α, and ultrasonic wave critical line and horizontal angle are the angle γ, i.e. blind area.
S1For the blind area immediately ahead of the same side.S0For the blind area immediately ahead of two side sensers.
The expected target reached when installation: in the case where two side senser spacing d are determined, the angle β is the bigger the better, and γ is got at angle
Small better, α corner connection is bordering on 0, and guarantees that there are intersection region, S for the scattered angle of same side senser0、S1It is small as far as possible.Assuming that ultrasonic wave
Reception dissipate angle be ζ=50 °.
By deriving, then it must assure that α > 0, i.e. setting angle θ > 130.
A kind of dynamic positioning system based on ultrasonic sensor, comprising: a master control borad, the first ultrasonic wave receiving module A,
Second ultrasonic wave receiving module B, the basic principle of the determination person of being followed introduced below and robot car relative position.
As shown in Figure 1, establishing moving trolley coordinate system, origin is located at the center of two rear-wheels, and Y-direction is direction of advance,
Therefore the coordinate of sensor is respectively at the first ultrasonic wave receiving module A, the second ultrasonic wave receiving module BThe size of angle ∠ BAD can be obtained using the cosine law in Δ ABD, to calculate the person of being followed
Position in moving trolley coordinate system, its coordinate can be obtained by, which being derived, is shown below.
Its rectangular co-ordinate is converted into polar coordinates, is shown below；
If two ultrasonic sensors of the same side have received ultrasonic signal, taking its average value is L0(or L1).Such as
Shown in Fig. 2, the data that ultrasonic sensor is surveyed from left to right are respectively d2、d0、d1And d3；If wherein dn=0 (n=0,1,2,
3) it then represents the sensor and is not received by ultrasonic signal.
As shown in Figure 4, a kind of dynamic positioning method based on ultrasonic sensor, contains following steps；
Step 1: ultrasonic sensor starts ranging.
Step 2: if d1、d3、d2And d0All it is not equal to zero, then L0=(d2+d0)/2,L1=(d1+d3)/2, according to above formula
Calculating is followed the position that target is located in robot car.
Step 3: if d2And d0Not equal to zero, d1And d3Equal to zero, then L is enabled0=(d2+d0)/2, then show the person of being followed
Positioned at the side to the left of robot car, and the person of being followed is enabled to be located at the position x=-S in moving trolley coordinate system0/ 2, y=(d2+
d0)/2, and it is converted into polar coordinates.
Step 4: if d1And d3Not equal to zero, d2And d0Equal to zero, then L is enabled0=(d1+d3)/2, then show the person of being followed
Positioned at the side to the right of robot car, and the person of being followed is enabled to be located at the position x=S in moving trolley coordinate system0/ 2, y=(d1+
d3)/2, and it is converted into polar coordinates.
Step 5: if d2(or d1) it is not equal to 0, and the value of remaining sensor is all zero, then illustrates that the person of being followed is located at machine
The left front of device people's trolley, then enable L0=d2(or d1), ψ is obtuse angle, and takes the larger value；If d0(or d3) not equal to 0, and remaining
The value of sensor is all zero, then illustrates that the person of being followed is located at the right front of robot car, then enable L0=d0(or d3), ψ is sharp
Angle, and take smaller value；
Step 6: if d1、d3、d2And d0It is equal to zero, then illustrates that robot car can not position the person of being followed, then enables L
=0, ψ=0.
As described above, embodiments of the present invention are described in detail, as long as but essentially without this hair of disengaging
Bright inventive point and effect can have many deformations, this will be readily apparent to persons skilled in the art.Therefore, this
The variation of sample is also integrally incorporated within protection scope of the present invention.
Claims (2)
1. a kind of dynamic positioning system based on ultrasonic sensor, it is characterised in that two groups of ultrasonic wave receiving modules are with identical height
It is connected on robot car；
Two groups of ultrasonic wave receiving modules separately include two ultrasonic sensors, and there are established angles for two ultrasonic sensors
Degree；
Ultrasonic wave transmitting module is carried by the person of being followed；If same group of two ultrasonic sensors receive ultrasonic signal
When, take the average value of the two as corresponding ultrasonic wave receiving unit at a distance from ultrasonic wave transmitting module；
The master control borad of ultrasonic wave transmitting module is fixedly mounted on robot car body, for handling ultrasonic signal, and computer
Orientation of the device people trolley with respect to the person of being followed；
The ultrasonic wave transmitting module that the person of being followed carries, ultrasonic wave transmitting module should be towards the ultrasonic wave of robot car when carrying
Receiving module, and holding position is constant with the person of being followed；
Two groups of ultrasonic wave receiving modules are respectively fixedly connected in the two sides of robot car, and are in same mounting height；
Ultrasonic wave receiving module is used to receive the ultrasonic wave of ultrasonic wave transmitting module sending, to expand the range of receiving of ultrasonic wave；
Moving trolley coordinate system is established, origin is located at the center of two rear-wheels, and Y-direction is direction of advance, and first group of ultrasonic wave connects
Receive module, the coordinate of second group of ultrasonic wave receiving module is respectively (- d/2,0), (d/2,0), the cosine law is utilized in Δ ABD
The size of angle ∠ BAD can be obtained, so that calculating the person of being followed is located at the position in moving trolley coordinate system, coordinate such as following formula institute
Show:
Its coordinate is converted into polar coordinates；
If two ultrasonic sensors in first group of ultrasonic wave receiving module have received ultrasonic signal, its average value is taken
For L0；If two ultrasonic sensors in second group of ultrasonic wave receiving module have received ultrasonic signal, take it average
Value is L1；
The mounting distance of two sides ultrasonic sensor is d, and it is ζ that the reception of ultrasonic wave, which dissipates angle, it is assumed that side ultrasonic sensor peace
The angle of dress is θ, then the ultrasound of the same side ultrasonic sensor receives range beta, the coincidence of two ultrasonic sensors in the same side
Angle is α, and ultrasonic wave critical line and horizontal angle are the angle γ, i.e. blind area；S1For the blind area immediately ahead of the same side；S0It is two
Blind area immediately ahead of the ultrasonic sensor of side；
In the case where the ultrasonic sensor spacing d of two sides is determined, the angle β is the bigger the better, and the angle γ is the smaller the better, and α corner connection is bordering on
0, and guarantee that there are intersection region, S at the reception of the ultrasonic sensor of the same side scattered angle0、S1It is small as far as possible；The reception of ultrasonic wave dissipates
Angle is ζ=50 °；
Guarantee α > 0, i.e. setting angle θ > 130.
2. the dynamic positioning method of the dynamic positioning system for claim 1, it is characterised in that contain following steps；
Step 1: ultrasonic sensor starts ranging；The data that ultrasonic sensor is surveyed from left to right are respectively third data
d2, the first data d0, the second data d1With the 4th data d3；
Step 2: if the second data d1, the 4th data d3, third data d2With the first data d0All it is not equal to zero, then L0=(d2
+d0)/2,L1=(d1+d3)/2 calculate the position for being followed target and being located in robot car according to above formula；
Step 3: if third data d2With the first data d0Not equal to zero, second data d1With the 4th data d3Equal to zero, then enable
L0=(d2+d0)/2 then show that the person of being followed is located at the side to the left of robot car, and enable x=-d/2, y=(d2+d0)/2, and
It is converted into polar coordinates；
Step 4: if the second data d1With the 4th data d3Not equal to zero, third data d2With the first data d0Equal to zero, then enable
L0=(d1+d3)/2 then show that the person of being followed is located at the side to the right of robot car, and enable x=d/2, y=(d1+d3It)/2 simultaneously will
It is converted to polar coordinates；
Step 5: if third data d2Or the second data d1Not equal to 0, and the value of remaining ultrasonic sensor is all zero, then
Illustrate that the person of being followed is located at the left front of robot car, then enables L0=d2Or d1, ψ is obtuse angle, and takes the larger value；If first
Data d0Or the 4th data d3Not equal to 0, and the value of remaining ultrasonic sensor is all zero, then illustrates that the person of being followed is located at machine
The right front of device people's trolley, then enable L0=d0Or d3, ψ is acute angle, and takes smaller value；
Step 6: if the second data d1, the 4th data d3, third data d2With the first data d0It is equal to zero, then illustrates machine
People's trolley can not position the person of being followed, then enable L=0, ψ=0.
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| CN106647730B (en) * | 2016-08-30 | 2019-10-29 | 北京九星智元科技有限公司 | A kind of front retinue system and accompany method and intelligent family moving platform |
| CN107976995B (en) * | 2016-10-24 | 2021-06-11 | 苏州宝时得电动工具有限公司 | Intelligent mobile system, intelligent mobile device and mobile method thereof |
| US10438389B2 (en) * | 2016-11-07 | 2019-10-08 | Htc Corporation | Method, device, and non-transitory computer readable storage medium for displaying virtual reality or augmented reality environment according to a viewing angle |
| CN106772328A (en) * | 2016-12-28 | 2017-05-31 | 孔睿雯 | A kind of bionical bat sonar experimental system setup based on multiaxis head |
| CN106647760A (en) * | 2016-12-30 | 2017-05-10 | 东南大学 | Intelligent shopping cart and intelligent shopping method |
| CN106933096B (en) * | 2017-03-14 | 2020-12-18 | 广州幻境科技有限公司 | Self-following robot device and method for providing space positioning information for third party |
| CN108267718A (en) * | 2018-01-12 | 2018-07-10 | 章永强 | A kind of ultrasonic wave near field positioning device, method and automatic follower |
| CN109307857B (en) * | 2018-11-12 | 2020-06-09 | 湖北工业大学 | Multi-sensor-based autonomous following positioning device and method |
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