CN105807790A - Intelligent following system based on indoor hybrid location and following method of system - Google Patents
Intelligent following system based on indoor hybrid location and following method of system Download PDFInfo
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- CN105807790A CN105807790A CN201610258904.3A CN201610258904A CN105807790A CN 105807790 A CN105807790 A CN 105807790A CN 201610258904 A CN201610258904 A CN 201610258904A CN 105807790 A CN105807790 A CN 105807790A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
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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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
Abstract
The invention provides an intelligent following system based on indoor hybrid location and a following method of the system.The system comprises a touch control screen arranged on a following object, a main control panel, a distance measuring module, a driving module and a mobile phone terminal carried by a followed person, a first main controller, a first Wi-Fi module and a nine-axis inertia sensor are integrated on the master control panel, and a second master controller, a second Wi-Fi module, a three-axis acceleration sensor and a gyroscope are integrated on the mobile phone terminal.The invention further provides the following method of the intelligent following system based on indoor hybrid location.According to the intelligent following system based on indoor hybrid location and the following method of the system, use is easy, convenient and flexible, man-machine interaction is high, the system can be arranged on any object needing to follow the person according to actual demands, a guarantee is provided in order to free the two hands of the person, and the environmental adaptability and survivability are high; meanwhile, the cost and following precision are perfectly balanced in technology, the stability is high, low cost is achieved when the error is small, and good generalibility is achieved.
Description
Technical field
The present invention relates to Smart Home technical field, a kind of intelligent system for tracking based on indoor mixed positioning and follower method thereof.
Background technology
Typically there are infrared location technology, ultrasonic locating technology, Bluetooth technology, REID, super-broadband tech, Wi-Fi technology and ZigBee technology etc. currently for indoor positioning, but these existing single location technologies have respective shortcoming.For infrared technique, straight line sighting distance and transmission range this two big major defect shorter make the poor effect of its infrared ray indoor positioning, and infrared confirming orientation technology cannot differentiate people or object, it is impossible to effectively avoidance.For positioning by Wi-Fi, owing to the frequency range of Wi-Fi is at 2.4GHz, therefore its wavelength is inherently 7～about 12cm, wavelength the error brought be can not ignore, and therefore Wi-Fi positioning precision is relatively low again.Ultrasonic locating overall precision is higher, simple in construction, but ultrasound wave is affected very big by multipath effect and non-line-of-sight propagation, the shortcoming that there is also None-identified people and object.Therefore, how providing a kind of accurate indoor locating system is those skilled in the art's problem demanding prompt solutions.
Summary of the invention
It is an object of the invention to provide a kind of intelligent system for tracking based on indoor mixed positioning and follower method thereof, to solve traditional smart machine based on magnetic field intensity for problems such as personnel positioning precision deficiency, bradykinesia, simultaneously it can be avoided that personnel are positioned, follow the problem that hardware cost is high by the mode of use image procossing.
The technical scheme is that
A kind of intelligent system for tracking based on indoor mixed positioning, the mobile phone terminal that this system includes being arranged on touch screen, master control borad, range finder module and the driving module following on object and the personnel that are followed carry, described master control borad is integrated with the first master controller, the first Wi-Fi module and nine axle inertial sensors, and described mobile phone terminal is integrated with the second master controller, the second Wi-Fi module, 3-axis acceleration sensor and gyroscope；
Described touch screen and the first master controller interactive signal connect, the signal output part of described nine axle inertial sensors and the signal input part of the first master controller connect, the signal input part of described 3-axis acceleration sensor and the signal output part of gyroscope and the second master controller connects, described second master controller is connected with the first master controller interactive signal by the second Wi-Fi module and the first Wi-Fi module, described first master controller is connected with range finder module interactive signal, and the signal output part of described first master controller is connected with the signal input part driving module.
Described intelligent system for tracking based on indoor mixed positioning, described range finder module includes being fixed on follows the steering wheel of object front end and is fixed on the distance measuring sensor on described steering wheel, and described distance measuring sensor is infrared distance sensor or ultrasonic distance-measuring sensor；The signal input part of described steering wheel and the signal output part of the first master controller connect, and the signal output part of described distance measuring sensor and the signal input part of the first master controller connect.
Described intelligent system for tracking based on indoor mixed positioning, described driving module includes driving motor and drive shaft with described driving motor is connected respectively lift telescopic bar and driving wheel, the signal input part of described driving motor and the signal output part connection of the first master controller；
Described driving wheel has two, the core wheel of two driving wheels is connected by thin bar, described thin bar passes the nut being fixed on lift telescopic bar lower end, and the distance that the core wheel of two driving wheels is away from described nut is equal, and the upper end of described lift telescopic bar is fixed on the bottom following object.
The follower method of described a kind of based on indoor mixed positioning intelligent system for tracking, the method comprises the following steps:
(1) the Wi-Fi dynamic password that Wi-Fi identification name and the background system of described first Wi-Fi module distribute in real time is shown on described touch screen by described first Wi-Fi module as wireless access points, described first master controller；
(2) described second Wi-Fi module is connected into described first Wi-Fi module according to described Wi-Fi identification name and Wi-Fi dynamic password, is uniquely matched with following object by described mobile phone terminal；
(3) described second master controller the data that described gyroscope and 3-axis acceleration sensor detect are converted under earth coordinates described in be followed the direction of motion and the acceleration information of personnel, as the described motion vector being followed personnel；
(4) motion vector of the described personnel of being followed is sent to described first master controller by described second Wi-Fi module and the first Wi-Fi module by described second master controller；
(5) described first master controller the data of described nine axle inertial sensors detections are converted under earth coordinates described in follow the direction of motion and the acceleration information of object, as the described motion vector following object；
(6) when described first master controller receive that described touch screen sends follow enabling signal after, in conjunction with described in be followed the motion vector of personnel and follow the motion vector of object, it is judged that described in follow object follow direction；
(7) range finder module described in described first main controller controls turn to described in follow the direction of following of object, described range finder module will be followed the obstacle distance information in direction described in detection and be fed back to described first master controller；
(8) described first master controller according to described in follow the obstacle distance information in direction, control described driving module make described in follow object and make and follow action accordingly.
The invention have the benefit that
As shown from the above technical solution, the system for tracking based on image recognition that the present invention is high relative to hardware cost, response speed is slow, there is the biggest cost advantage and stronger summary responses ability, man-machine interaction is strong, has more preferable Consumer's Experience；Simultaneously for system for tracking based on detection signal intensity, the present invention has the precision that it is incomparable, and depending on sensor accuracy owing to following precision, this makes the precision of the present invention be possible not only to manual control, and has good room for promotion and development prospect.The present invention can be arranged on according to actual needs and any need to follow on the object of people, both hands for liberation people provide safeguard, there is the strongest environmental suitability and survival ability, the most perfectly balanced cost of the present invention and follow precision simultaneously, stability is high, while having less error, achieve low cost, there is good replicability.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Fig. 2 is present invention application schematic diagram on shopping cart.
Detailed description of the invention
The present invention is further illustrated below in conjunction with the accompanying drawings with specific embodiment.
As it is shown in figure 1, a kind of intelligent system for tracking based on indoor mixed positioning, including being arranged on touch screen 1, master control borad 2, range finder module 3 and the mobile phone terminal 5 that drives module 4 and the personnel that are followed to carry followed on object.Master control borad 2 is integrated with the first master controller the 21, first Wi-Fi module 22 and nine axle inertial sensors 23.Range finder module 3 includes steering wheel 31 and the distance measuring sensor 32 being fixed on steering wheel 31.Module 4 is driven to include driving motor 41 and the lift telescopic bar 42 being connected respectively and driving wheel 43 with the drive shaft driving motor 41.Mobile phone terminal 5 is integrated with second master controller the 51, second Wi-Fi module 52,3-axis acceleration sensor 53 and gyroscope 54.
Touch screen 1 is connected with the first master controller 21 interactive signal；The signal output part of nine axle inertial sensors 23 and the signal input part of the first master controller 21 connect；The signal input part of 3-axis acceleration sensor 53 and the signal output part of gyroscope 54 and the second master controller 51 connects；Second master controller 51 is connected with the first master controller 21 interactive signal by the second Wi-Fi module 52 and the first Wi-Fi module 22；The signal output part of the first master controller 21 is connected with the signal input part of steering wheel 31, and the signal output part of distance measuring sensor 32 and the signal input part of the first master controller 21 connect；The signal output part of the first master controller 21 is connected with the signal input part driving motor 41.
Touch screen 1 selects USARTHMI, 400*240 pixel, major function is man machine interface, for man-machine interaction, can check, by touch screen 1, the Wi-Fi dynamic password that the Wi-Fi identification name of the first Wi-Fi module 22 and background system distribute in real time, and enabling signal can be followed and follow stopping signal to the first master controller 21 input by touch screen 1.
Arduino2560 chip selected by first master controller 21, is integrated in master control borad 2, uses USB interface, has 54 railway digital input and output, is suitable for the design of a large amount of I/O interface of needs.First Wi-Fi module 22 selects ESP8266 chip, is technical grade wireless serial Wi-Fi module, cheap, can be arranged on a large scale position node.Using Wi-Fi communication to facilitate mobile phone terminal 5 to access, multiple systems work simultaneously and do not interfere with each other, and have preferable resolution.HMC5883L chip selected by nine axle inertial sensors 23, uses IIC communication, 3.3V power voltage supply, can be inquired the magnetic field data in three directions of x, y, z by iic bus, then be changed by the first master controller 21, i.e. can get bearing data.
Distance measuring sensor 32 can select infrared distance sensor or ultrasonic distance-measuring sensor, and such as infrared distance sensor HC-SR04, stable performance, range accuracy is high, and blind area (2cm) is super near, and range finding is stable.Driving motor 41 model is L298N, and power is 25W.
Object of following in the present invention belongs to be hoped to have and automatically follows function, such as shopping cart, stroller, suitcase etc..
As shown in Figure 2, illustrate as a example by following object using shopping cart, touch screen 1 is placed on shopping cart arm rest front end, bicycle basket edge, parallel with handrail, touch screen 1 can transmit data by serial ports to the first master controller 21, first master controller 21 can also send instruction and the data of set form by serial ports to touch screen 21 simultaneously, thus realizes man-machine interaction.Steering wheel 31 is fixed on bicycle basket front end boundary by the top by screw and nut, distance measuring sensor 32 is positioned on steering wheel 31, can be provided preceding object thing range information by the rotation of steering wheel 31 for the first master controller 21, auxiliary shopping cart avoiding obstacles, safely and effectively follows.
Driving wheel 43 has two, the core wheel of two driving wheels 43 is connected by thin bar, and thin bar passes the nut being fixed on lift telescopic bar 42 lower end, and the distance that the core wheel of two driving wheels 43 is away from nut is equal, the upper end of lift telescopic bar 42 is fixed on bottom bicycle basket by screw and nut, vertically places.Master control borad 2 is also fixed on bottom bicycle basket by screw and nut, parallel with lift telescopic bar 42.
The follower method of a kind of intelligent system for tracking based on indoor mixed positioning, comprises the following steps:
S1, using the first Wi-Fi module 22 as wireless access points, wait that mobile phone terminal 5 is connected into；The Wi-Fi dynamic password that Wi-Fi identification name and the background system of the first Wi-Fi module 22 distribute in real time is shown on touch screen 1 by the first master controller 21, checks for being followed personnel.
S2, it is followed people search's Wi-Fi identification name to the first Wi-Fi module 22, inputs Wi-Fi dynamic password, make the second Wi-Fi module 52 be connected into the first Wi-Fi module 22, it is achieved mobile phone terminal 5 uniquely matches with following object.
The data that gyroscope 54 and 3-axis acceleration sensor 53 detect are converted under earth coordinates the direction of motion and the acceleration information of the personnel that are followed by S3, the second master controller 51, the attitude of the mobile phone terminal 5 that the personnel that are followed carry is not specified due to system, second master controller 51 first determines whether the attitude of mobile phone terminal 5, and with initial attitude as reference, calculate the ensuing exercise data of mobile phone terminal 5, it is ultimately converted to the direction of motion and the vector of acceleration composition of mobile phone terminal 5, is i.e. the motion vector being followed personnel.
S4, the second master controller 51, by the second Wi-Fi module 52 and the first Wi-Fi module 22, utilize Transmission Control Protocol, continuously transmit the motion vector being followed personnel to the first master controller 21.
The data that nine axle inertial sensors 23 detect are converted under earth coordinates the direction of motion and the acceleration information following object by S5, the first master controller 21, as the motion vector following object.Nine axle inertial sensors 23 are adapted to assist in follows object and sets up earth coordinates, and making to follow object can be followed the direction of motion and the acceleration of personnel with the direction of motion of perception oneself and acceleration, thus realize following function with coupling.
S6, when the first master controller 21 receive that touch screen 1 sends follow enabling signal after, combine and be followed the motion vector of personnel and follow the motion vector of object, it is judged that follows object follows direction.
S7, the first master controller 21 control steering wheel 31 and turn to the direction of following following object, and the obstacle distance information following direction of detection is fed back to the first master controller 21 by distance measuring sensor 32.
S8, the first master controller 21 are according to the obstacle distance information following direction, instruction is sent to driving motor 41, motor 41 is driven to control lift telescopic bar 42 and driving wheel 43 according to the instruction of the first master controller 21, make to follow object and complete the actions such as advance, retrogressing, left and right turning, the personnel of being followed are followed.
The above embodiment is only to be described the preferred embodiment of the present invention; not the scope of the present invention is defined; on the premise of designing spirit without departing from the present invention; various deformation that technical scheme is made by those of ordinary skill in the art and improvement, all should fall in the protection domain that claims of the present invention determines.
Claims (4)
1. an intelligent system for tracking based on indoor mixed positioning, it is characterized in that: the mobile phone terminal that this system includes being arranged on touch screen, master control borad, range finder module and the driving module following on object and the personnel that are followed carry, described master control borad is integrated with the first master controller, the first Wi-Fi module and nine axle inertial sensors, and described mobile phone terminal is integrated with the second master controller, the second Wi-Fi module, 3-axis acceleration sensor and gyroscope；
Described touch screen and the first master controller interactive signal connect, the signal output part of described nine axle inertial sensors and the signal input part of the first master controller connect, the signal input part of described 3-axis acceleration sensor and the signal output part of gyroscope and the second master controller connects, described second master controller is connected with the first master controller interactive signal by the second Wi-Fi module and the first Wi-Fi module, described first master controller is connected with range finder module interactive signal, and the signal output part of described first master controller is connected with the signal input part driving module.
Intelligent system for tracking based on indoor mixed positioning the most according to claim 1, it is characterized in that: described range finder module includes being fixed on follows the steering wheel of object front end and is fixed on the distance measuring sensor on described steering wheel, and described distance measuring sensor is infrared distance sensor or ultrasonic distance-measuring sensor；The signal input part of described steering wheel and the signal output part of the first master controller connect, and the signal output part of described distance measuring sensor and the signal input part of the first master controller connect.
Intelligent system for tracking based on indoor mixed positioning the most according to claim 1, it is characterized in that: described driving module includes driving motor and drive shaft with described driving motor is connected respectively lift telescopic bar and driving wheel, the signal input part of described driving motor and the signal output part connection of the first master controller；
Described driving wheel has two, the core wheel of two driving wheels is connected by thin bar, described thin bar passes the nut being fixed on lift telescopic bar lower end, and the distance that the core wheel of two driving wheels is away from described nut is equal, and the upper end of described lift telescopic bar is fixed on the bottom following object.
The follower method of a kind of intelligent system for tracking based on indoor mixed positioning the most according to claim 1, it is characterised in that the method comprises the following steps:
(1) the Wi-Fi dynamic password that Wi-Fi identification name and the background system of described first Wi-Fi module distribute in real time is shown on described touch screen by described first Wi-Fi module as wireless access points, described first master controller；
(2) described second Wi-Fi module is connected into described first Wi-Fi module according to described Wi-Fi identification name and Wi-Fi dynamic password, is uniquely matched with following object by described mobile phone terminal；
(3) described second master controller the data that described gyroscope and 3-axis acceleration sensor detect are converted under earth coordinates described in be followed the direction of motion and the acceleration information of personnel, as the described motion vector being followed personnel；
(4) motion vector of the described personnel of being followed is sent to described first master controller by described second Wi-Fi module and the first Wi-Fi module by described second master controller；
(5) described first master controller the data of described nine axle inertial sensors detections are converted under earth coordinates described in follow the direction of motion and the acceleration information of object, as the described motion vector following object；
(6) when described first master controller receive that described touch screen sends follow enabling signal after, in conjunction with described in be followed the motion vector of personnel and follow the motion vector of object, it is judged that described in follow object follow direction；
(7) range finder module described in described first main controller controls turn to described in follow the direction of following of object, described range finder module will be followed the obstacle distance information in direction described in detection and be fed back to described first master controller；
(8) described first master controller according to described in follow the obstacle distance information in direction, control described driving module make described in follow object and make and follow action accordingly.
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| CN110032213A (en) * | 2019-04-11 | 2019-07-19 | 深圳市踏路科技有限公司 | Robot system for tracking and robot follower method |
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Effective date of registration: 20230704 Address after: 410208 Workshop, No. 131, Gangzihe Road, Hunan Environmental Protection Industrial Park, Xianfeng Village, Datuopu Street, Tianxin District, Changsha City, Hunan Province Patentee after: CHANGSHA LIUZHU ELECTROMECHANICAL TECHNOLOGY CO.,LTD. Address before: No. 111, Kowloon Road, Hefei, Anhui, Anhui Patentee before: ANHUI University |