CN105955261B - A kind of multiple robots system for tracking based on ZigBee communication - Google Patents
A kind of multiple robots system for tracking based on ZigBee communication Download PDFInfo
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- CN105955261B CN105955261B CN201610295690.7A CN201610295690A CN105955261B CN 105955261 B CN105955261 B CN 105955261B CN 201610295690 A CN201610295690 A CN 201610295690A CN 105955261 B CN105955261 B CN 105955261B
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- robot
- zigbee
- guiding device
- multiple robots
- gyroscope
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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
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
Abstract
The invention discloses a kind of multiple robots system for tracking based on ZigBee communication, including portable guiding device, multiple robots of the portable guiding device instruction are received and transmitted at least one robot of the portable guiding device communication connection or according to front-rear position sequence；The portable guiding device includes: the ZigBee coordinator for establishing and maintaining wireless network, for receiving the voice module of phonetic order, for obtaining the first gyroscope of the direction of motion and corner information, for obtaining the three axis accelerometer of motion velocity information；Any robot includes the ZigBee routing node for sending and receiving the control instruction of the portable guiding device, for obtaining the second gyroscope of the robot body direction of motion and corner information, the ultrasonic distance measuring module of the range information for obtaining robot body and its objects in front.The fields such as robot carrying, smart electronics patrol, electric toy car or toy dog can be can be widely used for using the present invention.
Description
Technical field
The present invention relates to robot fields more particularly to a kind of multiple robots based on ZigBee communication to follow and be
System.
Background technique
Multi-robot Cooperation is an important directions of robot research field, can effectively reduce individual machine people design
Difficulty improves overall operation efficiency.The communication network between multiple robots is constructed using ZigBee technology, facilitates multiple machines
People's wireless connection, information sharing cooperate with each other and complete a certain item task.It applies in multiple robots at any time, several robots
One follows a progress material transportation or related operation, at low cost, networking is simple, communication power consumption is low, stability is high, robot
Quantity can adjust at any time, have the characteristics that flexible in application, convenient to overhaul, degree of intelligence is high, great market prospects.
China Patent No. 201510624191.3, which discloses a kind of portable remote, rides instead of walk and follows robot, can pass through
Bluetooth module detection between user mobile phone at a distance from, realize and manned ride instead of walk with amiable.China Patent No. 201510600031.5 is public
Opened a kind of trailing type luggage storage robot, can by remote control control robot ambulation, CCD camera acquire image into
Row identifies and follows luggage owner.But Bluetooth communication or ccd image technical costs are higher, and mainly individual machine people couple
Single owner's follows application, and the group that can not achieve multiple robots follows.
China Patent No. 201510498083.6 discloses a kind of trailing type carrier and its operation method, uses five groups
Ultrasonic sensor independently judges personnel positions, and carrier advance, retrogressing or left/right rotation are realized in a manner of following.But obstacle
The influence of object or interference personnel to supersonic sensing, reduces the accuracy that group follows.
Therefore, the existing technology needs to be improved and developed.
Summary of the invention
In view of above-mentioned deficiencies of the prior art, the purpose of the present invention is to provide a kind of robots based on ZigBee communication
Group's system for tracking, using ZigBee group-net communication, can be realized that direction is accurate, distance is suitable, the adjustable multirobot of quantity
Intelligent group follow movement.
Technical scheme is as follows:
A kind of multiple robots system for tracking based on ZigBee communication, including portable guiding device portable draw with described
It leads at least one robot of device communication connection or receives and transmit the portable guiding device instruction according to front-rear position sequence
Multiple robots；
The portable guiding device includes: the ZigBee coordinator for establishing and maintaining wireless network, for receiving language
The voice module of sound instruction, for obtaining the first gyroscope of the direction of motion and corner information, for obtaining motion velocity information
Three axis accelerometer, the voice module, first gyroscope and the three axis accelerometer respectively with the ZigBee
Coordinator connection；
Any robot includes the road ZigBee for sending and receiving the control instruction of the portable guiding device
By node, for obtaining the second gyroscope of the robot body direction of motion and corner information, for obtain robot body with
The ultrasonic distance measuring module of the range information of its objects in front, second gyroscope and ultrasonic distance measuring module are respectively at described
The connection of ZigBee routing node.
Further, in the above-mentioned multiple robots system for tracking based on ZigBee communication, the robot further includes and base
In the fault alarm module that the multiple robots system for tracking routing node of ZigBee communication connects, the fault alarm module is used for
It is sounded an alarm when robot connect loss or robot failure with ZigBee-network.
Further, in the above-mentioned multiple robots system for tracking based on ZigBee communication, the ultrasonic wave in the robot
Range finder module, the second gyroscope and fault alarm module control the end IO of chip with the on piece of the ZigBee routing node respectively
Mouth connection.
Further, in the above-mentioned multiple robots system for tracking based on ZigBee communication, the voice module, described first
Gyroscope and the three axis accelerometer are connect with the I/O port of the ZigBee coordinator respectively.
Further, in the above-mentioned multiple robots system for tracking based on ZigBee communication, the ZigBee routing node
On piece controls chip and is equipped with the hardware engine based on received signal power power.
Further, in the above-mentioned multiple robots system for tracking based on ZigBee communication, the on piece controls chip conduct
Controller receives the movement velocity of the signal strength or weakness Information Regulating robot of hardware engine feedback.
Further, in the above-mentioned multiple robots system for tracking based on ZigBee communication, the portable guiding device and institute
It states in robot and is battery powered.
Multiple robots system for tracking provided by the present invention based on ZigBee communication is based on ZigBee group-net communication, energy
It enough realizes that direction is accurate, distance is suitable, the adjustable multirobot of quantity intelligent group follows movement, has very strong practical
Property, it can be widely used for the fields such as robot carrying, smart electronics patrol, electric toy car or toy dog.
Detailed description of the invention
Fig. 1 is the module diagram of the multiple robots system for tracking in the present invention based on ZigBee communication.
Specific embodiment
The present invention provides a kind of multiple robots system for tracking based on ZigBee communication, to make the purpose of the present invention, technology
Scheme and effect are clearer, clear, referring to the drawings and give an actual example that the present invention is described in more detail.It should be appreciated that
Described herein specific examples are only used to explain the present invention, is not intended to limit the present invention.
Referring to Fig. 1, the multiple robots system for tracking provided by the invention based on ZigBee communication comprising portable to draw
Device 10 is led, receives and transmits at least one robot of the portable communication connection of guiding device 10 or according to front-rear position sequence
Multiple robots that the portable guiding device 10 instructs.The portable guiding device 10 is by user's body-worn, robot
Or robot group can follow user mobile by ZigBee networking and the portable communication of guiding device 10.If having multiple
When robot, any one independent robot in multiple robots can individually be communicated with the portable guiding device 10；
It is also possible to the linear arrangement of robot group, first robot (following robot 1) is based on described in ZigBee networking reception
The control instruction of portable guiding device 10 follows user, then the first robot pass through ZigBee networking again will be described portable
The control instruction of formula guiding device 10 is transferred to second robot for being located at position thereafter, and the second personal robot follows first machine
Device people, second robot is transmitted further to third robot thereafter after receiving the control instruction of first robotic transfer, with this
Analogize and realizes that robot receives control instruction and realizes that group follows.
The portable guiding device 10 includes voice module 12, the first gyroscope 13, three axis accelerometer 14 and ZigBee
Coordinator 11；The voice module 12, first gyroscope 13 and the three axis accelerometer 14 respectively with the ZigBee
Coordinator 11 connects.Wherein: ZigBee coordinator 11 is for establishing and maintaining wireless network, and voice module 12 is for receiving voice
Instruction, the first gyroscope 13 are used to obtain the direction of motion and corner information, and three axis accelerometer 14 is for obtaining movement velocity
Information.The portable guiding device 10 can receive phonetic order, the movement speed for obtaining user and the corner letter of user
The mobile messages such as breath, after ZigBee coordinator 11 obtains the data information of user's phonetic order, mobile message and movement speed
It is transformed to control signal and control instruction is issued to multiple robots.
Any robot includes the second gyroscope 22, ultrasonic distance measuring module 23 and ZigBee routing node 21；Institute
The second gyroscope 22 and ultrasonic distance measuring module 23 is stated to connect respectively at the ZigBee routing node 21.Wherein ZigBee is routed
Node 21 is used to send and receive the control instruction of the portable guiding device 10, and the second gyroscope 22 is for obtaining robot sheet
The body direction of motion and corner information, ultrasonic distance measuring module 23 are believed at a distance from its objects in front for obtaining robot body
Breath.To illustrate that the first gyroscope 13 and the second gyroscope 22 in this specific embodiment are only used for distinguishing robot and just
The gyroscope in formula guiding device is taken, the meaning without specific sequence is three-axis gyroscope.
The present invention is further described below by specific embodiment.
Multiple robots system for tracking in the present invention based on ZigBee communication comprising portable guiding device 10, a group
Robot No. 1 20 and group identical with No. 1 20 basic structures of robot and working principle is followed to follow robot No. 2-N 30.Its
In, it follows the quantity of robot No. 2-N 30 to remove according to the usage requirement with failure etc. and adjusts variation.
The portable guiding device 10 includes a ZigBee coordinator 11, and the ZigBee coordinator 11 is for establishing and tieing up
Wireless network is held, active state is constantly in.The on piece control chip of the ZigBee routing node 21, which is equipped with, to be based on connecing
Receive the hardware engine of signal power power, the ZigBee system-on-chip solution CC2530 produced such as TI company.The hardware engine
With the two distance is calculated according to the signal strength for receiving ZigBee routing node 21 based on received signal power instruction, i.e.,
It is followed at a distance from robot 20 for portable guiding device 10 and group.The voice module 12, first gyroscope 13 and described
Three axis accelerometer 14 is connect with the I/O port of the ZigBee coordinator 11 respectively.The on piece of ZigBee coordinator 11 controls core
Piece is open as the controller and I/O port of portable guiding device 10 simultaneously, and as on piece control chip receives hard as controller
The movement velocity of the signal strength or weakness Information Regulating robot of part engine feedback.
Specifically, the portable guiding device 10 is carried by user, the voice that portable guiding device 10 includes is known
Other module 12 can receive carrier's voice instruction, the first gyroscope 13 using three-axis gyroscope can get carrier's direction of motion or
Corner information, three axis accelerometer 14 can get carrier's motion velocity information.The speech recognition module 12, three-axis gyroscope
13 and the on piece control chip I/O port of three axis accelerometer 14 and ZigBee coordinator 11 connect.The piece of ZigBee coordinator 11
Upper control chip obtains corresponding information, and is converted into the finger that corresponding control group follows robot motion according to built-in algorithm
It enables, is transmitted to ZigBee-network.
It includes that group follows robot No. 1 20 and group to follow robot No. 2-N 30, machine that group, which follows robot, in the present invention
All structures of people, working method and robot operation platform are identical.It includes a ZigBee routing section that group, which follows robot 20,
Point 21, for receiving and forwarding the control instruction of ZigBee-network.Group controls ontology after following robot 20 to obtain control instruction
Robot operation platform 25 move, group follows 30 working method of robot same.Then robot No. 1 20 and group are with random
Device people No. 2-N 30 1 follow a movement, such as advance, retreat, turning, start and stop.
The group, which follows the on piece of the ZigBee routing node 21 of robot to control chip, to be had based on received signal power
The hardware engine of instruction, the on piece control chip of ZigBee routing node 21 follow the controller of robot, built-in calculation as group
Method and I/O port opening.ZigBee routing node 21 receives 11 signal power power of the ZigBee coordinator instruction in front of itself,
Signal power is weaker, both illustrates that apart from too far, then group follows 20 movement velocity of robot to accelerate, and guarantees and portable guiding device
10 closely follow；Signal power is too strong, both illustrates to be closer, then group follows 20 movement velocity of robot to slow down, guarantee with
Portable guiding device 10 closely follows.Robot No. 1 20 and group follow No. 2-N 30 1, robot to follow a movement, such as add
Speed movement, retarded motion and uniform motion.
Ultrasonic distance measuring module 23, the second gyroscope 22 in the robot respectively with the ZigBee routing node 21
On piece control chip I/O port connection.The group follows the on piece of the ZigBee routing node 21 of robot to control chip I/O
Port is connect with the second gyroscope 22, and the second gyroscope is three-axis gyroscope, can get the fortune of robot operation platform 25
Dynamic direction or corner information, so that group follows the direction of motion of robot 20 and portable guiding device 10 or angle of turn to keep one
It causes, the direction for guaranteeing that group follows is accurate.21 on piece of ZigBee routing node control chip I/O port is connected with ultrasonic distance measurement mould
Block 23 can get the range information of robot operation platform 25 with direction of advance object, and then group follows robot to hypotelorism
20 movement velocitys are slowed or stopped, and guarantee the safe distance that group follows.
The group follows robot No. 2-N 30 with group and follows robot 1 that 20 structures are identical and working method is identical, thereafter
One always receives the ZigBee signal power instruction in oneself one, front.Ad hoc capability based on ZigBee is by force and communication is steady
Fixed, when the quantity of robot or serial number adjustment variation, multirobot can restore rapidly to communicate and carry out group to follow operation.
Further, the robot further includes connecting with the multiple robots system for tracking routing node based on ZigBee communication
The fault alarm module 24 connect, the fault alarm module 24 are used to connect loss or robot with ZigBee-network when robot
It is sounded an alarm when failure.I.e. 21 on piece of ZigBee routing node control chip I/O port is connected with fault alarm module 24,
When group follows robot to sound an alarm when haveing active ZigBee-network or other failures for No. 1 20, operator is notified to carry out failure
Exclude and adjust robot quantity.It invention can be widely used in robot carrying, smart electronics patrol, electric toy car or toy
The places such as dog.
Further, it is powered in the portable guiding device and the robot by battery 40.
As another embodiment of the invention, when following robot No. 1 20 and follow robot No. 2-N 30 respectively and institute
It states portable guiding device and carries out network communication, then each follow robot to user apart from similar, portable guiding device difference
Or robot is followed to follow user without successively sequence, with random to respectively following robot to send control instruction simultaneously
Device people can follow around user user mobile and be moved.Robot is respectively followed to follow compared with above-described embodiment without one
One movement, can move, and follow the structure, control system and operation platform of robot constant simultaneously, can be widely used for machine
The fields such as people's carrying, smart electronics patrol, electric toy car or toy dog.Two kinds of certain stackable uses of specific embodiment.
In conclusion the multiple robots system for tracking provided by the present invention based on ZigBee communication, is based on ZigBee group
Network Communication can be realized direction and accurately, apart from suitable, the adjustable multirobot of quantity intelligent group follow movement, has very
Strong practicability can be widely used for the fields such as robot carrying, smart electronics patrol, electric toy car or toy dog.
It should be understood that the application of the present invention is not limited to the above for those of ordinary skills can
With improvement or transformation based on the above description, all these modifications and variations all should belong to the guarantor of appended claims of the present invention
Protect range.
Claims (7)
1. a kind of multiple robots system for tracking based on ZigBee communication, which is characterized in that and described including portable guiding device
The multiple machines for receiving and transmitting the portable guiding device instruction according to front-rear position sequence of portable guiding device communication connection
People；
The portable guiding device includes: the ZigBee coordinator for establishing and maintaining wireless network, is referred to for receiving voice
The voice module of order, for obtaining the first gyroscope of the direction of motion and corner information, for obtaining the three of motion velocity information
Axis accelerometer, the voice module, first gyroscope and the three axis accelerometer are coordinated with the ZigBee respectively
Device connection；
Any robot includes the ZigBee routing section for sending and receiving the control instruction of the portable guiding device
Point, for obtaining the second gyroscope of the robot body direction of motion and corner information, for obtain robot body and its before
The ultrasonic distance measuring module of the range information of square object body, second gyroscope and ultrasonic distance measuring module are respectively at described
The connection of ZigBee routing node.
2. the multiple robots system for tracking according to claim 1 based on ZigBee communication, which is characterized in that the machine
People further includes the fault alarm module connecting with the multiple robots system for tracking routing node based on ZigBee communication, the failure
Alarm module sounds an alarm when being used to connect loss or robot failure when robot with ZigBee-network.
3. the multiple robots system for tracking according to claim 2 based on ZigBee communication, which is characterized in that the machine
Ultrasonic distance measuring module, the second gyroscope and fault alarm module the on piece control with the ZigBee routing node respectively on people
The I/O port of coremaking piece connects.
4. the multiple robots system for tracking according to claim 1 based on ZigBee communication, which is characterized in that the voice
Module, first gyroscope and the three axis accelerometer are connect with the I/O port of the ZigBee coordinator respectively.
5. the multiple robots system for tracking according to claim 1 based on ZigBee communication, which is characterized in that described
The on piece control chip of ZigBee routing node is equipped with the hardware engine based on received signal power power.
6. the multiple robots system for tracking according to claim 5 based on ZigBee communication, which is characterized in that the on piece
Control the movement velocity that chip receives the signal strength or weakness Information Regulating robot of hardware engine feedback as controller.
7. the multiple robots system for tracking according to claim 1 based on ZigBee communication, which is characterized in that described portable
It is battery powered in formula guiding device and the robot.
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| CN201610295690.7A CN105955261B (en) | 2016-05-06 | 2016-05-06 | A kind of multiple robots system for tracking based on ZigBee communication |
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| CN201610295690.7A CN105955261B (en) | 2016-05-06 | 2016-05-06 | A kind of multiple robots system for tracking based on ZigBee communication |
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| CN105955261B true CN105955261B (en) | 2019-02-19 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108016867B (en) * | 2016-10-28 | 2020-03-31 | 深圳市朗驰欣创科技股份有限公司 | Control device, control method and control system of robot |
| CN106502251A (en) * | 2016-12-02 | 2017-03-15 | 深圳大学 | Intelligent vehicle group and its control method based on WiFi and ZigBee |
| CN108919816A (en) * | 2018-09-20 | 2018-11-30 | 杭州纳戒科技有限公司 | Shopping cart kinematic system and shopping cart system |
| CN109663368B (en) | 2019-01-03 | 2024-02-09 | 东莞银辉玩具有限公司 | Intelligent toy following method and toy robot applying same |
| CN111766859B (en) * | 2019-05-29 | 2021-10-15 | 北京京东乾石科技有限公司 | Method, device, equipment, system and storage medium for controlling distribution robot |
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