CN106970350A - A kind of indoor service robot positioning system and method based on iBeacon - Google Patents
A kind of indoor service robot positioning system and method based on iBeacon Download PDFInfo
- Publication number
- CN106970350A CN106970350A CN201710311161.6A CN201710311161A CN106970350A CN 106970350 A CN106970350 A CN 106970350A CN 201710311161 A CN201710311161 A CN 201710311161A CN 106970350 A CN106970350 A CN 106970350A
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- CN
- China
- Prior art keywords
- service robot
- robot
- ibeacon
- host computer
- module
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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
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
Abstract
The present invention relates to a kind of indoor service robot positioning system based on iBeacon, including iBeacon base stations, indoor service robot, host computer server, wireless module.The iBeacon base stations are communicated based on BLE technologies with service robot, the master controller of service robot is furnished with bluetooth module, host computer server includes location algorithm module, task management module and display module, and service robot and host computer server carry out information transfer by wireless module.During present invention work, iBeacon base stations receive the information of iBeacon Base Transmitters to id information, service robot is around sent, and it is sent to host computer server, the position of service robot is calculated by host computer server, and location information is returned into service robot, the positioning of robot is realized.The present invention has the advantages that the stability of a system is good, cost is low, deployment is easy, positioning precision is high.
Description
Technical field
Patent of the present invention is related to a kind of indoor service robot positioning system field, particularly a kind of to be based on iBeacon rooms
Interior service robot positioning system and method.
Background technology
Intellect service robot, is that a collection environment sensing, dynamic decision and planning, Behavior- Based control and execution etc. are multi-functional
In the integrated system of one.As robot performance is constantly perfect, the application of service robot greatly extends, in work
It is widely used in the industries such as industry, agricultural, medical treatment, service, wherein indoor service robot autonomous localization is robotics
One of key issue.Robot is generally estimated using sensors such as sonic sensor, infrared ray sensor, laser sensors
Displacement and orientation, these sensors use for a long time, can cause the accumulation of error, and then make the decline of positioning precision,
And higher is required to use environment.IBeacon bluetooth indoor locating systems, using BLE technologies, power consumption is very low, effectively passes
Defeated distance can reach 60~100m, and its accuracy rating can reach Centimeter Level, be laid out convenient and simple.
The content of the invention
For above-mentioned the deficiencies in the prior art defect, the present invention provides a kind of room based on iBeacon indoor positioning technologies
Interior service robot positioning system and method.IBeacon technologies are applied to intellect service robot indoor positioning system by this system
System, improves the positioning precision of service robot.
To achieve the above object, technical scheme is as follows：
A kind of indoor service robot positioning system based on iBeacon, including iBeacon base stations, indoor service machine
People, host computer server, wireless module, it is characterized in that, it is peculiar to its is around sent that the iBeacon base stations are based on BLE technologies
Id information, the main controller module of the indoor service robot is equipped with bluetooth module, receives the letter of iBeacon Base Transmitters
Breath, the host computer server includes location algorithm module, task management module and display module, logical with indoor service robot
Cross wireless way for transmitting information.
Concrete operating principle of the present invention is, each iBeacon base stations are based on BLE technologies to around sending its distinctive position
Information；Indoor service robot receives the information of iBeacon Base Transmitters in moving process, and is wirelessly passed
It is defeated by host computer server；The location algorithm module of host computer server calculates the position coordinates of service robot, passes through nothing
Line mode returns to the master controller of service robot, while the real time position of robot is shown in display module, task pipe
Reason module issues different tasks to it according to the position of robot；The master controller of indoor service robot receives robot
Position coordinates, determines the real time position of itself, and is contrasted with desired trajectory coordinate, then by control algolithm module to machine
The position of device people is modified, and then the direction of motion of control machine people, robot is run according to desired trajectory, while may be used also
With the control task of particular location where performing, such as speech guide service function.
A kind of indoor service robot positioning system and method based on iBeacon, its advantage are：By this hair
Bright realization, the alignment system deployment of service robot is simple, easily realizes, and system power dissipation is low, and cost is low, positioning precision
It is high.
Brief description of the drawings
Fig. 1 is structural representation of the invention
Fig. 2 is circuit connection diagram of the invention
Fig. 3 is schematic flow sheet of the invention
Embodiment
Embodiments of the invention are given below, and the invention will be further described with reference to accompanying drawing.It should be appreciated that of the invention
Specific embodiment is not limited to, embodiments of the invention are to introduce its embodiment.
As shown in figure 1, a kind of indoor service robot positioning system and method based on iBeacon, including iBeacon bases
Stand 1, indoor service robot 2, host computer server 3.IBeacon base stations 1 are entered with indoor service robot 2 based on BLE technologies
Row communication；Indoor service robot 2 includes bluetooth module 6 and main controller module 7, is connected to wireless module A4；Host computer is serviced
Device 3 includes location algorithm module 8, task management module 9 and display module 10, wireless module B5 is connected to, with indoor service machine
People 2 carries out information transfer by wireless module.
IBeacon base stations 1 have 3 in the present embodiment, and the quantity of iBeacon base stations is according to specific environment and positioning precision
It is required that determining.Particularly, iBeacon BTS hardwares develop design using CC2541 Bluetooth chips, and C language is programmed, as
The transmitting terminal of Bluetooth signal；4 frame data of iBeacon base stations are configured, wherein UUID is set as identical identifier, represent fixed
Bit function；Major is set as three different identifiers, for distinguishing different iBeacon base stations；Set in Minor each
The coordinate information of base station；RSSI signal values when Measured Power set base station and mobile terminal apart from 1m.During work,
IBeacon base stations are by its peculiar data to around sending.
In the present embodiment, the master controller of exhibition room guide to visitors service robot 2 is adopted TMS320F28377DZ primary processors 12 and opened
Hair design, external CC2541 bluetooth modules 11 receive the information of iBeacon base stations；Master controller is by RS232 serial ports and wirelessly
Client 13 is connected, and is wirelessly communicated with host computer server.
In the present embodiment, host computer server 3 is based on Distributed Architecture and designs Managing system of above position machine, in VS2013 platforms
On, location algorithm module, display module and task management module are programmed.Location algorithm module calculates service robot
Position, and shown by display module, while being sent to service robot；Task management module is sent out according to the position of service robot
The semantic task on particular location is sent, the guide to visitors service of indoor exhibition room robot is realized.
Further, the present embodiment is comprised the following steps that：
Step 1：The deployment of indoor environment is carried out with 3 iBeacon base stations, with (xi, yi) each base of (i=1,2,3) expression
The position stood and be Given information, represents robot location to be determined, each iBeacon base stations are into environment with (x, y)
Send its distinctive UUID and RSSI information.
Step 2：The exhibition room guide to visitors service robot of the function of bluetooth 4.0 is supported to receive the information that each base station is sent, and
Wirelessly it is transferred to host computer server.
Step 3：Host computer server calculates the information received by location algorithm module the position of service robot
Put.Use Taylor series expansion location algorithm in the present embodiment carries out position calculating, during execution, first with logarithmic model method pair
RSSI signals are filtered；Then robot is obtained with each base station apart from d using range formula (1)i(i=1,2,3),
RSSI=-10nlgd-P (1)
RSSI signals when wherein P is d=1m；And then obtain the equation group as shown in formula (2)：
Calculated in solution procedure using Taylor series expansion iterative algorithm, finally give the coordinate of service robot
(x, y), and shown in display module.
Step 4：Host computer server returns to the robot location that calculating is obtained the master controller of robot, Jin Ershi
Now use the positioning of robot.The operating path of service robot is controlled by the TRAJECTORY CONTROL algorithm in master controller, it is real
Existing service robot is run on predetermined track, and provides the voice service of exhibition room particular location.
The embodiment of the present invention is to introduce its embodiment, does not lie in and limits its protection domain.The scope of the present invention
It is defined by the claims.
Claims (4)
1. a kind of indoor service robot positioning system and method based on iBeacon, including iBeacon base stations, indoor service
Robot, host computer server, wireless module, it is characterized in that, the iBeacon base stations are based on BLE technologies to around sending it
Distinctive id information, the master controller of the indoor service robot is furnished with bluetooth module, receives the letter of iBeacon Base Transmitters
Breath, the host computer server includes location algorithm module, task management module and display module, logical with indoor service robot
Cross wireless module transmission information.
2. a kind of indoor service robot positioning system based on iBeacon according to claim 1, it is characterized in that, by
The information of each base station of the location algorithm module of host computer server to receiving is handled, and service robot is determined
Position.
3. a kind of indoor service robot positioning system and method based on iBeacon according to claim 1 or 2, its
It is characterized in comprise the following steps：
(1) each iBeacon base stations are based on BLE technologies to around sending its distinctive id information；
(2) indoor service robot receives the information of iBeacon Base Transmitters, and is wirelessly transferred to host computer clothes
Business device；
(3) the location algorithm module analysis of host computer server calculates the positional information of service robot, and passes through wireless parties
Formula returns to the master controller of service robot；
(4) master controller of indoor service robot receives the positional information of robot, realizes the positioning to robot, Ran Houtong
Cross control algolithm module to be controlled the operating path of robot, robot is run according to desired trajectory, and in specific position
Put and perform the order that the task management module of host computer server is issued.
4. a kind of indoor service robot positioning system and method based on iBeacon according to claims 1 to 3, room
Interior service robot is service humanoid robot, can be meal delivery robot, robot of accompanying and attending to, domestic robot, exhibition room Audio Guide
One kind in device people, sight spot guide to visitors robot, bank service robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710311161.6A CN106970350A (en) | 2017-04-25 | 2017-04-25 | A kind of indoor service robot positioning system and method based on iBeacon |
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| CN201710311161.6A CN106970350A (en) | 2017-04-25 | 2017-04-25 | A kind of indoor service robot positioning system and method based on iBeacon |
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| CN106970350A true CN106970350A (en) | 2017-07-21 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109084779A (en) * | 2018-09-29 | 2018-12-25 | 上海思依暄机器人科技股份有限公司 | A kind of robot navigation method and system |
| CN109360124A (en) * | 2018-10-22 | 2019-02-19 | 深圳和呈睿国际技术有限公司 | Accompany robot control method, system and mobile terminal |
| CN109932687A (en) * | 2017-12-18 | 2019-06-25 | 北京布科思科技有限公司 | A kind of bluetooth indoor orientation method based on probabilistic model |
-
2017
- 2017-04-25 CN CN201710311161.6A patent/CN106970350A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109932687A (en) * | 2017-12-18 | 2019-06-25 | 北京布科思科技有限公司 | A kind of bluetooth indoor orientation method based on probabilistic model |
| CN109084779A (en) * | 2018-09-29 | 2018-12-25 | 上海思依暄机器人科技股份有限公司 | A kind of robot navigation method and system |
| CN109360124A (en) * | 2018-10-22 | 2019-02-19 | 深圳和呈睿国际技术有限公司 | Accompany robot control method, system and mobile terminal |
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Application publication date: 20170721 |