CN107065858A - Crusing robot air navigation aid based on ultra wide band - Google Patents
Crusing robot air navigation aid based on ultra wide band Download PDFInfo
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- CN107065858A CN107065858A CN201710076155.7A CN201710076155A CN107065858A CN 107065858 A CN107065858 A CN 107065858A CN 201710076155 A CN201710076155 A CN 201710076155A CN 107065858 A CN107065858 A CN 107065858A
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- 230000006698 induction Effects 0.000 description 6
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of crusing robot air navigation aid based on ultra wide band.It includes carrying out crusing robot initialization process completion charging operations, interacted using ultra-wideband transmitter and ultra-wideband receiver completion UWB signal and calculate coordinate of the ultra-wideband receiver in inspection space, the initial coordinate and inceptive direction of crusing robot are calculated using central controller, the inspection direction of crusing robot is calculated using central controller, moved using central controller controls crusing robot and calculate the changing coordinates of crusing robot and work as front direction, changing coordinates to crusing robot and when front direction is corrected completion crusing robot navigation.The present invention results in more accurately crusing robot coordinate information by the changing coordinates constantly to crusing robot and when front direction is corrected, and is prevented effectively from due to the mistake that the randomness of extraneous interference or system is caused.
Description
Technical field
The invention belongs to field of intelligent control technology, more particularly to a kind of crusing robot navigation side based on ultra wide band
Method.
Background technology
At present, crusing robot present on market, main to use magnetic navigation or laser navigation, magnetic navigation is in machine
Magnetic induction sensor is installed on people, navigated by sensing the intensity for the magnetic stripe for being embedded in ground or underground, when magnetic induction is passed
When sensor is located above magnetic stripe, the corresponding magnetic induction sensor in robot can be by the magnetic induction intensity of position
Signal changes into electric signal, and is transferred to the control chip of magnetic navigation, and control chip passes through the magnetic induction change data that detects
Magnetic field intensity with regard to that can calculate each test point, according to the magnetic stripe characteristic of pre-plugged, and magnetic induction sensor is collected
Data message, just can determine that the position where robot.The crusing robot of magnetic navigation has algorithm simple, and amount of calculation is small to wait special
Point.However, it will be apparent that magnetic navigation intelligence degree is not enough, the shortcomings of system can not work when leaving magnetic stripe track.
Crusing robot based on laser navigation, refers to, by the use of laser radar as sensor, obtain map datum, make machine
Device people realizes synchronous superposition, and laser radar has the characteristics of directive property is strong so that the precision of navigation is obtained effectively
Ensure, indoor environment can be well adapted for, but laser radar prevailing price is expensive, it is computationally intensive, it is necessary to algorithm it is complicated, need
Powerful hardware platform is wanted to support.So as to limit its application.
The content of the invention
The present invention goal of the invention be：In order to solve crusing robot magnetic navigation and laser navigation in the prior art not
Foot, the present invention proposes a kind of crusing robot air navigation aid based on ultra wide band.
The technical scheme is that：A kind of crusing robot air navigation aid based on ultra wide band, comprises the following steps：
A, to crusing robot carry out initialization process, complete charging operations；
B, using ultra-wideband transmitter on crusing robot ultra-wideband receiver send UWB signal, utilize
Ultra-wideband receiver receives UWB signal and calculates coordinate of the ultra-wideband receiver in inspection space；
C, seat of the central controller collection ultra-wideband receiver in inspection space utilized on crusing robot
Mark, and calculate the initial coordinate and inceptive direction of crusing robot；
D, utilize initial seat of the central controller according to the crusing robot obtained in default path point coordinates and step C
Mark and inceptive direction calculate the inspection direction of crusing robot；
E, using central controller according to default path point coordinates and the inspection direction controlling survey monitor of crusing robot
Device people is moved, and seat of the ultra-wideband receiver in inspection space is gathered using central controller when moving to path point
Mark, and calculate the changing coordinates of crusing robot and work as front direction；
F, the changing coordinates to crusing robot and when front direction is corrected, while by the changing coordinates of crusing robot
With when front direction is as initial coordinate and inceptive direction, return to step D completes crusing robot navigation.
Further, the step A carries out initialization process to crusing robot, completes charging operations, is specially：Utilize
Whether central controller judges crusing robot in charging zone；If crusing robot is in charging zone, center is utilized
Controller control crusing robot leaves charging zone, into next step；If crusing robot is not in charging zone, enter
Next step.
Further, the quantity of the ultra-wideband receiver is set to two.
Further, the quantity of the ultra-wideband transmitter is set to three, and is separately positioned in inspection space not
Same orientation.
Further, the utilization ultra-wideband transmitter is sent to the ultra-wideband receiver on crusing robot
UWB signal, receiving UWB signal using ultra-wideband receiver is specially：Using each ultra-wideband transmitter respectively to each
Ultra-wideband receiver sends UWB signal, recycles each ultra-wideband receiver to receive the transmission of each ultra-wideband transmitter
UWB signal.
Further, coordinate of the ultra-wideband receiver in inspection space is calculated in the step B is specially：It is empty in inspection
It is interior to build coordinate system, the distance between ultra-wideband receiver and ultra-wideband transmitter are calculated using TOF methods, so as to be surpassed
Coordinate of the broadband receivers in the coordinate system in inspection space.
Further, according to the first of the crusing robot obtained in default path point coordinates and step C in the step D
The inspection direction that beginning coordinate and inceptive direction calculate crusing robot is specially：First according to default path point coordinates and inspection
The initial coordinate of robot obtains the polling path of crusing robot, then calculates the polling path and inspection machine of crusing robot
The angle of the inceptive direction of people, obtains the angle that crusing robot needs to rotate, so as to obtain the inspection direction of crusing robot.
Further, the step F is to the changing coordinates of crusing robot and when front direction is corrected, while by inspection
Changing coordinates of robot and when front direction is as initial coordinate and inceptive direction, return to step D completes crusing robot and led
Boat, be specially：Changing coordinates of crusing robot and when whether front direction sits with the path point of crusing robot in judgment step E
Mark and step D in crusing robot inspection direction it is consistent；If in step E the changing coordinates of crusing robot and when front direction with
The inspection direction of crusing robot is consistent in the path point coordinates and step D of crusing robot, then by the current of crusing robot
Coordinate and when front direction be used as initial coordinate and inceptive direction, return to step D, complete crusing robot navigation；If being patrolled in step D
Examine the changing coordinates of robot and the inspection when crusing robot in the path point coordinates and step D of front direction and crusing robot
Direction is inconsistent, then according to the inspection direction of crusing robot in the path point coordinates and step D of crusing robot to survey monitor
Device people is adjusted, and using the changing coordinates of crusing robot and when front direction is as initial coordinate and inceptive direction, returns to step
Rapid D, completes crusing robot navigation.
The beneficial effects of the invention are as follows：The present invention utilizes ultra-wideband transmitter and ultra-wideband receiver based on ultra-wideband communications
Device obtains the coordinate of ultra-wideband transmitter and ultra-wideband receiver in inspection space simultaneously, so as to obtain the first of crusing robot
Beginning coordinate and inceptive direction, are patrolled further according to being moved and being calculated in real time according to default path point coordinate control crusing robot
Examine the changing coordinates of robot and work as front direction, while continuous to the changing coordinates of crusing robot and when front direction carries out school
Just, more accurately crusing robot coordinate information is resulted in, the randomness due to extraneous interference or system is prevented effectively from
The mistake caused.
Brief description of the drawings
Fig. 1 is the crusing robot air navigation aid schematic flow sheet based on ultra wide band of the present invention.
Fig. 2 is crusing robot motion path schematic diagram in the embodiment of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, not
For limiting the present invention.
As shown in figure 1, being the crusing robot air navigation aid schematic flow sheet based on ultra wide band of the present invention.One kind is based on
The crusing robot air navigation aid of ultra wide band, comprises the following steps：
A, to crusing robot carry out initialization process, complete charging operations；
B, using ultra-wideband transmitter on crusing robot ultra-wideband receiver send UWB signal, utilize
Ultra-wideband receiver receives UWB signal and calculates coordinate of the ultra-wideband receiver in inspection space；
C, seat of the central controller collection ultra-wideband receiver in inspection space utilized on crusing robot
Mark, and calculate the initial coordinate and inceptive direction of crusing robot；
D, utilize initial seat of the central controller according to the crusing robot obtained in default path point coordinates and step C
Mark and inceptive direction calculate the inspection direction of crusing robot；
E, using central controller according to default path point coordinates and the inspection direction controlling survey monitor of crusing robot
Device people is moved, and seat of the ultra-wideband receiver in inspection space is gathered using central controller when moving to path point
Mark, and calculate the changing coordinates of crusing robot and work as front direction；
F, the changing coordinates to crusing robot and when front direction is corrected, while by the changing coordinates of crusing robot
With when front direction is as initial coordinate and inceptive direction, return to step D completes crusing robot navigation.
In step, the present invention opens and carries out initialization process to crusing robot first after crusing robot, specifically
For：Judge crusing robot whether in charging zone using central controller；If crusing robot is in charging zone, profit
Charging zone is left with central controller controls crusing robot, into next step；If crusing robot is not in charging zone,
Then enter next step, complete charging operations.
In stepb, the present invention sets the ultra-wideband transmitter of three and the above in the inspection space of crusing robot,
Ultra-wideband transmitter is separately positioned on the different azimuth in inspection space；Simultaneously be also provided with crusing robot two and with
On ultra-wideband receiver.The present invention sends UWB to each ultra-wideband receiver respectively using each ultra-wideband transmitter
Signal, recycles each ultra-wideband receiver to receive the UWB signal of each ultra-wideband transmitter transmission, so as to calculate ultra-wide
Coordinate with receiver in inspection space, be specially：Coordinate system is built in inspection space, ultra-wide is calculated using TOF methods
The distance between band receiver and ultra-wideband transmitter, so as to obtain seat of the ultra-wideband receiver in the coordinate system in inspection space
Mark.Here the common technology means that TOF methods are used by those skilled in the art, the present invention is not repeated.
In step C, the present invention is additionally provided with central controller on crusing robot, central controller respectively with it is each
Ultra-wideband receiver is connected.The present invention gathers seat of each ultra-wideband receiver in inspection space respectively using central controller
Information is marked, so that initial coordinate of the crusing robot in inspection space is calculated, while it is empty in inspection to calculate crusing robot
Interior inceptive direction.Here calculating initial coordinate of the crusing robot in inspection space can be by being converted to survey monitor
Initial coordinate of the device people in inspection space, is specially to be filtered according to coordinate information of each ultra-wideband receiver in inspection space
Ripple removes incorrect coordinate information, is connect further according to each ultra wide band of motion state predictive compensation acquisition of current crusing robot
The correct coordinates information of device is received, is obtained further according to relative position of each ultra-wideband receiver in crusing robot right-handed coordinate system
Take the initial coordinate of crusing robot；Calculating inceptive direction of the crusing robot in inspection space is specially：It is super according to two
Two ultra-wideband receiver points are connected and composed straight line by coordinate information of the broadband receivers in inspection space, meter
Calculate direction of the straight line in inspection space and obtain inceptive direction of the crusing robot in inspection space.
In step D, the initial seat of the invention according to the crusing robot obtained in default path point coordinates and step C
The inspection direction that mark and inceptive direction calculate crusing robot is specially：First according to default path point coordinates and inspection machine
The initial coordinate of people obtains the polling path of crusing robot, then calculates the polling path and crusing robot of crusing robot
The angle of inceptive direction, obtains the angle that crusing robot needs to rotate, so as to obtain the inspection direction of crusing robot.
In step E, as shown in Fig. 2 being crusing robot motion path schematic diagram in the embodiment of the present invention.Profit of the invention
The inspection road of crusing robot is obtained according to the inspection direction of default path point coordinates and crusing robot with central controller
Footpath, control crusing robot is moved according to polling path.When crusing robot moves to path point, the present invention is recycled
Central controller collection ultra-wideband receiver is the coordinate of label 1 and label 2 in inspection space, and calculates crusing robot
Changing coordinates and work as front direction.
In step F, the present invention needs the inspection result to crusing robot to confirm, i.e., crusing robot is worked as
Preceding coordinate and when front direction is corrected, be specially：In judgment step E the changing coordinates of crusing robot and when front direction whether
It is consistent with the inspection direction of crusing robot in the path point coordinates and step D of crusing robot；If crusing robot in step E
Changing coordinates and the inspection direction one when crusing robot in the path point coordinates and step D of front direction and crusing robot
Cause, then using the changing coordinates of crusing robot and when front direction is as initial coordinate and inceptive direction, return to step D completes to patrol
Examine robot navigation；If changing coordinates of crusing robot and when front direction and the path point coordinates of crusing robot in step D
And in step D crusing robot inspection direction it is inconsistent, then according to inspection in the path point coordinates and step D of crusing robot
The inspection direction of robot is adjusted to crusing robot, and using the changing coordinates of crusing robot and when front direction is as first
Beginning coordinate and inceptive direction, return to step D.The present invention constantly updates the changing coordinates for calibrating crusing robot by the above method
Navigated with crusing robot when front direction and initial coordinate and inceptive direction, is completed.
One of ordinary skill in the art will be appreciated that embodiment described here is to aid in reader and understands this hair
Bright principle, it should be understood that protection scope of the present invention is not limited to such especially statement and embodiment.This area
Those of ordinary skill can make according to these technical inspirations disclosed by the invention various does not depart from the other each of essence of the invention
Plant specific deformation and combine, these deformations and combination are still within the scope of the present invention.
Claims (8)
1. a kind of crusing robot air navigation aid based on ultra wide band, it is characterised in that comprise the following steps：
A, to crusing robot carry out initialization process, complete charging operations；
B, using ultra-wideband transmitter on crusing robot ultra-wideband receiver send UWB signal, utilize ultra-wide
UWB signal is received with receiver and calculates coordinate of the ultra-wideband receiver in inspection space；
C, using the central controller on crusing robot coordinate of the ultra-wideband receiver in inspection space is gathered, and
Calculate the initial coordinate and inceptive direction of crusing robot；
D, using central controller according to the initial coordinate of the crusing robot obtained in default path point coordinates and step C and
Inceptive direction calculates the inspection direction of crusing robot；
E, using central controller according to default path point coordinates and the inspection direction controlling crusing robot of crusing robot
Moved, coordinate of the ultra-wideband receiver in inspection space is gathered using central controller when moving to path point, and
Calculate the changing coordinates of crusing robot and work as front direction；
F, the changing coordinates to crusing robot and when front direction is corrected, while by the changing coordinates of crusing robot and working as
Front direction completes crusing robot navigation as initial coordinate and inceptive direction, return to step D.
2. the crusing robot air navigation aid as claimed in claim 1 based on ultra wide band, it is characterised in that A pairs of the step
Crusing robot carries out initialization process, completes charging operations, is specially：Whether judge crusing robot using central controller
In charging zone；If crusing robot is in charging zone, charging is left using central controller controls crusing robot
Area, into next step；If crusing robot is not in charging zone, into next step.
3. the crusing robot air navigation aid as claimed in claim 2 based on ultra wide band, it is characterised in that the ultra wide band connects
The quantity for receiving device is set to two.
4. the crusing robot air navigation aid as claimed in claim 3 based on ultra wide band, it is characterised in that the ultra wide band hair
The quantity of emitter is set to three, and the different azimuth being separately positioned in inspection space.
5. the crusing robot air navigation aid as claimed in claim 4 based on ultra wide band, it is characterised in that the utilization ultra-wide
Tape transmitter sends UWB signal to the ultra-wideband receiver on crusing robot, and UWB is received using ultra-wideband receiver
Signal is specially：UWB signal is sent to each ultra-wideband receiver respectively using each ultra-wideband transmitter, is recycled every
One ultra-wideband receiver receives the UWB signal of each ultra-wideband transmitter transmission.
6. the crusing robot air navigation aid as claimed in claim 5 based on ultra wide band, it is characterised in that in the step B
Calculating coordinate of the ultra-wideband receiver in inspection space is specially：Coordinate system is built in inspection space, using TOF method meters
The distance between ultra-wideband receiver and ultra-wideband transmitter are calculated, so as to obtain coordinate system of the ultra-wideband receiver in inspection space
In coordinate.
7. the crusing robot air navigation aid as claimed in claim 6 based on ultra wide band, it is characterised in that in the step D
Inspection machine is calculated according to the initial coordinate of the crusing robot obtained in default path point coordinates and step C and inceptive direction
The inspection direction of people is specially：Inspection machine is obtained according to the initial coordinate of default path point coordinates and crusing robot first
The polling path of people, then the angle of the polling path of crusing robot and the inceptive direction of crusing robot is calculated, obtain inspection
Robot needs the angle rotated, so as to obtain the inspection direction of crusing robot.
8. the crusing robot air navigation aid as claimed in claim 7 based on ultra wide band, it is characterised in that F pairs of the step
Changing coordinates of crusing robot and when front direction is corrected, while by the changing coordinates of crusing robot and when front direction is made
For initial coordinate and inceptive direction, return to step D completes crusing robot navigation, is specially：Inspection machine in judgment step E
The changing coordinates of people and when front direction whether in the path point coordinates and step D with crusing robot crusing robot inspection side
To consistent；If changing coordinates of crusing robot and when front direction and the path point coordinates and step D of crusing robot in step E
The inspection direction of middle crusing robot is consistent, then using the changing coordinates of crusing robot and when front direction as initial coordinate and just
Beginning direction, return to step D, complete crusing robot navigation；If in step D the changing coordinates of crusing robot and when front direction with
The inspection direction of crusing robot is inconsistent in the path point coordinates and step D of crusing robot, then according to crusing robot
The inspection direction of crusing robot is adjusted to crusing robot in path point coordinates and step D, and by crusing robot
Changing coordinates and when front direction be used as initial coordinate and inceptive direction, return to step D, complete crusing robot navigation.
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| CN201710076155.7A CN107065858A (en) | 2017-02-13 | 2017-02-13 | Crusing robot air navigation aid based on ultra wide band |
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| CN201710076155.7A CN107065858A (en) | 2017-02-13 | 2017-02-13 | Crusing robot air navigation aid based on ultra wide band |
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Cited By (7)
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| CN108036784A (en) * | 2017-11-10 | 2018-05-15 | 云保（佛山）智控科技有限公司 | A kind of indoor orientation method, navigation methods and systems |
| CN108650621A (en) * | 2018-05-08 | 2018-10-12 | 国网安徽省电力有限公司芜湖供电公司 | A kind of substation's false-entering prevention system and its control method |
| CN109557927A (en) * | 2019-01-10 | 2019-04-02 | 深圳先进储能技术有限公司 | Paths planning method, device, equipment and the medium of hanging basket are returned for robot |
| CN110471409A (en) * | 2019-07-11 | 2019-11-19 | 深圳市优必选科技股份有限公司 | Robot method for inspecting, device, computer readable storage medium and robot |
| CN111474517A (en) * | 2020-05-25 | 2020-07-31 | 北京海益同展信息科技有限公司 | Positioning method and device and inspection robot |
| CN112882471A (en) * | 2021-01-15 | 2021-06-01 | 南京工业大学 | UWB-based inspection robot and positioning method thereof |
| CN113175932A (en) * | 2021-04-27 | 2021-07-27 | 上海景吾智能科技有限公司 | Robot navigation automation test method, system, medium and equipment |
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| CN110471409A (en) * | 2019-07-11 | 2019-11-19 | 深圳市优必选科技股份有限公司 | Robot method for inspecting, device, computer readable storage medium and robot |
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| CN112882471A (en) * | 2021-01-15 | 2021-06-01 | 南京工业大学 | UWB-based inspection robot and positioning method thereof |
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