CN108507580A - A kind of mobile robot platform self aligning system and method for self-locating - Google Patents
A kind of mobile robot platform self aligning system and method for self-locating Download PDFInfo
- Publication number
- CN108507580A CN108507580A CN201810629057.6A CN201810629057A CN108507580A CN 108507580 A CN108507580 A CN 108507580A CN 201810629057 A CN201810629057 A CN 201810629057A CN 108507580 A CN108507580 A CN 108507580A
- Authority
- CN
- China
- Prior art keywords
- mobile robot
- robot platform
- beacon
- platform
- distance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000005259 measurement Methods 0.000 claims abstract description 11
- 230000033001 locomotion Effects 0.000 claims description 9
- 238000004364 calculation method Methods 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000010408 sweeping Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 241001417527 Pempheridae Species 0.000 description 1
- 239000007795 chemical reaction product Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Classifications
-
- 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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
-
- 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
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of mobile robot platform self aligning system and method for self-locating, which includes a mobile robot platform and positioning device, and the beacon that positioning device is placed in ceiling by three forms.Each beacon is there are one bluetooth module, while mobile robot platform also built Bluetooth module, is communicated with beacon, to measure oblique angle distance of the mobile robot platform currently between beacon.Ceiling is measured to the vertical range between floor by the height measurement unit of a beacon again.Accordingly, positioning device obtains relative position of the mobile robot platform relative to positioning device according to the oblique angle distance and vertical range, the horizontal distance calculated between positioning device and mobile robot platform for measuring gained using three side location algorithms.
Description
Technical field
The present invention relates to a kind of mobile robot platform self aligning system and method for self-locating.
Background technology
Mobile robot platform smart machine such as sweeping robot, it is just gradually universal in recent years.Movement in the market
Robot carries out ambient enviroment mostly using the infrared sensor or ultrasonic sensor built in mobile robot platform
Judge, if surrounding has barrier, other paths will be selected.This method is difficult to acquire the position of current mobile robot platform
Confidence ceases.In order to accurately control the movement of platform, mobile robot platform must have specific self aligning system.
Mobile robot platform can be matched with use environment cartographic model and be positioned, this is also many mobile robot platform institutes
The method for self-locating of use.Robot detects ambient enviroment by the various sensors of itself, utilizes the local environment perceived
Information carries out the Map building of part, and is matched with the complete map being previously stored inside it.It is obtained by matching relationship
Oneself position in global context, so that it is determined that the position of itself.The precision that this method measures in complicated environment
It is not very high.
Positioning system based on beacon depends on a series of beacon of known features in environment, and needs in mobile robot
Upper installation sensor is observed beacon.For beacon observation sensor there are many kinds of, such as infrared sensor, ultrasonic wave
Sensor, laser radar, visual sensor etc..Infrared sensor can measure at a distance from barrier with ultrasonic sensor, but
Be measurement accuracy it is not very high, and infrared signal has reflection indoors, can cause error.Laser radar, visual sensor etc.
It can measure in real time, without progressive error, precision is relatively high, stability is good, provides quick, stable, accurate absolute position
Information, but install and safeguard the costly of beacon.It is fixed to have occurred the more mature beacon positioned based on beacon in the market
Variable mobile robot platform, the Northstar navigation such as the simulation GPS satellite three-point fix technology of Proscenic, iRobot are fixed
Position technology, but costly due to its price, they are all used in relatively high-end product.
Invention content
The purpose of the present invention is to provide mobile robot platform self aligning system and method for self-locating, pass through bluetooth module
It is communicated, carries out the positioning work of high accuracy, thus to improve the sweeping efficiency of mobile robot platform, shortened when cleaning
Between.
In order to achieve the above object, technical scheme is as follows：
A kind of self aligning system of mobile robot platform, including mobile robot platform and positioning device；The movement
There are one bluetooth modules for tool inside robot platform, and there are three the beacons of built Bluetooth module for the positioning device tool, wherein one
A beacon has height measurement unit；The positioning device is installed on ceiling, and beacon is measured to floor by height measurement unit
Between vertical range, communicated with the bluetooth module of mobile robot platform by the bluetooth module built in beacon, calculate
It obtains the oblique angle distance between beacon and mobile robot platform bluetooth module, the beacon and mobile machine is calculated by controller
The horizontal distance of people's platform obtains the relative coordinate of mobile robot platform.
As described above, three beacons positioned at ceiling need to measure their relative distance in advance, moving machine is used in advance
Controller in device people's platform establishes plane coordinate system.
As described above, the controller of the mobile robot platform connects bluetooth module, the ID, Mei Gexin of three beacons are identified
Target ID is unique.
As described above, the mobile robot platform further includes：
One processing unit, to calculate the distance of the oblique angle between each beacon and mobile robot platform bluetooth module, level
Distance and relative position, the wherein calculation procedure carry out trigonometric function with the vertical range and oblique line distance and calculate three levels
Distance calculates current relative position with three side location algorithms.
As described above, the bluetooth module is patch type.
As described above, the present invention provides a kind of method for self-locating based on the mobile robot platform self aligning system,
The method for self-locating includes the following steps：
(a) pass through a height measurement unit measurement and positioning device to the vertical range between a floor；
(b) three beacons can be sent to mobile robot platform for identifying oneself unique ID, can then ask to move
Robot platform send a radiofrequency signal, and require mobile robot platform be attached to bluetooth positioning node ID and this penetrate
The transmission power P1 of frequency signal；Radiofrequency signal has the decaying of power during traveling to bluetooth positioning node, is connect
Receive power P 2；This node is carried out using RSSI location algorithms at a distance from mobile robot platform to calculate, and obtains oblique angle distance L；
(c) level of the positioning device with the mobile robot platform is calculated according to the vertical range and oblique angle distance
Distance；
(d) horizontal distance S1, S2 and the S3 for calculating three beacons and mobile robot platform successively, are calculated with three-point fix
Method calculates the current coordinate of mobile robot platform.
The present invention is that positioning device can send out each letter relative to the attainable technical effect of this field the relevant technologies institute
Unique ID is marked, mobile robot platform receives the information that bluetooth is sent out, and calculates mobile robot platform relative to positioning
The relative position of device.By this relative position, mobile robot platform can be enabled not get lost or repeat to clean complete
At the region of operation.Therefore, it can be achieved that cleaning more efficiently acts, to shorten the activity duration, and then mobile robot is reduced
The battery usage amount of platform.
In addition, the present invention is mainly by being arranged the beacon of built Bluetooth module on the ceiling, it is flat with mobile robot
Platform carries out Bluetooth communication, and the relative position of mobile robot platform is calculated with the controller of mobile robot platform.With other
Mobile robot platform positioning based on beacon is compared, and the cost of the sensors such as bluetooth contrast locating laser radar wants low, is conducive to
Market development.
Furthermore positioning device is mounted on the ceiling for being intended to working space by the present invention, therefore can be in the feelings of interference minimum
Make mobile robot platform receive Bluetooth signal under condition to position itself.And it can not be influenced by barrier, the moment
Mobile robot platform is positioned.
Description of the drawings
In order to illustrate more clearly of technical scheme of the present invention, the required attached drawing used in embodiment will be made below simple
Introduction.
Fig. 1 is the mobile robot platform positioning system schematic diagram of the present invention；
Fig. 2 is the mobile robot platform block diagram of the present invention；
Fig. 3 is the positioning device scheme of installation of the present invention；
Fig. 4 is the positioning flow figure of the present invention；
Wherein：1. the interior space, 11. ceilings, 12. floors, 2. mobile robot platforms, 21. bluetooth modules, at 22.
Manage module, 23. motions, 24. mnemons, 25. calculation procedures, 26. operational datas, the beacon of 3. built Bluetooth modules
One, the beacon two of 4. built Bluetooth modules, the beacon three of 5. built Bluetooth modules, 6. height measurement units, 7. positioning devices, H.
Beacon to floor vertical range, L1. beacons 1 arrive mobile robot platform oblique angle distance, L2. beacons 2 arrive mobile robot
The oblique angle distance of platform, L3. beacons 3 arrive the oblique angle distance of mobile robot platform, and S1. beacons 1 arrive mobile robot platform
Horizontal distance, S2. beacons 2 arrive the horizontal distance of mobile robot platform, S3. beacons 3 to mobile robot platform it is horizontal away from
From S10-S20. positioning steps.
Specific implementation mode
In order to make those skilled in the art better understand the technical solutions in the application, below in conjunction with embodiment pair
Technical solution in the application is clearly and completely described.
Fig. 1 is the mobile robot platform positioning system schematic diagram of the present invention.Disclosed herein a kind of mobile robots
Platform positioning system, including positioning device 7 and mobile robot platform 2, the system mainly apply to the Interior Space to be cleaned
Between 1, wherein positioning device 7 is set to the ceiling 11 of the interior space 1, and the mobile robot platform 2 is then placed on the room
On the floor 12 in interior space 1, cleaning works is carried out automatically on floor 12.
As shown in Figure 1, the positioning device 7 is installed on ceiling 11, by the beacon 3,4 and 5 of three built Bluetooth modules
It constitutes, one of them is with height measurement unit 6, to measure the distance between the positioning device 7 and floor 12 H, Duo Gexin
Module inside mark is measuring beacon 3,4 and 5 to oblique angle distance L1, L2 and L3 between mobile robot platform, the movement
Robot platform can according to three oblique angle distance L1, L2 and L3 between beacon and mobile robot platform and positioning device 7 with
The distance between floor 12 H calculates three horizontal distance S1, S2 and S3 between beacon and mobile robot platform.Positioned at day
Three beacons of card need to measure their relative distance in advance, use the controller in mobile robot platform to establish in advance flat
Areal coordinate system.The mobile robot platform internal controller must connect bluetooth module, identify the ID, Mei Gexin of three beacons
Target ID is unique.
Fig. 2 is the mobile robot platform block diagram of the present invention.As shown in Fig. 2, the mobile robot platform 2 mainly has
Bluetooth module 21, processing module 22, motion 23 and mnemon 24.Wherein mnemon 24 includes 25 He of calculation procedure
Operational data 26.Bluetooth module 21 is responsible for the Bluetooth signal that three beacons of acquisition are sent out, and is acquired respectively to their ID.
Processing module 22 by Bluetooth signal by RSSI algorithms calculate three beacons between mobile robot platform at a distance from.And locate
The motion 23 that module 22 controls the mobile robot platform is managed, to enable mobile robot platform 2 carry out specific sweeper
Make.Wherein motion 23 includes the mechanism that the art such as wheel, motor, bristle and dust catcher module often have, with this
It repeats no more.
Mnemon 24 is responsible for operation and stores current location information, and wherein calculation procedure 25 calculates current position,
Operational data 26 is responsible for three beacons of storage to the data of mobile robot platform distance.
Fig. 3 is the positioning device scheme of installation of the present invention.As shown in figure 3, beacon 1,2 and 3 is respectively arranged in ceiling
On 11 3,4 and 5 position, their coordinate is recorded respectively.Using three side location algorithms, calculates mobile robot platform and work as
The coordinate at preceding place.
Fig. 4 is the positioning flow figure of the present invention.Fig. 4 discloses the localization method of the present invention, which applies to
The mobile robot platform 2 above-mentioned and the positioning device 7.It is specifically described below：
First, after which starts, the vertical range H between the floor is measured by its height measurement unit 6
(step S10), and send Bluetooth signal by three beacons and give mobile robot platform (step S12).In the present embodiment, the step
The ordinal relation that rapid S10 and step S12 is not carried out, the positioning device 7 execute this again after can first carrying out step S10
Step S12 executes step S10 after also first carrying out step S12, or can also be performed simultaneously two step again, is not limited
It is fixed.
After step S10 and step S12, mobile robot platform receives the Bluetooth signal (step of three beacons transmission
S14), using RSSI algorithms, according to oblique angle distance L1, L2 and L3 (step between the Bluetooth signal decay calculation and beacon received
S16)。
Later, the horizontal distance (step S18) between three beacons is calculated according to vertical range and oblique angle distance, it is final to count
Relative position (step S20) of the mobile robot platform relative to three beacons is calculated, which mobile robot platform can learn
Operating area has cleaned completion, which operating area not yet cleans.
Self aligning system through the invention can be reached relatively accurate and determined by the material of the low cost such as bluetooth module
Position effect, improves the operating efficiency of mobile robot platform whereby.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, such as：
Beacon is calculated to be not limited to use RSSI location algorithms at a distance from mobile robot platform；Such as：Above-mentioned bluetooth equipment can be made
Patch type can easily be attached at ceiling very much, or be attached at indoor ceiling Board position in combination with ornaments such as pendent lamps.It should
System can be used for industrial circle, such as：Mobile robot dressing shop is live and carries out all standing similar to ground
Operation.These changes and improvements all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended power
Sharp claim and its equivalent thereof.
Claims (7)
1. a kind of mobile robot platform self aligning system, including mobile robot platform and positioning device, the mobile machine
There are one bluetooth modules for people's platform interior tool, which is characterized in that the positioning device is installed on ceiling and tool is there are three built in
The beacon of bluetooth module, the beacon are led to by the bluetooth module of bluetooth module and mobile robot platform built in it
Letter, is calculated the oblique angle distance between beacon and mobile robot platform bluetooth module；The positioning device passes through elevation carrection
Module measures the vertical range of beacon and mobile robot；The water of the beacon and mobile robot platform is calculated by controller
Flat distance obtains the relative coordinate of mobile robot platform.
2. a kind of mobile robot platform self aligning system according to claim 1, which is characterized in that be located at ceiling
Three beacons need to measure their relative distance in advance, establish plane coordinates with the controller in mobile robot platform in advance
System.
3. a kind of mobile robot platform self aligning system according to claim 1, which is characterized in that the mobile machine
The controller of people's platform connects bluetooth module, identifies the ID of three beacons, the ID of each beacon is unique.
4. a kind of mobile robot platform self aligning system according to claim 1, which is characterized in that the mobile machine
People's platform further includes：
One processing unit, to calculate the distance of the oblique angle between each beacon and mobile robot platform bluetooth module, horizontal distance
And relative position, wherein calculation procedure carry out trigonometric function with the vertical range and oblique line distance and calculate three horizontal distances,
Current relative position is calculated with three side location algorithms.
5. a kind of mobile robot platform self aligning system according to any one of claim 1-4, which is characterized in that
The bluetooth module is patch type.
6. a kind of mobile robot platform method for self-locating, which is characterized in that using the movement as described in claim 1-4 is any
Robot platform self aligning system.
7. a kind of mobile robot platform method for self-locating according to claim 6, which is characterized in that including following step
Suddenly：
(a) pass through a height measurement unit measurement and positioning device to the vertical range between a floor；
(b) three beacons can be sent to mobile robot platform for identifying oneself unique ID, can then ask mobile machine
People's platform send a radiofrequency signal, and require mobile robot platform be attached to bluetooth positioning node ID and this radio frequency believe
Number transmission power P1；Radiofrequency signal has the decaying of power during traveling to bluetooth positioning node, obtains receiving work(
Rate P2；This node is carried out using RSSI location algorithms at a distance from mobile robot platform to calculate, and obtains oblique angle distance L；
(c) according to the vertical range and oblique angle distance calculate the positioning device and the mobile robot platform one it is horizontal away from
From；
(d) horizontal distance S1, S2 and S3 for calculating three beacons and mobile robot platform successively, with three-point fix algorithm meter
Calculate the current coordinate of mobile robot platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810629057.6A CN108507580A (en) | 2018-06-19 | 2018-06-19 | A kind of mobile robot platform self aligning system and method for self-locating |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810629057.6A CN108507580A (en) | 2018-06-19 | 2018-06-19 | A kind of mobile robot platform self aligning system and method for self-locating |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108507580A true CN108507580A (en) | 2018-09-07 |
Family
ID=63403556
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810629057.6A Pending CN108507580A (en) | 2018-06-19 | 2018-06-19 | A kind of mobile robot platform self aligning system and method for self-locating |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108507580A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111694009A (en) * | 2020-05-07 | 2020-09-22 | 南昌大学 | Positioning system, method and device |
| CN114007189A (en) * | 2021-10-25 | 2022-02-01 | 北京和点文化科技有限公司 | Intelligent air purification robot, interaction method thereof and computer-readable storage medium |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107404704A (en) * | 2017-07-25 | 2017-11-28 | 王奋勤 | A kind of method and system for the indoor positioning being used under conference scenario |
| CN107992035A (en) * | 2017-11-15 | 2018-05-04 | 西北工业大学 | A kind of Multi Mobile Robots Formation's control method based on indoor Global localization |
-
2018
- 2018-06-19 CN CN201810629057.6A patent/CN108507580A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107404704A (en) * | 2017-07-25 | 2017-11-28 | 王奋勤 | A kind of method and system for the indoor positioning being used under conference scenario |
| CN107992035A (en) * | 2017-11-15 | 2018-05-04 | 西北工业大学 | A kind of Multi Mobile Robots Formation's control method based on indoor Global localization |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111694009A (en) * | 2020-05-07 | 2020-09-22 | 南昌大学 | Positioning system, method and device |
| CN114007189A (en) * | 2021-10-25 | 2022-02-01 | 北京和点文化科技有限公司 | Intelligent air purification robot, interaction method thereof and computer-readable storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6585262B2 (en) | System and method for camera position and orientation measurement | |
| CN105547305B (en) | A kind of pose calculation method based on wireless location and laser map match | |
| JP5496096B2 (en) | Wireless terminal positioning system, environmental measurement system and equipment management system | |
| CN105072580B (en) | WIFI fingerprint map automated collection systems and method based on sweeping robot | |
| AU2012376428B2 (en) | Map data creation device, autonomous movement system and autonomous movement control device | |
| CN106405605B (en) | A kind of indoor and outdoor seamless positioning method and positioning system of the robot based on ROS and GPS | |
| CN102540141B (en) | System for positioning a tool in a work space | |
| US20140267703A1 (en) | Method and Apparatus of Mapping Landmark Position and Orientation | |
| CN104703118A (en) | System of indoor robot for locating mobile terminal based on bluetooth technology | |
| CN104796866A (en) | Indoor positioning method and device | |
| CN108919825A (en) | The unmanned plane indoor locating system and method for having barrier avoiding function | |
| CN105352508A (en) | Method and device of robot positioning and navigation | |
| CN103841642A (en) | Three-dimensional positioning method in a room | |
| CN102209386A (en) | Indoor wireless positioning method and device | |
| CN108844543A (en) | Indoor AGV navigation control method based on UWB positioning and dead reckoning | |
| WO2019037668A1 (en) | Self-moving robot and travel method thereof, and obstacle distribution display method | |
| CN112197741B (en) | Unmanned aerial vehicle SLAM technology inclination angle measuring system based on extended Kalman filtering | |
| CN104133192A (en) | Agricultural machine navigation system and method applied to small and medium-sized farmland | |
| CN103543434A (en) | Indoor positioning system, indoor positioning cell phone and indoor positioning method | |
| CN104089649A (en) | System and method for collecting indoor environment data | |
| CN106375937A (en) | Indoor positioning control system based on sensing | |
| CN108507580A (en) | A kind of mobile robot platform self aligning system and method for self-locating | |
| CN109029423A (en) | Substation's indoor mobile robot navigation positioning system and its navigation locating method | |
| CN104202725A (en) | Indoor fingerprint collection method, device and apparatus | |
| WO2017000784A1 (en) | Motion control device and motion control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180907 |
|
| RJ01 | Rejection of invention patent application after publication |