CN109240307B - Accurate positioning system of robot - Google Patents
Accurate positioning system of robot Download PDFInfo
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- CN109240307B CN109240307B CN201811286446.XA CN201811286446A CN109240307B CN 109240307 B CN109240307 B CN 109240307B CN 201811286446 A CN201811286446 A CN 201811286446A CN 109240307 B CN109240307 B CN 109240307B
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- 238000012545 processing Methods 0.000 claims description 10
- 230000029058 respiratory gaseous exchange Effects 0.000 claims description 9
- 239000003086 colorant Substances 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 5
- 238000012937 correction Methods 0.000 abstract description 3
- 230000006698 induction Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 125000004122 cyclic group Chemical group 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000005358 geomagnetic field Effects 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
-
- 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
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
-
- 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
-
- 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
-
- 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Business, Economics & Management (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Game Theory and Decision Science (AREA)
- Medical Informatics (AREA)
- Computer Vision & Pattern Recognition (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an accurate positioning system of a robot, which comprises a movable robot, an identification code which is attached indoors and has independent codes, and a first transmitter which is placed at a butt joint point, wherein the first transmitter comprises a first transmitter body and a second transmitter body; the receiver is arranged on the robot and used for receiving the light signal sent by the first transmitter; the number of the receivers is three, and the receivers are respectively a first receiver, a second receiver and a third receiver which are distributed in an isosceles triangle shape; the robot is provided with a built-in map with an address corresponding to the code and is in signal connection with the robot through a cloud end, and the idle robot moves to the scanned identification code address to execute a task according to the position on the built-in map; and after the receiver receives the light signal sent by the first transmitter, the robot moves to the butt joint point along the light signal. The three-point positioning (the first receiver, the second receiver and the third receiver) provides a correction compensation function for the operation of the robot, improves the butt joint error of the robot and achieves millimeter-level accurate positioning.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot accurate positioning system.
Background
A Robot (Robot) is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of the robot is to assist or replace the work of human work, such as production industry, construction industry or dangerous work, and the robot is developed rapidly at present and is applied to various industries.
In service industries such as restaurants, hotels and the like, the service robot can be used for goods delivery, ordering and other operations. At present, the robot positioning adopts radar positioning, a physical magnetic stripe track or a physical track to finish accurate positioning, the two modes need to lay the track manually, the manufacturing cost is high, and the track is fixed and lacks flexibility; if rail-guided positioning is not used, positioning will generate certain errors.
Disclosure of Invention
In order to overcome the above disadvantages, the present invention provides a precise positioning system for a robot, which enables the robot to reach a preset position precisely.
In order to achieve the above purposes, the invention adopts the technical scheme that: a robot accurate positioning system comprises a movable robot connected with a cloud server, wherein a receiver matched with a first emitter at a butt joint point is arranged on the robot and used for receiving a light signal emitted by the first emitter; the number of the receivers is three, and the receivers are respectively a first receiver, a second receiver and a third receiver which are distributed in an isosceles triangle shape; the first receiver positioned at the vertex of the isosceles triangle is placed at the center of the robot, is in butt joint with the light signal of the first transmitter and then is communicated with the first transmitter, and is used for determining the moving direction of the robot; the second receiver and the third receiver are arranged on two sides of the first receiver, and the error range of the robot is limited by setting the distance between the second receiver and the third receiver.
The first receiver is automatically aligned with the light after receiving the light, the robot and the butt joint point are ensured to be on the same straight line, the second receiver and the third receiver automatically rotate to capture optical signals, the optical signals are kept between the second receiver and the third receiver, the positioning is completed at the moment, the robot moves forwards along the light path, the system continuously works in the advancing process, and the robot is ensured not to deviate.
After the positioning is initially successful, the three-point positioning (the first receiver, the second receiver and the third receiver) provides a correction compensation function for the operation of the robot, improves the butt joint error of the robot and achieves millimeter-level accurate positioning.
Furthermore, identification codes are arranged in the moving range of the robot, a user can use a mobile phone and the like to identify codes attached to indoor identification codes, the codes on each identification code are independent coordinate information, and the codes correspond to addresses on a built-in map of the robot; after a user scans a corresponding identification code through a client, a task instruction is input, the instruction is sent to an idle robot through a cloud end, and the robot moves to the scanned identification code address according to the position on a built-in map to execute a task. After a user scans codes through terminals such as a mobile phone and the like, a robot executing a corresponding task can mark a corresponding address on a built-in map, and the robot moves to a specified position according to a map prompt. The identification code can be a two-dimensional code, a character, a pattern and the like.
Furthermore, in the activity scene of the robot, two or more than two UWB tags with different positions and heights are arranged, particularly under the condition of multiple floors, the robot can identify the physical position of the robot through pulse signals of the UWB tags, so that the robot is prevented from getting lost in a highly similar environment, or under the condition of system and hardware faults, the robot is ensured not to be lost through physical positioning, and the safety of the robot is ensured.
Further, install magnetic stripe induction system on the robot base, lay the annular magnetic stripe on the subaerial near butt joint place, magnetic stripe induction system senses annular magnetic stripe after the robot will follow outer lane to inner circle removal and calibration along laying the annular magnetic stripe, reach the assigned position, guarantee that the robot can not deviate.
Further, breathing lamp belts are installed at the top, the bottom and the logo of the robot; the user autonomously selects colors such as single color, double color, multicolor and the like as the indication colors of the breathing lamps through the client, and the instruction is sent to the robot with the specified service through the cloud; after the corresponding robot receives the cloud instruction, the breathing lamp strip on the corresponding robot flickers according to the color selected by the guest to serve as an indication. The robot finds the guests needing service through a positioning technology, and the guests can find the robot serving themselves at a glance through the difference of the colors of the lamp strips in a plurality of robots. Simultaneously, the twinkling lamp area can also prevent personnel's collision in dark surrounds, increases the security of robot operation.
Further, the robot is provided with a tracking projection device, and pictures can be projected onto the ground according to needs. On one hand, the advertisement content can be projected, and in addition, some interactive pictures can be projected, so that the interestingness of the robot is increased.
Further, a panoramic camera connected with the processing unit is arranged on the robot, and the panoramic camera is arranged at the upper end of the robot. Peripheral conditions can be observed through the panoramic camera, and the robot is facilitated to avoid obstacles.
Further, the robot is further provided with a wireless communication module connected with the processing unit and used for being connected with an external server. Therefore, the robots and the server can be connected into a wireless local area network, information obtained by each robot is collected to the server, and the robots can access each other through the server through the wireless communication module to obtain the positioning information of the other side.
Further, a gyroscope, a digital compass and an accelerometer are arranged in the robot. The above-mentioned instrument is used for the self-location of robot to the position of better definite robot.
Further, the processing unit includes an embedded STM32 chip and memory coupled thereto. The built-in map is preset in the memory.
Detailed Description
The following detailed description of the preferred embodiments of the present invention is provided to enable those skilled in the art to more readily understand the advantages and features of the present invention, and to clearly and unequivocally define the scope of the present invention.
Examples
The embodiment provides an accurate positioning system for a robot, which comprises a movable robot connected with a cloud server, wherein after a user places an order at a client, instruction data can be transmitted to the robot with specified service through the cloud server, and the robot executes corresponding operation.
In order to overcome the problem of insufficient positioning accuracy of the robot in the prior art, the following method is adopted in the embodiment for improvement.
The robot is provided with a receiver matched with the first emitter at the butt joint point and used for receiving light signals emitted by the first emitter; the number of the receivers is three, and the receivers are respectively a first receiver, a second receiver and a third receiver which are distributed in an isosceles triangle shape; the first receiver positioned at the vertex of the isosceles triangle is placed at the center of the robot, is in butt joint with the light signal of the first transmitter and then is communicated with the first transmitter, and is used for determining the moving direction of the robot; the second receiver and the third receiver are arranged on two sides of the first receiver, and the error range of the robot is limited by setting the distance between the second receiver and the third receiver.
The first receiver is automatically aligned with the light after receiving the light, the robot and the butt joint point are ensured to be on the same straight line, the second receiver and the third receiver automatically rotate to capture optical signals, the optical signals are kept between the second receiver and the third receiver, the positioning is completed at the moment, the robot moves forwards along the light path, the system continuously works in the advancing process, and the robot is ensured not to deviate. Because three-point positioning (the first receiver, the second receiver and the third receiver) provides a correction compensation function for the operation of the robot, the butt joint error of the robot is improved, and millimeter-level accurate positioning is achieved.
In actual use, the robot has a processing unit including an embedded STM32 chip for data processing and a memory connected thereto for storing data, with a built-in map being preset in the memory. The robot is provided with an identifier which can identify codes attached to indoor identification codes, the codes on each identification code are independent, and the codes correspond to addresses on a built-in map of the robot; after a user scans codes on corresponding identification codes through a client, the command is sent to a robot with specified service through a cloud end, and the robot moves to the scanned identification code address according to the position on a built-in map. The customer only needs to sweep the sign indicating number through terminal equipment, need not manual input position information again, sweeps the sign indicating robot in high in the clouds back, and this robot can automatic acquisition position information, under indoor environment, also can accomplish centimeter level's position accurate. The identification code can be a two-dimensional code, a character, a pattern and the like.
In the activity scene of the robot, two or more than two UWB tags with different positions and heights are arranged, particularly under the condition of multiple floors, the robot can identify the physical position of the robot through pulse signals of the UWB tags, the robot is prevented from getting lost in a highly similar environment, or under the condition of system and hardware faults, the robot is ensured not to be lost through physical positioning, and the safety of the robot is ensured.
When the robot reaches the corresponding butt joint area, an annular magnetic strip is laid on the ground near the butt joint. Install magnetic stripe induction system on the robot base, the robot will remove and the calibration from the outer lane to the inner circle along laying cyclic annular magnetic stripe after magnetic stripe induction system senses cyclic annular magnetic stripe, reachs the assigned position, guarantees that the robot can not deviate.
In order to improve the identification degree of the robot, breathing lamp belts are arranged at the top, the bottom and a logo of the robot; the user autonomously selects colors such as single color, double color, multicolor and the like as the indication colors of the breathing lamps through the client, and the instruction is sent to the robot with the specified service through the cloud; after the corresponding robot receives the cloud instruction, the breathing lamp strip on the corresponding robot flickers according to the color selected by the guest to serve as an indication. The robot finds the guests needing service through a positioning technology, and the guests can find the robot serving themselves at a glance through the difference of the colors of the lamp strips in a plurality of robots. Simultaneously, the twinkling lamp area can also prevent personnel's collision in dark surrounds, increases the security of robot operation.
The robot in this embodiment is provided with a tracking projection device, and can project a picture on the ground as required. On one hand, the advertisement content can be projected, and in addition, some interactive pictures can be projected, so that the interestingness of the robot is increased.
In order to facilitate the stability of the robot in the walking process, the robot is provided with a panoramic camera connected with the processing unit, and the panoramic camera is arranged at the upper end of the robot. The number of the panoramic camera can be multiple, and multiple directions of the shooting robot are distributed. Peripheral conditions can be observed through the panoramic camera, and the robot is facilitated to avoid obstacles. A gyroscope, a digital compass and an accelerometer are arranged in the robot. The gyroscope confirms the rotation angle of the robot relative to the south and north poles of the geomagnetic field, so as to determine the orientation of the robot in the horizontal plane; the digital compass induces the geomagnetic field to determine the orientation of the robot relative to the north pole; the accelerometer is used for sensing the moving speed of the robot, so that the moving track of the robot can be confirmed conveniently. The three instruments are used for self-positioning of the robot, so that the position of the robot is better determined.
In this embodiment, the robot is further provided with a wireless communication module connected with the processing unit, and is used for being connected with an external server. Therefore, the robots and the server can be connected into a wireless local area network, information obtained by each robot is collected to the server, and the robots can access each other through the server through the wireless communication module to obtain the positioning information of the other side.
And (3) actual scene: after a user sits and fixes in a service place, the client is opened, the identification code at the indoor table corner is scanned, the client interface order is logged in, after the client interface order is completed, a corresponding instruction is sent to the cloud server through the client, and a corresponding robot is designated to send the order. The robot walks to a goods taking point according to a built-in map of the robot to take goods and delivers the goods according to the address on the identification code.
The above embodiments are merely illustrative of the technical concept and features of the present invention, and the present invention is not limited thereto, and any equivalent changes or modifications made according to the spirit of the present invention should be included in the scope of the present invention.
Claims (8)
1. The utility model provides an accurate positioning system of robot which characterized in that: the mobile robot is provided with a processing unit, is connected with a cloud server, and is provided with a receiver matched with a first emitter at a butt joint point for receiving a light signal emitted by the first emitter; the number of the receivers is three, and the receivers are respectively a first receiver, a second receiver and a third receiver which are distributed in an isosceles triangle shape; the first receiver positioned at the vertex of the isosceles triangle is placed at the center of the robot, is in butt joint with the light signal of the first transmitter and then is communicated with the first transmitter, and is used for determining the moving direction of the robot; the second receiver and the third receiver are arranged on two sides of the first receiver, and the error range of the robot is limited by setting the distance between the second receiver and the third receiver, wherein the first receiver is configured to align the light signal after receiving the light so as to ensure that the robot is in the same line with the butt joint, and the second receiver and the third receiver are configured to rotate so as to capture the light signal, so that the light signal is kept between the second receiver and the third receiver.
2. The precision robotic positioning system of claim 1, wherein: identification codes are arranged in the moving range of the robot, a user can use a mobile phone and the like to identify codes attached to indoor identification codes, the codes on each identification code are independent coordinate information, and the codes correspond to addresses on a built-in map of the robot; after a user scans a corresponding identification code through a client, a task instruction is input, the instruction is sent to an idle robot through a cloud end, and the robot moves to the scanned identification code address according to the position on a built-in map to execute a task.
3. The precision robotic positioning system of claim 2, wherein: the UWB tags with different positions and heights are arranged in the moving scene of the robot, the robot identifies the physical position of the robot through pulse signals sent by the UWB tags, and the robot is guaranteed not to be lost through physical positioning.
4. The robotic precision positioning system of claim 3, wherein: the robot base is provided with a magnetic stripe sensing device, an annular magnetic stripe is laid on the ground near the butt joint, and the robot moves and calibrates from an outer ring to an inner ring along the laid annular magnetic stripe after the magnetic stripe sensing device senses the annular magnetic stripe and reaches a designated position.
5. The robotic precision positioning system of any of claims 1-4, wherein: breathing lamp belts are arranged at the top, the bottom and the logo of the robot; the user autonomously selects colors such as single color, double color, multicolor and the like as the indication colors of the breathing lamps through the client, and the instruction is sent to the robot with the specified service through the cloud; after the corresponding robot receives the cloud instruction, the breathing lamp strip on the corresponding robot flickers according to the color selected by the guest to serve as an indication.
6. The robotic precision positioning system of claim 5, wherein: the robot is provided with a tracking projection device, and pictures can be projected onto the ground according to needs.
7. The robotic precision positioning system of claim 6, wherein: the robot is provided with a panoramic camera connected with the processing unit, and the camera is arranged at the upper end of the robot.
8. The robotic precision positioning system of claim 7, wherein: the robot is also provided with a wireless communication module connected with the processing unit and used for being connected with an external server.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2018111894241 | 2018-10-12 | ||
| CN201811189424 | 2018-10-12 |
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| CN109240307A CN109240307A (en) | 2019-01-18 |
| CN109240307B true CN109240307B (en) | 2021-07-27 |
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| CN111885423B (en) * | 2020-07-21 | 2022-05-31 | 上海智勘科技有限公司 | Positioning method and positioning system combining UWB and UTC time stamp synchronization |
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| CN106794381A (en) * | 2016-02-25 | 2017-05-31 | 深圳市创客工场科技有限公司 | Battle robot |
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