CN109582016A - A kind of robot system of multiband autonomous channel mass measurement - Google Patents
A kind of robot system of multiband autonomous channel mass measurement Download PDFInfo
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- G—PHYSICS
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- 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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- 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
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- 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
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- 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
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
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- H04B17/309—Measuring or estimating channel quality parameters
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Abstract
The present invention relates to a kind of robot systems of multiband autonomous channel mass measurement, belong to channel quality measurement technique field.The mapping relations of spatial position Yu multiband channel quality can independently be constructed.Including motion-control module and channel quality measurement module；Communication unit is connected with motion control unit, and communication unit is connected with target point administrative unit and map structure data generating unit respectively；Vision information processing unit is connected with external visual sensor input；Map structure data generating unit is connected with navigation positioning module；Motion control unit is connected with robot movement platform；Navigation positioning module is connected with data fusion unit；Vision information processing unit is connected with navigation positioning module；Result treatment unit is connected with data fusion unit；Control unit is connected with navigation positioning module, is also connected with N number of waveform.The present invention improves the collecting efficiency of frequency spectrum data, reduces the error rate of artificial channel measurement, whole system can autonomous operation, be not necessarily to human intervention.
Description
Technical field
The present invention relates to a kind of robot systems of multiband autonomous channel mass measurement, belong to robot control and letter
Road quality measurement technique field.
Background technique
With the rapid development of the technologies such as artificial intelligence, big data and cloud computing, the mankind are just accelerating into second of machine
Epoch, intellectualized technology are just changing the daily life of the mankind deeply.Artificial intelligence will become the technology pillar of intellectualization times,
And robot will become the carrier of artificial intelligence.It is bright in " the high-grade, digitally controlled machine tools and robot " field of " made in China 2025 "
Really indicate the Robot Helps Me To Avoid Danger that can complete dynamic, complex job mission.
Compared to single robot, it is suitable for the multi-robot system that " auto polymerization, is developed at self-organizing certainly " is characterization multiple
The demand of miscellaneous task.Also indicate that key breakthrough includes swarm intelligence, autonomous collaboration in " Artificial Intelligence Development planning of new generation "
With the basic theory including decision.Multi-robot system can effectively promote the execution efficiency of task, and system survivability is significant
It is promoted, it is also stronger to the adaptability of complex environment.
The performance of multirobot collaboration is dependent on the exchange for perceiving and controlling information, therefore the communication performance in the machine human world is protected
Hinder particularly significant.However, signal will receive the influence of path loss, large-scale fading and multipath fading in transmission process,
Lead to the uncertainty of communication quality.In order to solve this problem, it is necessary to accurate description is carried out to the channel quality of task environment,
And this depends on accurate modeling and prediction to channel.Based on channel model and actual measurement channel quality data to the parameter of model into
Row prediction is current main method, but this method depends on the high density precise acquisition of spatial channel quality, this is to manual letter
Road quality data collection is a challenge.In contrast, robot control has the advantages such as accurate, real-time, stable, this is channel
Autonomous, the accurate acquisition of qualitative data provides support.
And in the prior art, independent channel quality is often carried in the realization of autonomous channel mass measurement in robot
Measurement module carries out on-line measurement and record to channel quality, and the control of robot and channel quality measurement are discrete functions,
Lack unified organization framework.Meanwhile with the growth of radio communication service, radio spectrum resources will become more rare, more
Frequency range sharing frequency spectrum resource will become trend.And current realization rate is substantially the channel quality measurement towards fixed frequency range, it is right
Technology realization in terms of multiband autonomous channel mass measurement also lacks research and realizes.
Summary of the invention
The present invention is directed to overcome the prior art to cannot achieve computer control and channel quality measurement combination, i.e. multiband certainly
Main channel mass measurement system is not general enough and flexible, and the technological deficiency that artificial channel quality measurement is inefficient and error rate is high mentions
A kind of robot system of multiband autonomous channel mass measurement is gone out.
The technical solution used in the present invention is:
The robot system is installed and is run in the mission computer of robot carrying, including motion-control module
And channel quality measurement module；
Motion-control module mainly includes motion control unit, data fusion unit, communication unit, target point management list
Member, map structure data generating unit, Vision information processing unit and navigation positioning module；Channel quality measurement module is main
Including control unit and result treatment unit；
Channel matter of the information exchange from navigation positioning module between motion-control module and channel quality measurement module
The channel quality measurements of measurement instruction and the passback of result treatment unit.
Each module and the connection relationship of unit are as follows in motion-control module:
Communication unit is connected with earth station, and communication unit is connected with motion control unit, communication unit respectively with target point
Administrative unit and map structure data generating unit are connected；Vision information processing unit inputs phase with external visual sensor
Even；Map structure data generating unit is connected with navigation positioning module；Motion control unit is connected with robot movement platform；It leads
Boat locating module is connected with data fusion unit；Vision information processing unit is connected with navigation positioning module；
Each module and the connection relationship of unit are as follows in channel quality measurement module:
Result treatment unit is connected with data fusion unit；Control unit is connected with navigation positioning module；Control unit with
N number of waveform of external USRP hardware device output is connected；
The function of each unit is as follows in motion-control module in the robot system:
The function of Vision information processing unit is: the visual pattern of the current robot of camera acquisition is distributed to navigation
Locating module is used for the positioning of robot；
The function of map structure data generating unit is: completing fusion to each map layer, and by fused map
Information, which is converted to, can be used to the format map of robot navigation and issues；
The function of target point administrative unit is: satellite receiver send target point, and by target point according to timestamp into
Row combination, and it is published to navigation positioning module；
The function of navigation positioning module is: based on global map information, when the acquisition information and point of destination of preceding camera
Calibration information, the global path and local path of robot are planned, according to preset resolution ratio to channel quality survey
It measures module and sends channel quality measurement instruction, while current position is published to data fusion unit；
The function of motion control unit is: receiving the speed command from navigation positioning module, and is converted to motion control
Signal is sent to robot movement platform, while the status data of robot movement platform is sent to ground by communication unit
It stands；
The function of data fusion unit is: the spatial position message of channel quality measurements and robot is received, by two classes
Data are handled and are merged and are stored in database；
The function of communication unit is: establishing the robot system of multiband autonomous channel mass measurement and the communication of earth station
Link supports cartographic information, target point and the task of the robot system satellite receiver of multiband autonomous channel mass measurement
Instruction and the passback of robot movement platform status data.
The function of each unit is as follows in channel quality measurement module:
The function of control unit is: instructing according to channel quality measurement, suitable waveform is selected to realize designated frequency band channel
The measurement of quality；
The function of result treatment unit is: being filtered to the data measured, average and signal-to-noise ratio computation, by signal-to-noise ratio
Data fusion unit is sent to as channel quality is received；
The function of waveform is: establishing the communication link of fixed communication configuration based on software defined radio, calls
The measurement of USRP hardware device completion fixed frequency range channel quality.
The course of work of the robot system, includes the following steps:
Step A, when needing to measure channel quality, the mission computer carried from earth station to robot issues task and refers to
It enables, while cartographic information and target point transmission is also sent to mission computer；
Step B, the communication unit in mission computer receives and parses through assignment instructions, target point and original map data simultaneously
It is sent to navigation positioning module, target point administrative unit and map structure data generating unit；
For step C after target point and map datum are disposed, navigation positioning module can select first according to timestamp
Target point, whole system are completed to initialize and begin preparing to start to measure channel quality；
Step D navigation positioning module calls global path planning algorithm to calculate present bit according to target point and map datum
Set the path of first aim point；
Step E starts robot chassis setting in motion, while acquisition camera data carry out local positioning and carry out part
Trajectory planning；
In step F robot kinematics channel quality measurement module pair can be called according to preset resolution period
Multiband channel quality is measured and is acquired；
The robot spatial positional information and result treatment list that step G provides navigation positioning module by data fusion unit
The channel quality information that member provides is mapped and is stored in database；
Message passing mechanism of the communication using " publish/subscribe " between the channel quality measurement module, channel quality
Measurement module is connect by gigabit network interface with general software radio hardware device, Vision information processing unit and motion control list
Member is connect using USB interface with camera and robot chassis；
Beneficial effect
A kind of robot system of multiband autonomous channel measurement of the present invention has following beneficial compared with prior art
Effect:
1. system of the present invention realizes multiband autonomous channel mass measurement, multiband channel quality measurement is improved
Efficiency and precision, reduce the error rate of artificial channel measurement；
2. the present invention, can be effective effectively by multi-frequency range measurement channel quality and robot control fusion in a frame
The versatility and flexibility of lifting system are offered reference for the realization of other robot systems.
Detailed description of the invention
Fig. 1 is a kind of whole design block diagram of the robot system of multiband autonomous channel mass measurement of the present invention；
Fig. 2 is a kind of stream of the robot system channel quality measurement module of multiband autonomous channel mass measurement of the present invention
Journey schematic diagram；
Fig. 3 is that a kind of robot system of multiband autonomous channel mass measurement of the present invention is extended to multi-robot system
Embodiment schematic diagram.
Specific embodiment
The preferred embodiments of the present invention will be described in detail with reference to the accompanying drawing, so that advantages and features of the invention energy
It is easier to be readily appreciated by one skilled in the art, so as to make a clearer definition of the protection scope of the present invention.Attached drawing
Only for illustration, it should not be understood as the limitation to this patent；In order to better illustrate this embodiment, the certain component meetings of attached drawing
There is omission, zoom in or out, does not represent the size of actual product；To those skilled in the art, certain public affairs in attached drawing
Know that structure and its explanation may be omitted and be will be understood by.Positional relationship is described only for illustration in attached drawing, Bu Nengli
Solution is the limitation to this patent.
Embodiment 1
It is whole design block diagram of the invention shown in Fig. 1, whole system is by motion-control module and channel quality measurement mould
Block composition.In Fig. 1, communication unit and earth station's information exchange；Visual sensor exports original image information at visual information
It manages in unit；The dispersive target point that earth station's transmission comes generates sets of target points by target point administrative unit；Original map letter
Breath generates structurally diagram data through map structure data generating unit；Sets of target points, structurally diagram data and image
Characteristic information inputs navigation positioning module, output spatial position, speed command and channel quality measurement instruction；Spatial position and
From result treatment unit output treated channel quality measurements input data integrated unit；Channel quality measurement instruct to
Control unit；Control unit exports original channel quality measured values and gives result treatment unit；Control unit is realized fixed to N number of software
The switching control of adopted waveform, this N number of software definition waveform is by calling software radio hardware device to complete adopting for wireless signal
Collection.
It is the flow diagram of channel quality measurement module of the present invention shown in Fig. 2.Firstly, being penetrated by the reception of period logarithm antenna
Radiofrequency signal is then converted to digital medium-frequency signal by radio frequency daughter board by frequency signal, and motherboard passes through analog-to-digital conversion, sampling, number
The operation such as word filtering and extraction, is the signal for meeting software definition waveform requirements by digital medium-frequency signal processing, and pass through ether
Network interface is transferred in mission computer.Control unit in mission computer passes through control according to channel quality measurement instruction first
Selection switch completes the selection to software definition waveform, then carries out vectorization to the bit stream raw information received, obtains
Regular data structure, then mapping of the signal from time domain to frequency domain is completed by FFT transform.To avoid aperiodic truncation bring
Spectral leakage influences, and present invention employs Blackman-Harris window interpolation to be modified to FFT transform.Finally, to FFT's
Calculated result carries out modulus square, to obtain the energy spectrum of signal.The present invention realizes control with software defined radio
Unit processed specifically realizes the online handover mechanism to different wave using lock and unlock function in GNU Radio.
Motion-control module of the invention is based on ROS (Robot Operating System) realization, channel quality measurement
Module is based on GNU Radio frame and realizes channel quality measurement function shown in Fig. 2, and the message communicating between unit (module)
Using the distributed message communication mechanism of ROS.The frame normal form of ROS is followed, each unit (module) in Fig. 1 is represented as
" node ".Each node is instantiated as a process, is communicated by way of publish/subscribe between different nodes.
Software radio hardware device in the present invention selects USRP N210, simultaneously, it is contemplated that multiband channel quality
The demand of measurement, we select reception and processing component of the SBX radio frequency daughter board collocation log-periodic antenna as radiofrequency signal.Machine
We select TurtleBot2 mobile robot to device people motion platform, and equipped with Yujin Kobuki mobile base, Kinect
Visual sensor.The set software radio hardware device has the advantages that light, deployment is flexible, can be easy to be carried to
In TurtleBot2 robot.
Embodiment 2
The present invention more can intuitively expand to the case where multiple robots.
It is the schematic diagram that the present invention is extended to multirobot shown in Fig. 3.The extension uses center control machine system, by earth station
Center control nodes are responsible for the distribution of task, particularly as being that sets of target points is divided into N according to the principle of load balancing
A target point subset (assuming that robot number is N), and corresponding channel quality measurement robot is sent by each subset, from
As viewed from the perspective of each robot and monomer situation does not have essential distinction.Earth station's center control nodes are responsible for robotary
Tracking, current intelligence processing and collision avoidance etc..
The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (1)
1. the task computation of robot carrying is installed and run on to a kind of robot system of multiband autonomous channel mass measurement
In machine, including motion-control module and channel quality measurement module；It is characterized by: motion-control module mainly includes movement control
Unit processed, data fusion unit, communication unit, target point administrative unit, map structure data generating unit, Vision information processing
Unit and navigation positioning module；Channel quality measurement module mainly includes control unit and result treatment unit；
Information exchange between motion-control module and channel quality measurement module is surveyed from the channel quality of navigation positioning module
The channel quality measurements of amount instruction and the passback of result treatment unit；
Each module and the connection relationship of unit are as follows in motion-control module:
Communication unit is connected with earth station, and communication unit is connected with motion control unit, communication unit respectively with target point management
Unit and map structure data generating unit are connected；Vision information processing unit is connected with external visual sensor input；
Map structure data generating unit is connected with navigation positioning module；Motion control unit is connected with robot movement platform；Navigation
Locating module is connected with data fusion unit；Vision information processing unit is connected with navigation positioning module；
Each module and the connection relationship of unit are as follows in channel quality measurement module:
Result treatment unit is connected with data fusion unit；Control unit is connected with navigation positioning module；Control unit and outside
N number of waveform of USRP hardware device output is connected；
The function of each unit is as follows in motion-control module in the robot system:
The function of Vision information processing unit is: the visual pattern of the current robot of camera acquisition is distributed to navigator fix
Module is used for the positioning of robot；
The function of map structure data generating unit is: completing fusion to each map layer, and by fused cartographic information
Being converted to can be used to the format map of robot navigation and issues；
The function of target point administrative unit is: the target point that satellite receiver is sent, and target point is carried out group according to timestamp
It closes, and is published to navigation positioning module；
The function of navigation positioning module is: based on global map information, when the acquisition information of preceding camera and the mark of point of destination
Determine information, the global path and local path of robot are planned, according to preset resolution ratio to channel quality measurement mould
Block sends channel quality measurement instruction, while current position is published to data fusion unit；
The function of motion control unit is: receiving the speed command from navigation positioning module, and is converted to motion control signal
It is sent to robot movement platform, while the status data of robot movement platform is sent to earth station by communication unit；
The function of data fusion unit is: the spatial position message of channel quality measurements and robot is received, by two class data
It is handled and is merged and is stored in database；
The function of communication unit is: establishing the robot system of multiband autonomous channel mass measurement and the communication chain of earth station
Road supports cartographic information, target point and the task of the robot system satellite receiver of multiband autonomous channel mass measurement to refer to
Order and the passback of robot movement platform status data；
The function of each unit is as follows in channel quality measurement module:
The function of control unit is: instructing according to channel quality measurement, suitable waveform is selected to realize designated frequency band channel quality
Measurement；
The function of result treatment unit is: the data measured are filtered, average and signal-to-noise ratio computation, using signal-to-noise ratio as
It receives channel quality and is sent to data fusion unit；
The function of waveform is: establishing the communication link of fixed communication configuration based on software defined radio, calls USRP hard
The measurement of part equipment completion fixed frequency range channel quality；
The course of work of the robot system, includes the following steps:
Step A, when needing to measure channel quality, the mission computer carried from earth station to robot issues assignment instructions,
Cartographic information and target point transmission are also sent to mission computer simultaneously；
Step B, the communication unit in mission computer receives and parses through assignment instructions, target point and original map data and sends
To navigation positioning module, target point administrative unit and map structure data generating unit；
For step C after target point and map datum are disposed, navigation positioning module can select first aim according to timestamp
Point, whole system are completed to initialize and begin preparing to start to measure channel quality；
Step D navigation positioning module is called global path planning algorithm to calculate current location and is arrived according to target point and map datum
The path of first aim point；
Step E starts robot chassis setting in motion, while acquisition camera data carry out local positioning and carry out local path
Planning；
Channel quality measurement module can be called to multifrequency according to preset resolution period in step F robot kinematics
Section channel quality is measured and is acquired；
The robot spatial positional information and result treatment unit that step G provides navigation positioning module by data fusion unit to
Channel quality information out is mapped and is stored in database.
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|---|---|---|---|---|
| CN110492953A (en) * | 2019-07-31 | 2019-11-22 | 东南大学 | A kind of indoor multipath signal measurement method based on software radio |
| CN112241150A (en) * | 2019-07-17 | 2021-01-19 | Abb瑞士股份有限公司 | Method of channel mapping in an industrial process control system |
| CN113001541A (en) * | 2021-02-20 | 2021-06-22 | 深圳市科服信息技术有限公司 | Robot automatic control method |
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