CN111367320A - Management method and management system for indoor mobile robot - Google Patents
Management method and management system for indoor mobile robot Download PDFInfo
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- CN111367320A CN111367320A CN201811600730.XA CN201811600730A CN111367320A CN 111367320 A CN111367320 A CN 111367320A CN 201811600730 A CN201811600730 A CN 201811600730A CN 111367320 A CN111367320 A CN 111367320A
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Abstract
The application relates to the technical field of intelligent control, and particularly discloses a management method and a management system of an indoor robot, which comprise the following steps: acquiring first ranging information of the robot acquired by a UWB base station, and calculating the pose of the robot according to the first ranging information; acquiring second ranging information of a target person acquired by the UWB base station, wherein the target person carries a UWB tag; determining the relative position relation between the target person and the robot according to the second ranging information and the pose; and instructing the robot to follow the target person through the relative position relation and the motion control instruction. The process can acquire the global position information of the robot and the global orientation angle of the robot, so that the target person can be automatically followed in an omnidirectional manner.
Description
Technical Field
The application relates to the technical field of intelligent control, in particular to a management method and a management system for an indoor mobile robot.
Background
With the popularization and deep development of Location Based Service (LBS), the Ultra Wide Band (UWB) technology is more and more widely applied to the field of wireless indoor positioning due to the advantages of high positioning accuracy, strong anti-interference capability, high resolution, good concealment and the like. When the robot moves indoors, the robot generally needs to be positioned or followed by personnel through the robot, but the traditional robot positioning method has high operation cost and poor environmental adaptability and cannot meet the requirements of users,
the indoor robot positioning and following low-cost and high-precision operation is realized through the UWB technology, but when the robot is positioned through the UWB technology, the absolute coordinate point of the robot in a scene can only be obtained, the obtained effective information is single, and the extensible function is few. The robot based on UWB follows, through place UWB antenna array module or a plurality of UWB basic station on the robot main part, the mode of followed object carrying the label can acquire the positional information of followed object for the robot in real time, and its shortcoming can only detect the relative positional information of the two, is not convenient for monitor and management to the robot.
Disclosure of Invention
In view of this, embodiments of the present application provide a management method and a management system for an indoor robot to solve the problem in the prior art that when the indoor robot moves or follows through the UWB technology, the acquired location information is single, and it is inconvenient to manage the robot.
A first aspect of an embodiment of the present application provides a method for managing an indoor mobile robot, where the method for managing an indoor mobile robot includes:
the method comprises the steps of obtaining first ranging information of the robot collected by the UWB base station, wherein at least two UWB tags are arranged at different positions of the robot, and the UWB base station comprises a plurality of UWB tags.
Calculating a pose of the robot according to the first ranging information, wherein the pose comprises an absolute position of the robot and an orientation angle of the robot.
And acquiring second ranging information of the target person acquired by the UWB base station, wherein the target person carries a UWB tag.
And determining the relative distance and angle relationship between the target person and the robot according to the second ranging information and the pose.
And instructing the robot to follow the target person through the relative distance and angle relationship and the motion control instruction.
Optionally, the method for managing an indoor mobile robot further includes:
and selecting a tag to be detected from the at least two UWB tags.
And respectively acquiring third measurement information of the robot acquired by any two UWB base stations according to the tag to be detected.
And calculating the third measurement information by trilateration and K-Means algorithm to obtain the position of the robot.
Optionally, when there are two UWB tags, the first ranging information includes ranging information of the first UWB tag received by each UWB base station and ranging information of the second UWB tag received by each UWB base station.
Optionally, the calculating the pose of the robot according to the first ranging information includes:
and calculating a first absolute position of the robot through the ranging information of the first UWB tag received by each UWB base station.
And calculating a second absolute position of the robot through the ranging information of the second UWB tag received by each UWB base station.
Taking coordinate information at center positions of the first position and the second position as an absolute position of the robot;
and taking the angle of the connecting line of the first absolute position and the second absolute position relative to the x-axis of the global coordinate as the orientation angle of the robot.
Optionally, the method for managing an indoor mobile robot further includes:
when the robot includes a plurality of pieces, the ID information of any one UWB tag set on each robot is acquired.
And acquiring the distance between any two robots according to the ID information and the pose.
And if the distance between any two robots is smaller than the preset distance, sending alarm information and sending motion operation to any two robots again.
A second aspect of the embodiments of the present application provides a management system for an indoor mobile robot, including: a plurality of UWB basic stations, be provided with robot and the customer end of two at least UWB tags, wherein:
the UWB base station is used for collecting first ranging information of the robot and second ranging information of a target person and sending the first ranging information and the second ranging information to the client.
The client is used for receiving the first ranging information and the second ranging information and calculating the pose of the robot according to the first ranging information, wherein the pose comprises the absolute position of the robot and the orientation angle of the robot; and determining the relative distance and angle relationship between the target person and the robot according to the second ranging information and the pose.
And the client is also used for indicating the robot to follow the target person through the relative distance and angle relationship and the motion control instruction.
Optionally, the client is further configured to:
and selecting a tag to be detected from the at least two UWB tags.
And respectively acquiring third measurement information of the robot acquired by any two UWB base stations according to the tag to be detected.
And calculating the third measurement information by trilateration and K-Means algorithm to obtain the position of the robot.
Optionally, when there are two UWB tags, the first ranging information includes ranging information of the first UWB tag received by each UWB base station and ranging information of the second UWB tag received by each UWB base station.
Optionally, when the client calculates the pose of the robot according to the first ranging information, the client is specifically configured to:
and calculating a first absolute position of the robot through ranging information sent by the first UWB tag and received by each UWB base station.
And calculating a second absolute position of the robot through ranging information sent by the second UWB tag and received by each UWB base station.
Taking coordinate information at center positions of the first position and the second position as an absolute position of the robot;
and taking the angle of the connecting line of the first absolute position and the second absolute position relative to the x-axis of the global coordinate as the orientation angle of the robot.
Optionally, the client is further configured to:
when the robot includes a plurality of pieces, the ID information of any one UWB tag set on each robot is acquired.
And acquiring the distance between any two robots according to the ID information and the pose.
And if the distance between any two robots is smaller than the preset distance, sending alarm information and sending motion operation to any two robots again.
According to the embodiment provided by the application, when the target person is followed, the pose of the robot is determined through ranging information sent by a plurality of UWB (ultra wideband) tags arranged on the robot, and then the relative position relation between the robot and the ranging information sent by the UWB tags carried by the target person is determined according to the ranging information sent by the UWB tags, so that the robot can follow the target person according to the determined relative position relation and the motion control instruction. The process can acquire the global position information of the robot and the orientation angle of the robot in the global state, and further realize the omnidirectional automatic following of the target personnel.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below.
Fig. 1 is a schematic structural diagram of a management system of an indoor mobile robot according to an embodiment of the present disclosure;
fig. 2 is a schematic implementation flow diagram of a management method for an indoor mobile robot according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the application and do not constitute a limitation on the application.
In order to explain the technical solution described in the present application, the following description will be given by way of specific examples.
The first embodiment is as follows:
fig. 1 is a schematic structural diagram illustrating a management system of an indoor mobile robot according to an embodiment of the present application, where the management system of the indoor mobile robot includes a plurality of UWB base stations, a robot provided with at least two UWB tags, and a client (i.e., robot management software in fig. 1).
The following describes an operation process of the management system for an indoor mobile robot provided in the present application when there are 4 UWB base stations with reference to fig. 1.
When there are 4 UWB base stations, four UWB base stations a0, a1, a2, and A3 are disposed at four corners in an indoor scene, enclosing a rectangular area. And each base station respectively realizes ranging with a plurality of UWB (ultra wide band) tags by a time slice round-robin scheduling method, the UWB tags are arranged at different positions of the robot moving in the rectangular area, personnel move in the rectangular area and need to be followed by the robot, and the UWB tags are arranged on the robot for the personnel to follow and the person to be followed. When the UWB tag has a plurality of pieces, it can be distinguished by ID information of the UWB tag.
The management system of the indoor mobile robot further comprises a client (a program for managing the robot runs in the client), the client acquires ranging information of the UWB base station, and high-precision positioning of the UWB tag is achieved through a positioning algorithm. The client can also monitor the absolute position information of different robots in real time, realize the functions of electronic fence, arrival at a designated area and the like, can also carry out human-computer interaction, and realize the functions of automatic following, one-key calling and the like.
The operation process of the management system of the mobile robot is as follows:
the UWB base station is used for acquiring first ranging information of the robot and second ranging information of a target person, and sending the first ranging information and the second ranging information to the client;
the client is used for receiving the first ranging information and the second ranging information and calculating the pose of the robot according to the first ranging information, wherein the pose comprises the absolute position of the robot and the orientation angle of the robot, and the relative distance and angle relation between the target person and the robot are determined according to the second ranging information and the pose;
and the client is also used for indicating the robot to follow the target person through the relative distance and angle relationship and the motion control instruction.
In the embodiment provided by the application, two UWB tags can be carried in a manner that one tag is respectively arranged on the left side and the right side of the head or the arm of the robot (for example, the tags TR0 and TR1 in fig. 1 are respectively arranged on the two arms of the robot). If the person to be followed and the target person exist in the rectangular area, the target person is allowed to carry a UWB tag (for example, the tag TP in fig. 1), and the person or the robot carrying the UWB tag moves in the area surrounded by the UWB base station.
When there are two UWB tags, the first ranging information includes ranging information of the first UWB tag received by each UWB base station and ranging information of the second UWB tag received by each UWB base station.
When the client calculates the pose of the robot according to the first ranging information, the client is specifically configured to:
calculating a first absolute position of the robot through ranging information of the first UWB tag received by each UWB base station; calculating a second absolute position of the robot through ranging information of the second UWB tag received by each UWB base station; taking coordinate information at center positions of the first position and the second position as an absolute position of the robot; and taking the angle of the connecting line of the first absolute position and the second absolute position relative to the x-axis of the global coordinate as the orientation angle of the robot.
Any UWB base station in the system collects the ranging information sent by each label and then sends the ranging information to the client, the collected ranging information comprises the ranging information sent by the labels TR0 and TR1 for the robot, and the collected ranging information comprises the ranging information sent by the label TP for the target user. At this time, when the client receives the first ranging information (i.e., ranging information for the robot) and the second ranging information (i.e., ranging information for the target person) transmitted from the UWB base station, absolute position coordinates of tag TR0, tag TR1, and tag TP are calculated, respectively, and then coordinates at the center positions of tag TR0 and tag TR1 are taken as robot position coordinates.
The method comprises the steps of determining the position relation of a target person relative to a robot according to the position coordinates of the robot and the position coordinates of a label TP, specifically, calculating angle information α of the target person relative to the central axis of the robot and the distance d between the target person and the center of the robot, converting an absolute coordinate system into a relative coordinate system by taking the center of the position coordinates of the robot as an original point and the plane where the robot is located as an x axis, calculating the coordinates (x, y) of the target person relative to the robot, and finally realizing the following of the robot to the target person by combining a motion control command, wherein the motion control command can be sent to a client by a user or can be stored in a preset position in advance and the client calls the control command when in use.
According to the embodiment provided by the application, when the target person is tracked, the pose of the robot is determined through ranging information sent by a plurality of UWB (ultra wideband) tags arranged on the robot, and then the relative position relation between the robot and the ranging information sent by the UWB tags carried by the target person is determined according to the ranging information sent by the UWB tags, so that the robot can follow the target person according to the determined relative position relation and the motion control instruction. The process can acquire the global position information of the robot and the orientation angle of the robot in the global state, and further realize the omnidirectional automatic following of the target personnel.
Optionally, in another embodiment provided by the present application, the client is further configured to:
selecting a tag to be detected from the at least two UWB tags;
respectively acquiring third measurement information of the robot acquired by any two UWB base stations according to the tag to be detected;
and calculating the third measurement information by trilateration and K-Means algorithm to obtain the position of the robot.
Specifically, if the robot needs to be located or a person moving in the system needs to be located, two or one UWB tags may be set on the robot or the moving person, and for a robot provided with a plurality of UWB tags, one of the UWB tags may be arbitrarily selected according to ID information of the UWB tag to acquire ranging information of the selected UWB tag, and the robot may be located according to the ranging information. For example, in fig. 1, UWB base stations a0, a1, a2 and A3 are fixed at four corners in the environment, and enclose a rectangular UWB channel region, in which a robot carrying a tag moves, and each base station realizes ranging with the tag through UWB signals; utilizing a group of base stations to carry out trilateration positioning algorithm on A0 and A1 and a UWB tag on the robot to obtain two solutions of the coordinate of the tag, wherein one solution is an effective solution, and the other solution is an invalid solution; and obtaining coordinate solutions of other base station pairs and the label in the same way, wherein the effective solutions cannot intersect at the same point due to the existence of the ranging error, so a K-Means clustering algorithm is adopted to obtain a set of the effective solutions, the center of the set is the positioning coordinate of the UWB label, and the clustering number K is determined by the number of the selected base station pairs. In the step, the high-precision UWB positioning is realized by using a trilateration algorithm and a K-Means algorithm, effective points are selected and positioning results are obtained in an unsupervised learning mode, only parameters of an algorithm interface are required to be provided, and excessive manual intervention is not required.
Optionally, in another embodiment provided by the present application, the client is further configured to:
when the robot comprises a plurality of robots, acquiring ID information of any UWB tag arranged on each robot;
acquiring the distance between any two robots according to the ID information and the pose;
and if the distance between any two robots is smaller than the preset distance, sending alarm information and sending motion operation to any two robots again.
If the system comprises a plurality of mobile robots, in order to prevent the robots from colliding in the moving process, the distance between the robots is monitored according to UWB (ultra wide band) tags arranged on each robot, then a safe distance threshold value is set, and an alarm is given out and the moving operation is issued again when the two robots are close to each other. In addition, as shown in fig. 1, a parking area is arranged in a UWB channel, the robot autonomously moves to a charging area when the power of the robot is insufficient, and an electronic fence is arranged to give an alarm when the robot approaches an entrance prohibition area. By means of high-precision positioning of the UWB tags and robot posture state sensing, the motion states of multiple robots and multiple persons in a scene can be monitored in real time, and unified management and scheduling of the robots are facilitated.
In the embodiment provided by the application, under the condition that UWB hardware resources are fixed, the posture state perception of multiple robots is realized through a special deployment mode of a UWB base station and a UWB tag, the positioning, following and scheduling functions of the mobile robot are integrated, the multifunctional and integrated management of the robot is realized, and the utilization rate of hardware equipment is improved.
Example two:
fig. 2 shows a schematic implementation flow diagram of a management system of an indoor robot provided in an embodiment of the present application, including steps S21-S24, where:
step S21, acquiring first ranging information of the robot acquired by the UWB base station, wherein at least two UWB tags are arranged at different positions of the robot, and the UWB base station comprises a plurality of UWB tags.
And step S22, calculating the pose of the robot according to the first ranging information, wherein the pose comprises the absolute position of the robot and the orientation angle of the robot.
And step S23, acquiring second ranging information of the target person acquired by the UWB base station, wherein the target person carries a UWB tag.
And step S24, determining the relative distance and angle relation between the target person and the robot according to the second ranging information and the pose.
And step S25, instructing the robot to follow the target person through the relative distance and angle relationship and the motion control command.
Optionally, the method for managing an indoor mobile robot further includes:
selecting a tag to be detected from the at least two UWB tags;
respectively acquiring third measurement information of the robot acquired by any two UWB base stations according to the tag to be detected;
and calculating the third measurement information by trilateration and K-Means algorithm to obtain the position of the robot.
Optionally, when there are two UWB tags, the first ranging information includes ranging information of the first UWB tag received by each UWB base station and ranging information of the second UWB tag received by each UWB base station.
Optionally, the calculating the pose of the robot according to the first ranging information includes:
calculating a first absolute position of the robot through ranging information of the first UWB tag received by each UWB base station;
calculating a second absolute position of the robot through ranging information of the second UWB tag received by each UWB base station;
taking coordinate information at center positions of the first position and the second position as an absolute position of the robot;
and taking the angle of the connecting line of the first absolute position and the second absolute position relative to the x-axis of the global coordinate as the orientation angle of the robot.
Optionally, the method for managing an indoor mobile robot further includes:
when the robot comprises a plurality of robots, acquiring ID information of any UWB tag arranged on each robot;
acquiring the distance between any two robots according to the ID information and the pose;
and if the distance between any two robots is smaller than the preset distance, sending alarm information and sending motion operation to any two robots again.
The implementation process of the above steps is referred to as the operation process of the management system of the indoor mobile robot in the first embodiment, and is not described herein again.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A method for managing an indoor mobile robot, comprising:
acquiring first ranging information of a robot, which is acquired by a UWB base station, wherein at least two UWB tags are arranged at different positions of the robot, and the UWB base station comprises a plurality of UWB tags;
calculating a pose of the robot according to the first ranging information, wherein the pose comprises an absolute position of the robot and an orientation angle of the robot;
acquiring second ranging information of a target person acquired by the UWB base station, wherein the target person carries a UWB tag;
determining the relative distance and angle relation between the target person and the robot according to the second ranging information and the pose;
and instructing the robot to follow the target person through the relative distance and angle relationship and the motion control instruction.
2. The method of managing an indoor mobile robot according to claim 1, further comprising:
selecting a tag to be detected from the at least two UWB tags;
respectively acquiring third measurement information of the robot acquired by any two UWB base stations according to the tag to be detected;
and calculating the third measurement information by trilateration and K-Means algorithm to obtain the position of the robot.
3. The method for managing an indoor mobile robot according to claim 1, wherein when there are two UWB tags, the first ranging information includes ranging information of the first UWB tag received by each UWB base station and ranging information of the second UWB tag received.
4. The method for managing an indoor mobile robot according to claim 3, wherein the calculating the pose of the robot based on the first ranging information includes:
calculating a first absolute position of the robot through ranging information of the first UWB tag received by each UWB base station;
calculating a second absolute position of the robot through ranging information of the second UWB tag received by each UWB base station;
taking coordinate information at center positions of the first position and the second position as an absolute position of the robot;
and taking the angle of the connecting line of the first absolute position and the second absolute position relative to the x-axis of the global coordinate as the orientation angle of the robot.
5. The method of managing an indoor mobile robot according to any one of claims 1 to 4, further comprising:
when the robot comprises a plurality of robots, acquiring ID information of any UWB tag arranged on each robot;
acquiring the distance between any two robots according to the ID information and the pose;
and if the distance between any two robots is smaller than the preset distance, sending alarm information and sending motion operation to any two robots again.
6. A management system for an indoor mobile robot, comprising: a plurality of UWB basic stations, be provided with robot and the customer end of two at least UWB tags, wherein:
the UWB base station is used for acquiring first ranging information of the robot and second ranging information of a target person, and sending the first ranging information and the second ranging information to the client;
the client is used for receiving the first ranging information and the second ranging information and calculating the pose of the robot according to the first ranging information, wherein the pose comprises the absolute position of the robot and the orientation angle of the robot; determining the relative distance and angle relation between the target person and the robot according to the second ranging information and the pose;
and the client is also used for indicating the robot to follow the target person through the relative distance and angle relationship and the motion control instruction.
7. The management system of an indoor mobile robot according to claim 6, wherein the client is further configured to:
selecting a tag to be detected from the at least two UWB tags;
respectively acquiring third measurement information of the robot acquired by any two UWB base stations according to the tag to be detected;
and calculating the third measurement information by trilateration and K-Means algorithm to obtain the position of the robot.
8. The management system for an indoor mobile robot according to claim 6, wherein when there are two UWB tags, the first ranging information includes ranging information of the first UWB tag received by each UWB base station and ranging information of the second UWB tag received.
9. The system for managing an indoor mobile robot according to claim 8, wherein the client, when calculating the pose of the robot based on the first ranging information, is specifically configured to:
calculating a first absolute position of the robot through ranging information of the first UWB tag received by each UWB base station;
calculating a second absolute position of the robot through ranging information of the second UWB tag received by each UWB base station;
taking coordinate information at center positions of the first position and the second position as an absolute position of the robot;
and taking the angle of the connecting line of the first absolute position and the second absolute position relative to the x-axis of the global coordinate as the orientation angle of the robot.
10. The management system for an indoor mobile robot according to any one of claims 6 to 9, wherein the client is further configured to:
when the robot comprises a plurality of robots, acquiring ID information of any UWB tag arranged on each robot;
acquiring the distance between any two robots according to the ID information and the pose;
and if the distance between any two robots is smaller than the preset distance, sending alarm information and sending motion operation to any two robots again.
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| CN113923592A (en) * | 2021-10-09 | 2022-01-11 | 广州宝名机电有限公司 | Target following method, device, equipment and system |
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| CN114630262A (en) * | 2020-11-26 | 2022-06-14 | Oppo广东移动通信有限公司 | Positioning method and device, electronic equipment, ultra-wideband base station and storage medium |
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