CN201456005U - Mobile positioning system architecture for area robot - Google Patents

Mobile positioning system architecture for area robot Download PDF

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Publication number
CN201456005U
CN201456005U CN2009200754696U CN200920075469U CN201456005U CN 201456005 U CN201456005 U CN 201456005U CN 2009200754696 U CN2009200754696 U CN 2009200754696U CN 200920075469 U CN200920075469 U CN 200920075469U CN 201456005 U CN201456005 U CN 201456005U
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CN
China
Prior art keywords
control
ultrasonic wave
wireless
signal
circuit
Prior art date
Application number
CN2009200754696U
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Chinese (zh)
Inventor
徐哲昕
林琦彬
黄逸捷
李荣正
Original Assignee
上海工程技术大学
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Application filed by 上海工程技术大学 filed Critical 上海工程技术大学
Priority to CN2009200754696U priority Critical patent/CN201456005U/en
Application granted granted Critical
Publication of CN201456005U publication Critical patent/CN201456005U/en

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Abstract

The utility model discloses mobile positioning system architecture for an area robot. The robot comprises a left wheel, a right wheel, a control circuit of a left wheel motor for controlling the left wheel, a control circuit of a right wheel motor for controlling the right wheel, a singlechip trolley control system for outputting control signals to the control circuit of the left wheel motor and the control circuit of the right wheel motor, a system for controlling the transmitting terminal of the singlechip, as well as an ultrasonic wave transmitting circuit, an ultrasonic wave receiving circuit, a wireless sending module and a wireless receiving module which are connected between the system for controlling the transmitting terminal of the singlechip and the singlechip trolley control system. The mobile positioning system architecture adopts ultrasonic technology, wireless technology and the mode of acoustic wave correlation to measure distance, and can define the time when the acoustic waves are sent through wireless technology. In addition, the mobile positioning system architecture has the advantages of realization of straight-line positioning, simple structure, high accuracy and short response time.

Description

A kind of regional robot movable positioning system framework
Technical field
The utility model relates to a kind of movable positioning system framework, relates in particular to a kind of regional robot movable positioning system framework.
Background technology
Along with the unify fast development of Robotics of global positioning system, people have reached the unprecedented degree of depth and range for multi-functional and requirement hi-Fix, its way of realization is also abundant further, people can pass through onboard navigation system, portable navigation system etc., realize the control for self-position.But also multiple technologies in the application of different field new thinking have been proposed: at first be that for example people wish in indoor realization positioning functions such as warehouse, halls for high-precision positioning requirements among a small circle thereupon.Next is for the replenishing of gps system, and for example realizes locating or the like in the zone that satellite-signals such as tunnel can't arrive.Moreover people wish that robot can help the mankind to finish more more important work, has proposed robot positioning system's relevant issues and solution thus.For the positioning function that solves regional area and high security of system degree, applicant of the present utility model is devoted to set up a kind of mini-system that is used for the running fix of regional robot, and this mini system can reach higher precision and response time faster.
Summary of the invention
The purpose of this utility model is to overcome the defective of prior art and a kind of regional robot movable positioning system framework is provided, and by adopting ultrasonic technology and wireless technology, utilizes sound wave correlation mode to find range, can realize the straight line location, simple in structure, the precision height, the response time is fast.
The technical scheme that realizes above-mentioned purpose is: a kind of regional robot movable positioning system framework, robot comprises revolver and right wheel, wherein, comprise the revolver motor control circuit of controlling revolver, the right turbin generator control circuit of the right wheel of control, the output control signal is given the little vehicle control of single-chip microcomputer of described revolver motor control circuit and right turbin generator control circuit, the single chip microcomputers transmit end control system, be connected in the ultrasonic wave transtation mission circuit between described single chip microcomputers transmit end control system and the little vehicle control of single-chip microcomputer, the ultrasonic wave receiving circuit, wireless sending module and wireless receiving module, wherein:
Described ultrasonic wave transtation mission circuit receives the ultrasonic wave control signal from the single chip microcomputers transmit end control system, and the output ultrasonic wave signal is given described ultrasonic wave receiving circuit;
Described ultrasonic wave receiving circuit receives the ultrasonic signal from the ultrasonic wave transtation mission circuit, and this signal is amplified and rectification, and the output ultrasonic wave signal is given the little vehicle control of described single-chip microcomputer;
Described wireless sending module receives the wireless signal from the little vehicle control of single-chip microcomputer, outputs signal to described wireless receiving module;
Described wireless receiving module receives the signal from wireless sending module, and the output wireless signal is given described single chip microcomputers transmit end control system.
Above-mentioned regional robot movable positioning system framework wherein, also is equipped with antenna respectively on described wireless sending module and the described wireless receiving module.
The beneficial effects of the utility model are: the utility model is applied in the running fix of regional robot, adopted ultrasonic technology and wireless technology to realize accurate location, because ultrasonic wave directive property is strong, energy consumption is slow, the distance of propagating in medium is far away, thereby utilize ultrasound examination often relatively rapidly, convenient, calculate simple, be easy to accomplish real-time control, and aspect certainty of measurement, can reach the practical requirement of industry, low, simple in structure being easy to of ultrasonic technology cost realized; By adopting wireless technology to establish the moment that ultrasonic wave sends, because wireless technology is with light velocity propagation, its propagation time can ignore for zone among a small circle, has just in time satisfied the requirement of native system framework.
Description of drawings
Fig. 1 is the structural representation of regional robot of the present utility model movable positioning system framework.
The specific embodiment
The utility model is described in further detail below in conjunction with accompanying drawing.
See also Fig. 1, there is shown a kind of regional robot of the present utility model movable positioning system framework, robot comprises revolver (not shown) and right wheel (not shown), robot movable positioning system in zone comprises the revolver motor control circuit 1 of controlling revolver, the right turbin generator control circuit 2 of the right wheel of control, the single-chip microcomputer dolly control system 3 that the output control signal is given revolver motor control circuit 1 and right turbin generator control circuit 2, single chip microcomputers transmit end control system 4, be connected in the ultrasonic wave transtation mission circuit 5 between single chip microcomputers transmit end control system 4 and the single-chip microcomputer dolly control system 3, ultrasonic wave receiving circuit 6, wireless sending module 7 and wireless receiving module 8, wherein:
The ultrasonic wave control signal that ultrasonic wave transtation mission circuit 5 receives from single chip microcomputers transmit end control system 4, the output ultrasonic wave signal is given ultrasonic wave receiving circuit 6;
The ultrasonic signal that ultrasonic wave receiving circuit 6 receives from ultrasonic wave transtation mission circuit 5 amplifies and rectification this signal, and the output ultrasonic wave signal is given single-chip microcomputer dolly control system 3;
The wireless signal that wireless sending module 7 receives from single-chip microcomputer dolly control system 3 outputs signal to wireless receiving module 8;
The signal that wireless receiving module 8 receives from wireless sending module 7, the output wireless signal is given single chip microcomputers transmit end control system 4.
Wireless sending module 7 and wireless receiving module 8 have all adopted 315MHz wireless transmission and receiver module, in order to reach better transmission and reception, have added 248mm antenna (not shown) respectively.
In the present embodiment, single-chip microcomputer dolly control system 3 and single chip microcomputers transmit end control system 4 all adopt AVR Mega48 single-chip microcomputer.
Operation principle of the present utility model: with reference to the framework theory of gps system, take the mode of three-point fix, promptly by by recording the distance between object to be detected to three reference point, thereby obtain the position of testee in the zone, with ultrasonic wave as measuring media, take the method for correlation range finding, i.e. L=(velocity of sound V* time T), L is a distance.By dress ultrasonic wave receiving circuit 6 in the robot that moves, realize the mode that 3 emissions a bit receive, and 3 modes that emission a bit receives, need to consider the how problem of signal acquisition of receiving terminal, so the utility model introduced wireless technology, because wireless technology is with light velocity propagation, speed is fast, can ignore for zone among a small circle, therefore, can be good at, signal acquisition exactly.
Below embodiment has been described in detail the utility model in conjunction with the accompanying drawings, and those skilled in the art can make the many variations example to the utility model according to the above description.Thereby some details among the embodiment should not constitute qualification of the present utility model, and the scope that the utility model will define with appended claims is as protection domain of the present utility model.

Claims (2)

1. regional robot movable positioning system framework, robot comprises revolver and right wheel, it is characterized in that, comprise the revolver motor control circuit of controlling revolver, the right wheel of control right turbin generator control circuit, the little vehicle control of single-chip microcomputer, single chip microcomputers transmit end control system that the output control signal is given described revolver motor control circuit and right turbin generator control circuit, be connected in ultrasonic wave transtation mission circuit, ultrasonic wave receiving circuit, wireless sending module and wireless receiving module between described single chip microcomputers transmit end control system and the little vehicle control of single-chip microcomputer, wherein:
Described ultrasonic wave transtation mission circuit receives the ultrasonic wave control signal from the single chip microcomputers transmit end control system, and the output ultrasonic wave signal is given described ultrasonic wave receiving circuit;
Described ultrasonic wave receiving circuit receives the ultrasonic signal from the ultrasonic wave transtation mission circuit, and this signal is amplified and rectification, and the output ultrasonic wave signal is given the little vehicle control of described single-chip microcomputer;
Described wireless sending module receives the wireless signal from the little vehicle control of single-chip microcomputer, outputs signal to described wireless receiving module;
Described wireless receiving module receives the signal from wireless sending module, and the output wireless signal is given described single chip microcomputers transmit end control system.
2. regional robot according to claim 1 movable positioning system framework is characterized in that, also is equipped with antenna on described wireless sending module and the described wireless receiving module respectively.
CN2009200754696U 2009-07-29 2009-07-29 Mobile positioning system architecture for area robot CN201456005U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2009200754696U CN201456005U (en) 2009-07-29 2009-07-29 Mobile positioning system architecture for area robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2009200754696U CN201456005U (en) 2009-07-29 2009-07-29 Mobile positioning system architecture for area robot

Publications (1)

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CN201456005U true CN201456005U (en) 2010-05-12

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CN2009200754696U CN201456005U (en) 2009-07-29 2009-07-29 Mobile positioning system architecture for area robot

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104260092A (en) * 2014-07-08 2015-01-07 大连理工大学 Automatic tracking robot control device and automatic tracking robot

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104260092A (en) * 2014-07-08 2015-01-07 大连理工大学 Automatic tracking robot control device and automatic tracking robot

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CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20100512

Termination date: 20120729

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