CN202693787U - Zigbee-based robot positioning system - Google Patents
Zigbee-based robot positioning system Download PDFInfo
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- CN202693787U CN202693787U CN2012202971181U CN201220297118U CN202693787U CN 202693787 U CN202693787 U CN 202693787U CN 2012202971181 U CN2012202971181 U CN 2012202971181U CN 201220297118 U CN201220297118 U CN 201220297118U CN 202693787 U CN202693787 U CN 202693787U
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- zigbee
- mine
- autonomous mobile
- positioning system
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Abstract
The utility model discloses a zigbee-based robot positioning system, which comprises any amount of autonomous mobile robots solidified with RFD (request for discussion) wireless modules, any amount of zigbee repeaters for positioning the autonomous mobile robots and any amount of computers storing position coordinate information of each zigbee repeater, wherein the autonomous mobile robots can move in the mine. The zigbee repeaters are mounted in the mine, and form a mesh network with the signal intensity capable of covering the whole mine region, and the computers are accessed to the mesh network. The system can be applied to a region that a GPS (global position system) cannot cover, the wireless network characteristics of the zigbee are taken advantage of, the complete coverage of the whole mine region is achieved by a wireless monitoring device flexibly arranged in the mine, the check of leak positions of a pipeline in the mine is very accurate, and a large amount of labor force is saved as the patrol and check are performed by the robots instead of builders.
Description
Technical field
The utility model relates to the monitoring field, particularly a kind of robot positioning system based on zigbee.
Background technology
In the prior art, the GPS positioning system is day by day ripe, the GPS positioning system is widely used in all trades and professions, especially existing most of automobile or mobile phone etc. are equipped with the GPS positioning system, the GPS positioning system can make the people know accurately the position at automobile or mobile phone place, provide strong help for recovering vehicle or mobile phone, however the GPS positioning system but can not covering chamber in or inferior zone, ground.
The gas such as CO and methane to human body is and is harmful, the leakage that prevents the harmful gases such as CO and methane under mine needs the supervisor frequently at mine walkaround inspection everywhere, in case discovery has the place of leakage then needs to adopt remedial measures immediately, yet walkaround inspection needs many groups of walkaround inspection personnel to take turns to check frequently, has wasted a large amount of labours.
In order to reduce labour's output, the autonomous mobile robot that has occurred a kind of energy autonomous on the market, microprogrammed control unit control mine in the autonomous of this robot by being solidified with the harmful gas trace routine, when exceeding standard, then sends which regional harmful gas concentration alerting signal when detecting, yet can only sending, this autonomous mobile robot have Leakage Gas can not inform concrete which regional leakage of supervisor in the alerting signal prompting supervisor mine, therefore utilize autonomous mobile robot to carry out the frequency that the interior tour of mine can only alleviate supervisor's walkaround inspection, in case autonomous mobile robot sends alerting signal, the supervisor still needs carrying out comprehensive walkaround inspection in the pit zone to determine concrete location of leak and then to adopt remedial measures.
The utility model content
For the deficiencies in the prior art, the purpose of this utility model is to provide a kind of robot positioning system based on zigbee that can accurately locate autonomous mobile robot that can use in mine.
The technical solution of the utility model is achieved in that
A kind of robot positioning system based on zigbee, comprise any amount in mine the mobile autonomous mobile robot that is solidified with the RFD wireless module, any amount be used for the computing machine of locating the zigbee repeater of described autonomous mobile robot and storing each zigbee repeater location coordinate information, each described zigbee repeater is installed in the mine and each described zigbee repeater forms the mesh network that a signal intensity can cover whole pit zone, and described computing machine accesses described mesh network.
The above-mentioned robot positioning system based on zigbee, per three described zigbee repeaters form a triangular structure.
The beneficial effects of the utility model are: a kind of robot positioning system based on zigbee is the novel positioning system of a kind of employing take signal intensity as basis on location, can be applied to the zone that GPS can't cover, utilize the wireless networking characteristic of zigbee, wireless monitoring device by flexible arrangement in mine is realized the fully covering in the whole pit zone, checking that mine interior conduit leak position is very accurate, replace the workmen to carry out walkaround inspection by robot and saved a large amount of labours.
Description of drawings
Fig. 1 is that the utility model is based on the robot positioning system's of zigbee synoptic diagram.
Among the figure: 1-zigbee repeater, 2-autonomous mobile robot, 3-computing machine.
Embodiment
By reference to the accompanying drawings the utility model is described further:
As shown in Figure 1, a kind of robot positioning system based on zigbee, the autonomous mobile robot that is solidified with the RFD wireless module 2 that in mine, moves that comprises any amount, the zigbee repeater 1 and the computing machine 3 that stores each zigbee repeater 1 location coordinate information that are used for locating described autonomous mobile robot of any amount, each described zigbee repeater 1 is installed in the mine and each described zigbee repeater 1 forms the mesh network that a signal intensity can cover whole pit zone, the described mesh network of described computing machine 3 accesses, per three described zigbee repeaters 1 form a triangular structure.
Robot positioning system's position fixing process based on zigbee:
In realized the zone that signal covers with the wireless location network of the form composition of based on wireless mesh network by a plurality of zigbee repeaters 1, have a plurality of autonomous mobile robots 2 and carry out continual motion, each autonomous mobile robot 2 moves in the zone that pre-sets, when poisonous gas leakage occurs in the somewhere, micro controller unit by autonomous mobile robot 2 when autonomous mobile robot 2 begins to report to the police when walking to location of leak drives the outside wireless signal emission of RFD wireless module, the zigbee repeater 1 that receives this wireless signal is sent to computing machine 3 with this wireless signal, computing machine 3 calculates the positional information that autonomous mobile robot 2 sends alerting signal according to the position coordinates of each zigbee repeater 1, the supervisor can obtain occuring in the mine place of leakage accurately, in time carry out repair thereby arrive in rapidly leakage point, solved because the problem of poisonous gas leakage Occurrence personnel in the pit personal safety.
Above-described embodiment only is for illustrating that clearly the utility model creates example, and is not the restriction of the utility model being created embodiment.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here need not also can't give all embodiments exhaustive.All any apparent variation or changes being extended out within spirit of the present utility model and the principle still are among the protection domain of the utility model creation claim.
Claims (2)
1. robot positioning system based on zigbee, it is characterized in that, comprise any amount in mine the mobile autonomous mobile robot that is solidified with the RFD wireless module, any amount be used for the computing machine of locating the zigbee repeater of described autonomous mobile robot and storing each zigbee repeater location coordinate information, each described zigbee repeater is installed in the mine and each described zigbee repeater forms the mesh network that a signal intensity can cover whole pit zone, and described computing machine accesses described mesh network.
2. the robot positioning system based on zigbee according to claim 1 is characterized in that, per three described zigbee repeaters form a triangular structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012202971181U CN202693787U (en) | 2012-06-25 | 2012-06-25 | Zigbee-based robot positioning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012202971181U CN202693787U (en) | 2012-06-25 | 2012-06-25 | Zigbee-based robot positioning system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202693787U true CN202693787U (en) | 2013-01-23 |
Family
ID=47549388
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012202971181U Expired - Fee Related CN202693787U (en) | 2012-06-25 | 2012-06-25 | Zigbee-based robot positioning system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202693787U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106878678A (en) * | 2017-02-10 | 2017-06-20 | 上海领世通信技术发展有限公司 | A kind of linkage surveillance method and device of ball machine |
-
2012
- 2012-06-25 CN CN2012202971181U patent/CN202693787U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106878678A (en) * | 2017-02-10 | 2017-06-20 | 上海领世通信技术发展有限公司 | A kind of linkage surveillance method and device of ball machine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130123 Termination date: 20140625 |
|
| EXPY | Termination of patent right or utility model |