CN203275971U - Outdoor ground swarm-robot control system - Google Patents

Abstract

The utility model discloses an outdoor ground swarm-robot control system which comprises a difference positioning base station, an upper monitoring computer and a plurality of individual robots to form a swarm-robot system, wherein the difference positioning base station is used for receiving positioning signals in real time and operating pseudo-range difference calculations combining with a given base station reference coordinate, and sending difference correction values to the individual robots of the swarm-robot system through wireless communication modules; the positioning signals and the difference correction values sent by the base station are received by the individual robots in real time, and position coordinates are received after pseudo-range difference calculations; and position information of the individual robots is received and instructions are sent to control operations of the individual robots by the upper monitoring computer through the wireless communication modules. The outdoor ground swarm-robot control system is capable of improving positioning precision of the individual robots and facilitating implementing complex tasks of the swarm-robot such as cooperation control and united target search and the like.

Description

A kind of outdoor ground group robot control system

Technical field

The utility model belongs to the robot field of automatic technology, relates to a kind of outdoor ground group robot control system.

Background technology

At present with regard to the Robotics level, single robot is all limited at aspects such as the obtaining of information, processing and control abilities, and for the task of complexity and changeable working environment, unit device Man's Power is more inadequate.So, the swarm intelligence behavior of reference social insect, people's consideration completes by coordinating, cooperating the work that single robot can't or be difficult to complete by the population system that a plurality of robots form.Group robot makes up the deficiency of single robot capability by shared resource (information, knowledge etc.), enlarge the limit of power of finishing the work, and utilizes the redundancy of the inner machine people of system resource to improve the possibility of finishing the work, and increases the performance of system.

Group robot in the process that cooperation is executed the task, individual robot need to know self and around the positional information of adjacent individual robot.Therefore, individual robot is that group robot is realized the basis that cooperation is controlled and colony emerges in large numbers to self and quick and precisely locating of adjacent individuality.The location technology of individual robot mainly contains absolute fix and relative positioning two classes.Traditional multirobot location technology merges internal sensor and external sensor information with estimation by complex calculation such as Kalman filtering or particle filters mostly.These location technologies have precision and stability preferably at short notice, but measuring error can constantly accumulate along with the increase of time, finally cause measuring losing efficacy.

Therefore, be necessary to design a kind of outdoor ground group robot control system.

The utility model content

Technical problem to be solved in the utility model is to provide a kind of outdoor ground group robot control system, this outdoor ground group robot control system can improve the bearing accuracy of individual robot, is conducive to realize the complex tasks such as the cooperation control of group robot and joint objective search.

The technical solution of utility model is as follows:

A kind of outdoor ground group robot control system comprises difference locating base station, upper monitoring computing machine and consists of a plurality of individual robot of group robot system, wherein:

The difference locating base station is used for receiving in real time positioning signal (as gps signal) and carries out pseudo range difference with given base station reference coordinate and calculate (then the differential corrections number being sent to the individual robot of group robot system by wireless communication module);

The artificial microminiature ground mobile robot of described individual machine, all individual robots have identical hardware system, connect to form a robot group and realize cooperation mutually by radio communication between a plurality of individual robots;

Individual robot receives the differential corrections number of positioning signal (as gps signal) and base station transmission in real time, carries out obtaining position coordinates after pseudo range difference calculates;

The upper monitoring computing machine receives the positional information of individual robot and sends instruction to control the operation of individual robot by wireless communication module.

The individual robot of described formation group robot system distributes and the positional information of other individual robot and in conjunction with self perception according to task, carries out behaviour decision making and motion planning.

Described difference locating base station comprises base station AVR embedded controller module, architecture signal receiving module and base station Xbee wireless communication module, wherein:

Architecture signal receiving module (GPS/ Big Dipper signal receiving module) is connected with base station AVR embedded controller module, base station AVR embedded controller module sends to the architecture signal receiving module to carry out pseudo range difference by first serial (UART) on reference position, base station coordinate (the base station location coordinate can be absolute coordinates or relative coordinate) and calculates, and the differential corrections number that then the architecture signal receiving module is calculated sends to individual robot in the group robot system by base station Xbee wireless communication module;

Described architecture signal receiving module is by measuring the antenna reception positioning signal, receive by first serial (UART) the base station location coordinate that base station AVR embedded controller module sends, and positioning signal and the base station location coordinate that receives carried out pseudo range difference calculating, then the differential corrections number is sent to AVR embedded controller module by second serial (UART);

Described base station Xbee wireless communication module is connected with base station AVR embedded controller module, be used for to send differential corrections number that the positioning signal receiver module calculates to the individual robot of group robot system.

Described base station AVR embedded controller module comprises: AVR processor, SDRAM storer, Flash storer and reset circuit;

Described Flash storer is used for store initialization program and application program;

Described AVR controller is used for sending base station coordinates to the location signal receiving module, receives the pseudo range difference correction number that the positioning signal receiver module sends; By described base station Xbee wireless communication module, pseudo range difference correction number is sent to individual robot in the group robot system;

Described reset circuit is used for resetting of whole group robot base control.

The individual robot of described formation robot group comprises movement station AVR embedded controller module, movement station positioning signal receiver module (GPS/ Big Dipper signal receiving module), movement station Xbee wireless communication module, sensor assembly, motor drive module, keyboard and display module and power management module, wherein:

Described movement station AVR embedded controller module, be connected with movement station positioning signal receiver module, the differential corrections number that the base station that described movement station Xbee wireless communication module is received sends sends movement station positioning signal receiver module to by first serial (UART) and carries out pseudo range difference calculating, and receives the pseudo range difference positioning result by the second serial (UART) of movement station positioning signal receiver module;

Described movement station AVR embedded controller module, be connected with movement station Xbee module, described positioning signal receiver module is sent to other individual robots by the pseudo range difference positioning result that second serial (UART) sends by the Xbee wireless communication module;

Described movement station positioning signal receiver module, by measuring antenna reception positioning signal (as gps signal/Big Dipper signal), receive by first serial (UART) the differential corrections number that the base station sends, and positioning signal and the differential corrections number that receives carried out pseudo range difference calculating, then pseudo range difference positioning result (also can be called the pseudo range difference locating information) is sent to AVR embedded controller module by second serial (UART);

Described movement station Xbee wireless communication module is connected with AVR embedded controller module, and the pseudo range difference positioning result that the positioning signal receiver module is calculated sends to other individual robots;

Described sensor assembly is for the posture information [so that robot carries out behaviour decision making and motion planning] that gathers external environmental information and individual robot;

Described motor drive module is connected with movement station AVR embedded controller module, and motor drive module drives individual robot and completes various motions;

Described power management module comprises the change-over circuit of electric battery and the required supply voltage of described each module;

Described keyboard and display module are used for man-machine information interaction and reset operation.

Described movement station AVR embedded controller module comprises: AVR processor, SDRAM storer, Flash storer and reset circuit;

Described Flash storer is used for store initialization program and application program;

Described AVR controller is used for sending the differential corrections number to the location signal receiving module, receives the pseudo range difference positioning result that movement station positioning signal receiver module sends; By described movement station Xbee wireless communication module, the pseudo range difference positioning result is sent to other individual robots, receive the differential corrections number of difference locating base station transmission and the information that other individual robots send, the positional information of individual robot is sent to the upper monitoring computing machine, and the steering order that receives the upper monitoring computing machine is controlled individual machine human motion; Receive and process various sensor informations; Motor drive module is sent signal, drive individual robot and complete various motion controls;

Described reset circuit is used for resetting of whole individual robot control system.

Described base station Xbee wireless communication module or movement station Xbee wireless communication module are configured to telegon, router or terminal.

Described sensor assembly comprises: odometer, gyroscope, digital compass, ultrasonic sensor and camera, positioning signal receiver module are gps signal receiver module or Big Dipper navigation receiver module.Identical controller, positioning signal receiver module and wireless communication module are adopted with individual robot in the base station.

AVR processor adopting ATmega2560, architecture signal receiving module or movement station positioning signal receiver module adopt gps signal receiver module OEMStar, measure antenna and adopt the external measurement antenna of single-frequency HY-LRB01R, base station Xbee wireless communication module or movement station Xbee wireless communication module adopt Xbee PROSeries2, motor drive module adopts L298p, gyroscope adopts L3G4200D, digital compass adopts HMR3300, ultrasonic sensor adopts HC-SR04, and electric battery adopts lithium polymerization rechargeable battery.

A kind of outdoor microminiature ground group robot control method is characterized in that this control method is based on aforesaid outdoor ground group robot control system;

(1) pseudo range difference of base station end location execution flow process is:

Step 1: base station Xbee wireless communication module is carried out initialization, and be that positioning signal (as gps signal) receiver module carries out initialization to the architecture signal receiving module, namely Configuration of baud rate and the setting of differential data transmission cycle are carried out in the COM2 of OEMStar;

Start OEMStar difference function, make pseudo range difference computation process automatically be completed by OEMStar;

Step 2: if base station end Xbee wireless communication module is received the differential corrections number, send differential corrections and count to individual robot;

(2) movement station is that the pseudo range difference location execution flow process of individual robotic end is:

Step 1: movement station Xbee wireless communication module is carried out initialization, and be that positioning signal (as gps signal) receiver module carries out initialization to movement station positioning signal receiver module, namely Configuration of baud rate and the setting of differential data transmission cycle are carried out in the COM2 of OEMStar;

Start OEMStar difference function, make pseudo range difference computation process automatically be completed by OEMStar;

Step 2: if movement station Xbee wireless communication module is received the differential corrections number, send the positioning signal receiver module that differential corrections is counted to the movement station end;

The positioning signal receiver module of movement station end carries out pseudo range difference calculating to GPS position signalling and the differential corrections number that receives, and then the pseudo range difference positioning result is namely revised coordinate and is sent to other individual robots and upper monitoring computing machine.[further, individual robot carries out behaviour decision making and motion planning according to itself correction coordinate, other individual robot coordinates and self signal by sensor senses.】

In the actual location process of individual robot, the terrestrial coordinate data that individual robot is obtained are converted to the planimetric coordinates data, namely adopt Gauss Kru﹠4﹠ger projection's algorithm that the WGS-84 terrestrial coordinate is converted to planimetric coordinates corresponding to the WGS-84 ellipsoid, formula is as follows:

$x=X+\frac{1}{2}N\sin B\cos B{l}^2+\frac{1}{24}N\sin B{\cos }^{3}B(5-t^2+9{\mathrm{\η}}^2+4{\mathrm{\η}}^4)l^4+$

$\frac{1}{720}N\sin B{\cos }^{5}B(61-58t^2+t^4)l^6;$

$y=N\cos \mathrm{Bl}+\frac{1}{6}N{\cos }^{3}B(1-t^2+{\mathrm{\η}}^2)l^3+\frac{1}{120}N{\cos }^{5}B(5-18t^2+t^4+14{\mathrm{\η}}^2-58{\mathrm{\η}}^2{t}^2)l^5;$

X＝A ₀B-{B ₀-[C ₀-(D ₀-E ₀sin ²B)sin ²B]sin ²B}sinBcosB；

$A_0=a(1-e^2)(1+\frac{3}{4}{e}^2+\frac{45}{64}{e}^4+\frac{175}{256}{e}^6\frac{11025}{16384}{e}^8+...)$

$B_0=a(1-e^2)(\frac{3}{4}{e}^2+\frac{45}{64}{e}^4+\frac{175}{256}{e}^6+\frac{11025}{16384}{e}^8+...)$

$C_0=a(1-e^2)(\frac{15}{32}{e}^4+\frac{175}{384}{e}^6+\frac{3675}{8192}{e}^8+...);$

$D_0=a(1-e^2)(\frac{35}{96}{e}^6+\frac{735}{2048}{e}^8+...)$

$E_0=a(1-e^2)(\frac{315}{1024}{e}^8+...)$

In formula, x-Gauss Kru﹠4﹠ger projection ordinate, y-Gauss Kru﹠4﹠ger projection horizontal ordinate, through poor, the meridian that X-starts at from the equator is lonely long apart from central meridian for B-geodetic latitude l-, and a is oval major radius, for the WGS-84 ellipsoid, a=6378137.0000m,

Be radius of curvature in prime vertical, C-reference ellipsoid polar radius is to WGS-84 ellipsoid, C=6399593.6258m, η ²=e ^{' 2}cos ²B, e '-reference ellipsoid the second excentricity is to WGS-84 ellipsoid, e ^{' 2}=0.00673949674227, t=tanB.

Beneficial effect:

Outdoor ground group robot control system of the present utility model is received gps signal and is carried out pseudo range difference according to given base station coordinates and calculate by the differential GPS base station, sends to individual robot by wireless communication module after trying to achieve the differential corrections number; The individual robot of group robot system receives the differential corrections number that gps signal and base station send, and carries out obtaining after pseudo range difference calculates precision and be the exact position coordinate more than 1.5 meters; The locating information of GPS locating information and the self-sensor device acquisition of individual robot is merged, realize individual robot accurate location for a long time.The utility model combines pseudo range difference GPS absolute fix and group robot relative positioning, greatly improved the colocated precision of group robot under the outdoor environment, the identical hardware such as controller, GPS receiver module and wireless communication module are adopted with individual robot in the GPS base station, simplify circuit design, saved cost.

The beneficial effects of the utility model have:

(1) the utility model for the characteristics of outdoor environment, adopts pseudo range difference GPS technology, has greatly improved the absolute fix precision of individual robot.

(2) the relative positioning information with GPS absolute fix information and the self-sensor device acquisition of individual robot merges, and can realize individual robot accurate location for a long time.

(3) identical wireless communication module is adopted with individual robot (movement station) in the differential GPS base station, and circuit design has been simplified in differential GPS radio station that need not be extra, has reduced cost.

Description of drawings

Fig. 1 is the schematic diagram of the related group robot control system of the utility model;

Fig. 2 is an example structure schematic diagram of base station in the utility model;

Fig. 3 is individual robot one example structure schematic diagram in the utility model;

Fig. 4 is base station GPS pseudo range difference positioning flow figure in the utility model;

Fig. 5 is the individual GPS of robot pseudo range difference positioning flow figure in the utility model;

Fig. 6 is the procedure chart that in the utility model, individual robot self-position sensor information and gps data carry out co-located.

Embodiment

For making the purpose of this utility model, technical scheme and advantage clearer, below with reference to Fig. 1～5 and specific embodiment, the utility model is described in further detail.Although this paper can provide the demonstration of the parameter that comprises particular value, should be appreciated that, parameter need not definitely to equal corresponding value, but is similar to described value in acceptable error margin or design constraint.

Embodiment 1:

Fig. 1 is the schematic diagram of the utility model embodiment outdoor ground group robot control system.As shown in Figure 1, a kind of outdoor ground group robot control system comprises that differential GPS base station, the individual robot of microminiature ground and upper monitoring computing machine form.Wherein, described differential GPS base station, be used for receiving in real time gps signal and carry out pseudo range difference with given base station reference coordinate and calculate [it is prior art that pseudo range difference calculates, and is automatically calculated by OEMStar and completes], then the differential corrections number being sent to group robot by wireless communication module; The individual robot of described formation group robot system is the microminiature ground mobile robot, has identical hardware, forms a robot group and realizes cooperation mutually by radio communication between a plurality of individual robots; The individual robot of described formation group robot system receives the differential corrections number that gps signal and base station send in real time, carries out obtaining after pseudo range difference calculates precision and be the exact position coordinate more than 1.5 meters; Consist of the individual robot of group robot system, the position sensors such as odometer, gyroscope and electronic compass are obtained relative positioning information, utilize Kalman filtering and GPS absolute fix information to merge, realize accurately locating for a long time under individual robot circumstances not known; The individual robot of described formation group robot system according to task is distributed and other individual robot sends positional information and in conjunction with self perception, carries out behaviour decision making and motion planning.Described upper monitoring computing machine, receive by wireless communication module described formation group robot system individual robot positional information and send the operation that individual robot is controlled in instruction.

As shown in Figure 1, identical controller, gps signal receiver module, wireless communication module, keyboard and display module and power management module are adopted with individual robot in pseudo range difference GPS base station; The GPS module can adopt the Big Dipper navigation receiver module of same accuracy to substitute.

Fig. 2 is the structural representation of the outdoor microminiature ground group robot of the utility model embodiment system's differential GPS base station.As shown in Figure 2, the differential GPS base station is comprised of AVR embedded controller module, gps signal receiver module, Xbee wireless communication module etc.Wherein, described AVR embedded controller module is connected with the Xbee wireless communication module with described gps signal receiver module, send to the gps signal receiver module to carry out pseudo range difference calculating by first serial (UART) on base station location coordinate (definitely or relative coordinate all can), then the differential corrections number that the gps signal receiver module is calculated sends to individual robot in the group robot system by the Xbee wireless communication module; Described GPS module is by measuring the antenna reception gps satellite signal, receive by first serial (UART) the base station location coordinate that AVR embedded controller module sends, and gps satellite signal and the base station location coordinate that receives carried out pseudo range difference calculating, then the differential corrections number is sent to AVR embedded controller module by second serial (UART); Described Xbee wireless communication module is connected with AVR embedded controller module, be used for to send differential corrections number that the gps signal receiver module calculates to the individual robot of described group robot system.

The exact position coordinate of the utility model differential GPS base station can be given as absolute coordinates or relative coordinate.

In the utility model differential GPS base station, AVR embedded controller module comprises: AVR processor, SDRAM storer, Flash storer and reset circuit: described Flash storer is used for store initialization program and application program; Described AVR controller, be used for moving described application program: send base station coordinates to the gps signal receiver module, receive the pseudo range difference correction number that the gps signal receiver module sends, by described Xbee wireless communication module, pseudo range difference correction number is sent to individual robot in the group robot system; Described reset circuit is used for resetting of whole group robot base control.

Fig. 3 is the structural representation of individual robot of the outdoor microminiature ground group robot of the utility model embodiment system.As shown in Figure 3, the individual robot of the utility model formation robot group is comprised of AVR embedded controller module, gps signal receiver module, Xbee wireless communication module, sensor assembly, motor drive module, keyboard and display module and power management module etc.Wherein, described AVR embedded controller module is connected with the gps signal receiver module, the differential corrections number that the base station that described Xbee wireless communication module is received sends sends the GPS module to by first serial (UART) and carries out pseudo range difference calculating, and receives by second serial (UART) the pseudo range difference positioning result that the GPS module sends; Described AVR embedded controller module is connected with the Xbee module, and described gps signal receiver module is sent to other individual robots and upper monitoring computing machine by the pseudo range difference positioning result that second serial (UART) sends by the Xbee wireless communication module; Described gps signal receiver module, by measuring the antenna reception gps satellite signal, receive by first serial (UART) the differential corrections number that AVR embedded controller module sends, and gps satellite signal and the differential corrections number that receives carried out pseudo range difference calculating, then the pseudo range difference positioning result is sent to AVR embedded controller module by second serial (UART); Described Xbee wireless communication module is connected with AVR embedded controller module, and the pseudo range difference positioning result that the gps signal receiver module is calculated sends to other individual robots and upper monitoring computing machine; Described sensor assembly comprises: odometer, gyroscope, digital compass, ultrasonic sensor, shooting are first-class, the relative positioning that is used for gathering external environmental information and realizes individual robot, so that robot carries out behaviour decision making and motion planning, and can match different sensors according to different mission requirementses; Described motor drive module is connected with AVR embedded controller module, and the individual robot that drives in described group robot completes various motions; Described power management module comprises the conversion of electric battery and the required supply voltage of described each module, for each module provides relevant voltage; Described keyboard and display module, the operation such as be used for man-machine information interaction and reset.

As shown in Figure 3, the AVR embedded controller module of the utility model individual robot comprises: AVR processor, SDRAM storer, Flash storer and reset circuit.Wherein, described Flash storer is used for store initialization program and application program; Described AVR controller, be used for moving described application program: send the differential corrections number to the gps signal receiver module, receive the pseudo range difference GPS positioning result that the gps signal receiver module sends, by described Xbee wireless communication module, pseudo range difference GPS positioning result is sent to other individual robots and upper monitoring computing machine, receive the differential corrections number of base station transmission and the information that other individual robots send, the acquisition and processing sensor die block message every trade of going forward side by side is decision-making, motor drive module is sent signal, drive individual robot and complete various motion controls; Described reset circuit is used for resetting of whole individual robot control system.

As shown in Figure 3, the Xbee wireless communication module of the utility model individual robot can be telegon, router or terminal by application configuration as required.

As shown in Figures 2 and 3, in the utility model example outdoor ground group robot control system, AVR processor adopting ATmega2560, the gps signal receiver module adopts OEMStar, measures antenna and adopts the external measurement antenna of single-frequency HY-LRB01R, the Xbee wireless communication module adopts Xbee PRO Series2, motor drive module adopts L298p, and gyroscope adopts L3G4200D, and digital compass adopts HMR3300, ultrasonic sensor adopts HC-SR04, and electric battery adopts lithium polymerization rechargeable battery.

Fig. 4 is the utility model embodiment base station GPS pseudo range difference positioning flow figure.Wherein, the GPS module initialization refers to the COM2 of OEMStar is carried out Configuration of baud rate and the setting of differential data transmission cycle; After starting OEMStar difference function, pseudo range difference computation process is completed automatically by OEMStar.

Fig. 5 is the utility model embodiment movement station (individual robot) GPS pseudo range difference positioning flow figure.Wherein, the GPS module initialization refers to the COM2 of OEMStar is carried out Configuration of baud rate; After starting OEMStar difference function, pseudo range difference computation process is completed automatically by OEMStar.

As shown in Figure 4 and 5, the locator data that GPS receiver module OEMStar collects is the terrestrial coordinate (longitude and latitude data) under the WGS-84 coordinate system, and given reference coordinate to the base station is also WGS-84 longitude and latitude data.In the actual location process of robot, we need to be converted to planimetric coordinates with terrestrial coordinate, the utility model adopts Gauss Kru﹠4﹠ger projection's algorithm that the WGS-84 terrestrial coordinate is converted to planimetric coordinates corresponding to the WGS-84 ellipsoid, and its transfer algorithm is suc as formula shown in (1)-(4).

$x=X+\frac{1}{2}N\sin B\cos B{l}^2+\frac{1}{24}N\sin B{\cos }^{3}B(5-t^2+9{\mathrm{\η}}^2+4{\mathrm{\η}}^4)l^4+$

$\left(1\right)$

$\frac{1}{720}N\sin B{\cos }^{5}B(61-58t^2+t^4)l^6$

$y=N\cos \mathrm{Bl}+\frac{1}{6}N{\cos }^{3}B(1-t^2+{\mathrm{\η}}^2)l^3+\frac{1}{120}N{\cos }^{5}B(5-18t^2+t^4+14{\mathrm{\η}}^2-58{\mathrm{\η}}^2{t}^2)l^5---\left(2\right)$

X＝A ₀B-{B ₀-[C ₀-(D ₀-E ₀sin ²B)sin ²B]sin ²B}sinBcosB (3)

$A_0=a(1-e^2)(1+\frac{3}{4}{e}^2+\frac{45}{64}{e}^4+\frac{175}{256}{e}^6\frac{11025}{16384}{e}^8+...)$

$B_0=a(1-e^2)(\frac{3}{4}{e}^2+\frac{45}{64}{e}^4+\frac{175}{256}{e}^6+\frac{11025}{16384}{e}^8+...)$

$C_0=a(1-e^2)(\frac{15}{32}{e}^4+\frac{175}{384}{e}^6+\frac{3675}{8192}{e}^8+...)---\left(4\right)$

$D_0=a(1-e^2)(\frac{35}{96}{e}^6+\frac{735}{2048}{e}^8+...)$

$E_0=a(1-e^2)(\frac{315}{1024}{e}^8+...)$

In formula, x-Gauss Kru﹠4﹠ger projection ordinate, y-Gauss Kru﹠4﹠ger projection horizontal ordinate, through poor, the meridian that X-starts at from the equator is lonely long apart from central meridian for B-geodetic latitude l-, a be oval major radius for WGS-84 ellipsoid a=6378137.0000m,

Radius of curvature in prime vertical, C-reference ellipsoid polar radius is to WGS-84 ellipsoid C=6399593.6258m, η ²=e ^{' 2}cos ²B, e '-reference ellipsoid the second excentricity is to WGS-84 ellipsoid e ^{' 2}=0.00673949674227, t=tanB.

Table 1 carries out the result of GPS actual measurement location for the utility model embodiment individual robot at four known reference coordinate nodes (bearing accuracy is in 10cm).As shown in Table 1, when not adopting the differential GPS location, the maximum positioning error of four known point horizontal ordinate X is 10.1796 meters, and minimum positioning error is 7.8658 meters; And after adopting the pseudo range difference location, the maximum positioning error of four known point horizontal ordinate X is 1.2769 meters, and minimum positioning error is 0.67885 meter, and its bearing accuracy is significantly improved.

Table 1 positioning result example

Fig. 6 is the process that the individual robot self-position sensor of the utility model embodiment and GPS pseudo range difference locator data are carried out co-located.As shown in Figure 6, at first odometer is merged mutually with gyroscope, improve the precision of odometer; Then, in order to revise gyrostatic cumulative errors, the locating information after merging is merged mutually with electronic compass, further improve odometer course angle precision; At last, in order to revise the dead reckoning cumulative errors of odometer, the positional information that merges is merged mutually with pseudo range difference GPS, eliminate output pulsation, the location of realizing the long-time degree of precision of robot.

As shown in Figure 6, when GPS causes positioning result unstable because buildings such as blocks at the loss signal, Kalman filter is according to the different conditions of GPS positioning result, choose different system measurements noise covariance matrixs, make algorithm can automatically adapt to the variation of GPS positioning states, thereby improve the reliability of individual robot localization method.

Claims (8)

1. an outdoor ground group robot control system, is characterized in that, comprise difference locating base station, upper monitoring computing machine and consist of a plurality of individual robot of group robot system, wherein:

The difference locating base station is used for receiving in real time positioning signal and carries out pseudo range difference with given base station reference coordinate and calculate, and then the differential corrections number is sent to individual robot in the group robot system by wireless communication module;

The artificial microminiature ground mobile robot of described individual machine, all individual robots have identical hardware system, connect to form a robot group and realize cooperation mutually by radio communication between a plurality of individual robots;

Individual robot receives the differential corrections number of positioning signal and base station transmission in real time;

The upper monitoring computing machine receives the positional information of individual robot and sends instruction to control the operation of individual robot by wireless communication module.

2. outdoor ground group robot control system according to claim 1, is characterized in that, described difference locating base station comprises base station AVR embedded controller module, architecture signal receiving module and base station Xbee wireless communication module, wherein:

The architecture signal receiving module is connected with base station AVR embedded controller module, base station AVR embedded controller module sends to the architecture signal receiving module to carry out pseudo range difference by first serial on reference position, base station coordinate and calculates, and the differential corrections number that then the architecture signal receiving module is calculated sends to individual robot in the group robot system by base station Xbee wireless communication module;

Described architecture signal receiving module is by measuring the antenna reception positioning signal, receive by first serial the base station location coordinate that base station AVR embedded controller module sends, and positioning signal and the base station location coordinate that receives carried out pseudo range difference calculating, then the differential corrections number is sent to AVR embedded controller module by second serial;

Described base station Xbee wireless communication module is connected with base station AVR embedded controller module, be used for to send differential corrections number that the positioning signal receiver module calculates to the individual robot of group robot system.

3. outdoor ground group robot control system according to claim 2, is characterized in that, described base station AVR embedded controller module comprises: AVR processor, SDRAM storer, Flash storer and reset circuit;

Described Flash storer is used for store initialization program and application program;

Described AVR processor is used for sending base station coordinates to the location signal receiving module, receives the pseudo range difference correction number that the positioning signal receiver module sends; By described base station Xbee wireless communication module, pseudo range difference correction number is sent to individual robot in the group robot system;

Described reset circuit is used for resetting of whole group robot base control.

4. outdoor ground group robot control system according to claim 3, it is characterized in that, the individual robot of described formation robot group comprises movement station AVR embedded controller module, movement station positioning signal receiver module, movement station Xbee wireless communication module, sensor assembly, motor drive module, keyboard and display module and power management module, wherein:

Described movement station AVR embedded controller module, be connected with movement station positioning signal receiver module, the differential corrections number that the base station that described movement station Xbee wireless communication module is received sends sends movement station positioning signal receiver module to by first serial and carries out pseudo range difference calculating, and receives the pseudo range difference positioning result by the second serial of movement station positioning signal receiver module;

Described movement station AVR embedded controller module is connected with movement station Xbee module, and described positioning signal receiver module is sent to other individual robots by the pseudo range difference positioning result that second serial sends by the Xbee wireless communication module;

Described movement station positioning signal receiver module, by measuring the antenna reception positioning signal, receive by first serial the differential corrections number that the base station sends, and positioning signal and the differential corrections number that receives carried out pseudo range difference calculating, then the pseudo range difference positioning result is sent to AVR embedded controller module by second serial;

Described movement station Xbee wireless communication module is connected with AVR embedded controller module, and the pseudo range difference positioning result that the positioning signal receiver module is calculated sends to other individual robots;

Described sensor assembly is for the posture information that gathers external environmental information and individual robot;

Described motor drive module is connected with movement station AVR embedded controller module, and motor drive module drives individual robot and completes various motions;

Described power management module comprises the change-over circuit of electric battery and the required supply voltage of described each module;

Described keyboard and display module are used for man-machine information interaction and reset operation.

5. outdoor ground group robot control system according to claim 4, is characterized in that, described movement station AVR embedded controller module comprises: AVR processor, SDRAM storer, Flash storer and reset circuit;

Described Flash storer is used for store initialization program and application program;

Described AVR processor is used for sending the differential corrections number to the location signal receiving module, receives the pseudo range difference positioning result that movement station positioning signal receiver module sends; By described movement station Xbee wireless communication module, the pseudo range difference positioning result is sent to other individual robots, receive the differential corrections number of difference locating base station transmission and the information that other individual robots send, the positional information of individual robot is sent to the upper monitoring computing machine, and the steering order that receives the upper monitoring computing machine is controlled individual machine human motion; Receive and process various sensor informations; Motor drive module is sent signal, drive individual robot and complete various motion controls;

Described reset circuit is used for resetting of whole individual robot control system.

6. outdoor ground group robot control system according to claim 5, is characterized in that, described base station Xbee wireless communication module or movement station Xbee wireless communication module are configured to telegon, router or terminal.

7. outdoor ground group robot control system according to claim 4, it is characterized in that, described sensor assembly comprises: odometer, gyroscope, digital compass, ultrasonic sensor and camera, positioning signal receiver module are gps signal receiver module or Big Dipper navigation receiver module.

8. the described outdoor ground group robot of any one control system according to claim 1 to 6, it is characterized in that, AVR processor adopting ATmega2560, architecture signal receiving module or movement station positioning signal receiver module adopt gps signal receiver module OEMStar, measure antenna and adopt the external measurement antenna of single-frequency HY-LRB01R, base station Xbee wireless communication module or movement station Xbee wireless communication module adopt XbeePROSeries2, motor drive module adopts L298p, gyroscope adopts L3G4200D, digital compass adopts HMR3300, ultrasonic sensor adopts HC-SR04, electric battery adopts lithium polymerization rechargeable battery.

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