CN203414589U - Mutual positioning and confirmation device between robots - Google Patents
Mutual positioning and confirmation device between robots Download PDFInfo
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- CN203414589U CN203414589U CN201320353315.5U CN201320353315U CN203414589U CN 203414589 U CN203414589 U CN 203414589U CN 201320353315 U CN201320353315 U CN 201320353315U CN 203414589 U CN203414589 U CN 203414589U
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- ultrasonic transducer
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Abstract
Provided is a mutual positioning and confirmation device between robots. The mutual positioning and confirmation device between the robots is characterized in that the device comprises a plurality of robots including positioning robots, wireless transceivers, ultrasonic transducers, a microcontroller and matching circuits, the positioning robots are provided with the wireless transceivers and the ultrasonic transducers, other robots are also provided with the wireless transceivers and the ultrasonic transducers, the wireless transceivers and the ultrasonic transducers arranged on the plurality of robots including the positioning robots form a positioning system for the robots, the wireless transceivers and the ultrasonic transducers are both connected with the microcontroller, the microcontroller controls the transmission and reception of positioning information and the processing of ultrasonic signals, and the matching circuits comprise a sending terminal circuit, a receiving terminal amplification circuit and a receiving terminal comparison circuit. According to the mutual positioning and confirmation device between the robots, mutual positioning and confirmation between the robots are achieved by the adoption of ultrasonic waves, the cooperation capability between the robots is improved, and the device is advantaged by simple structure, convenient usage, low cost, and high positioning precision.
Description
Technical field
The utility model relates to a kind of locating device of intelligent machine, particularly relates to the device of mutually locating and confirming between a kind of a plurality of robot, belongs to the location Calculation field of intelligent machine.
Background technology
Along with the fast development of microelectric technique, computer technology and intelligent control technology, the gordian technique that robot is relevant has obtained more deep research.Because the working environment of robot has unstructuredness and probabilistic feature, make the mutual location technology between a plurality of robots become a very crucial technical matters, there is no this function, the particular location between robot just cannot be known in robot, can the mutual cooperation between multirobot be exerted an influence.
In the people such as the ground force of the Harbin Engineering University research > > that the robot based on panoramic vision locates mutually at < <, a kind of method that robot based on panoramic vision locates is mutually disclosed, 2 panoramic cameras and be arranged on respectively different mobile robots for recognition machine people's three colour circle right cylinders, utilize optical visual principle, pass through ccd video camera, acquisition comprises another mobile robot's comprehensive scene image. by after the panoramic picture binary conversion treatment obtaining, by noise remove and all directions algorithm of region growing, find qualified region, and will find the RGB color model in region to be converted to HIS color model. according to the permanent order of 3 kinds of colors of three colour circle right cylinders self, be different from the feature of background, identify the target three colour circle right cylinders in robot, by the mutual location algorithm of robot of designing, calculate the coordinate of robot under world coordinate system.But the method is had relatively high expectations to robot background color, when background color is close with self color, can locate mistake, simultaneously because being subject to the limitation of ccd video camera wide-angle, the positioning precision of the method is restricted.
Summary of the invention
The purpose of this utility model is just to solve the problem that prior art exists, the device of mutually locating and confirming between a kind of multirobot is provided, can accurately implement robot to self and the position relationship of other robot around, accelerate robot response to external world, avoid complicated reasoning from logic to improve applicability and the real-time of whole robot system.
For solving the problems of the technologies described above, the utility model adopts following technical scheme.
The method of mutually locating and confirming between a plurality of robots, includes positioning robot in interior a plurality of robots, and positioning step is as follows.
1) when robot need to locate, first by Single-chip Controlling positioning robot wireless transceiver with it, robot around sent Location Request instruction and starts timing, starting positioning robot's ultrasonic transducer with it simultaneously and catch the ultrasound wave locating information that other robot sends.
2) other robot is after receiving Location Request instruction, and the ultrasonic transducer starting the machine on the person sends ultrasound wave locating information.
3) after positioning robot captures the ultrasound wave locating information that receiving end sends, timing stops, and processes the relative position that calculates this robot through single-chip microcomputer.
The utility model utilizes radiowave that positioning robot's wireless transceiver sends as time reference, and transmitting terminal transmitting ultrasonic signal, starts timing until capture receiving end simultaneously and send ultrasonic signal, and seizure value is relative distance.By adding the range correction between ultrasound wave Receiver, can set up the position coordinates relation between robot, determine the relative position of robot.
The reception of the ultrasonic signal that the utility model provides all adopts ultrasonic transducer to complete with transmission.
After Location Request order is sent, if receiving end captures ultrasonic signal at the appointed time, single-chip microcomputer positions and processes operation; If receiving end does not capture ultrasonic signal yet at the appointed time, single-chip microcomputer resends Location Request instruction.
The device of mutually locating and confirming between this plurality of robot, includes positioning robot at interior a plurality of robots, wireless transceiver, ultrasonic transducer, single-chip microcomputer and support circuit, it is characterized in that.
Described positioning robot is provided with wireless transceiver and ultrasonic transducer with it, all the other robots are also provided with ultrasonic transducer with it, described in comprise positioning robot wireless transceiver with it of a plurality of robots formed the positioning system of robot with ultrasonic transducer and be all connected with single-chip microcomputer.
The transmitting-receiving of described Single-chip Controlling locating information and the processing to ultrasonic signal.
Described support circuit is the utility model transmitting terminal circuit, receiving end amplifying circuit and receiving end comparator circuit, and wherein the utility model transmitting terminal circuit is: adopt between wireless module nRF and STC single-chip microcomputer and by SPI interface, carry out communication, 1 of IC1,2,3,4 ends are connected respectively to 8 of MCU, 9,11,13 pins, they are 5 years old, 6,7 receive respectively 6,12 of MCU, 10, its No. 8 termination 3.3V power supplies.Y1 is the 24M crystal oscillator of MCU, and XTAL1 and XTAL2 are connected respectively to 4, No. 5 pins of MCU, and capacitor C 3 forms reset circuit with resistance R 1, and RST receives No. 1 pin of MCU.
The utility model receiving end amplifying circuit is: when ultrasonic transducer receives after the ultrasound wave sending from other robot, the electric signal of its conversion is gathered by CON2, after capacitor C R1 filtering, be connected to No. 2 pins of IC1, output feeds back through resistance PR5 the pin that is added to No. 2, after resistance PR3 and PR4 dividing potential drop, be connected to No. 3 pin, signal carries out amplification demodulator processing by IC1, by No. 1 pin of IC1, exports ultrasound wave receiving end comparator circuit to.
The utility model receiving end comparator circuit is: the electric signal after being amplified by the output of receiving end amplifying circuit is connected to No. 3 pins of IC2, through IC2 voltage follow, No. 1 pin output signal is connected to No. 2 pins of IC3, No. 3 pins of IC3 are connected with rheostat PR11, standardsizing rheostat resistance, making No. 3 pin input current potentials is through debugging definite ground unrest potential value.By IC3, realize the comparison to 2, No. 3 pin potential values, when No. 1 pin of IC3 has output, illustrate that the signal receiving is location ultrasonic signal, now single-chip microcomputer starts calculating location; When No. 1 pin no-output of IC3, illustrate that the signal of receiving is background noise.
Compared with prior art, the beneficial effects of the utility model are:
Location Request order be take radiowave as time reference, sends the relative position relation between the mistiming positioning robot of received ultrasonic signal by calculating, has improved the co-positioned between multirobot.The method and system relating in the utility model, has simple in structurely, easy to use, and cost is low, the advantage that positioning precision is high.
Accompanying drawing explanation
Fig. 1 is device connection diagram of the present utility model.
Fig. 2 is the utility model transmitting terminal circuit.
Fig. 3 is the utility model receiving end amplifying circuit.
Fig. 4 is the utility model receiving end comparator circuit.
Embodiment
For making the purpose of this utility model, technical scheme and advantage clearer, below embodiment of the present utility model is done further and explained in detail.
The method of mutually locating and confirming between a plurality of robots, its positioning step is as follows.
1) first robot sends Location Request instruction by Single-chip Controlling wireless transceiver, starts ultrasonic transducer simultaneously and catches the ultrasound wave locating information that other robot sends.
2), when robot receives after Location Request instruction, start ultrasonic transducer and send ultrasound wave positioning signal.
3), when robot captures after ultrasound wave locating information, through single-chip microcomputer, process the relative position that calculates this robot.
As shown in Figure 1, the utility model proposes the device of mutually locating and confirming between a kind of a plurality of robot, comprise: positioning robot's a plurality of robots, wireless transceiver, ultrasonic transducer, single-chip microcomputer and support circuit, positioning robot is provided with wireless transceiver and ultrasonic transducer with it, all the other robots are also provided with wireless transceiver and ultrasonic transducer with it, and a plurality of robots that comprise positioning robot wireless transceiver has with it formed the positioning system of robot and has all been connected with single-chip microcomputer with ultrasonic transducer.
If when A is the positioning robot ，Dang Yaodui A of robot location, positioning robot A sends Location Request instruction by wireless transceiver near the B of robot, C, positioning robot A starts to catch ultrasonic signal simultaneously; The t0 constantly B of ，Dang robot, C receives after the Location Request instruction that positioning robot A sends, and starts ultrasonic transducer and sends ultrasonic signal to positioning robot A; Constantly, positioning robot A captures the ultrasonic signal being sent by the B of robot, C to t1, through single-chip microcomputer, completes the calculating to the A of robot relative position.
The radiowave that the wireless transceiver of usining sends is as time reference, and transmitting terminal transmitting ultrasonic signal starts timing until capture the ultrasonic signal that receiving end sends simultaneously, and seizure value is relative distance.By adding, to the range correction between ultrasound wave Receiver, can set up the position coordinates relation between robot.
As shown in Figure 1, the utility model adopts ultrasonic transducer to complete reception and the transmission of ultrasonic signal.
When robot need to locate, single-chip microcomputer sends positioning request signal by wireless transceiver, and timing also starts to catch ultrasonic signal, if receiving end captures ultrasonic signal at the appointed time, single-chip microcomputer positions and processes operation; If receiving end does not capture ultrasonic signal yet at the appointed time, single-chip microcomputer resends positioning request information.
When robot receives after positioning request signal, Micro Controller Unit (MCU) driving ultrasonic transducer sends ultrasound wave positioning robot position.
As shown in Figure 2, the utility model adopts between wireless module nRF and STC single-chip microcomputer and by SPI interface, carries out communication, 1,2,3 of IC1,4 ends are connected respectively to 8,9,11,13 pins of MCU, and they are 5 years old, 6,7 receive respectively 6,12,10 of MCU, its No. 8 termination 3.3V power supplies.Y1 is the 24M crystal oscillator of MCU, and XTAL1 and XTAL2 are connected respectively to 4, No. 5 pins of MCU, and capacitor C 3 forms reset circuit with resistance R 1, and RST receives No. 1 pin of MCU.
As shown in Figure 3, when ultrasonic transducer receives after the ultrasound wave sending from other robot, the electric signal of its conversion is gathered by CON2, after capacitor C R1 filtering, be connected to No. 2 pins of IC1, output feeds back through resistance PR5 the pin that is added to No. 2, after resistance PR3 and PR4 dividing potential drop, be connected to No. 3 pin, signal carries out amplification demodulator processing by IC1, by No. 1 pin of IC1, exports ultrasound wave receiving end comparator circuit to.
As shown in Figure 4, by Fig. 5, export No. 3 pins that electric signal after amplification is connected to IC2, through IC2 voltage follow, No. 1 pin output signal is connected to No. 2 pins of IC3, No. 3 pins of IC3 are connected with rheostat PR11, standardsizing rheostat resistance, making No. 3 pin input current potentials is through debugging definite ground unrest potential value.By IC3, realize the comparison to 2, No. 3 pin potential values, when No. 1 pin of IC3 has output, illustrate that the signal receiving is location ultrasonic signal, now single-chip microcomputer starts calculating location; When No. 1 pin no-output of IC3, illustrate that the signal of receiving is background noise.
Example.
When positioning robot A sends after positioning request signal, the timer of positioning robot A is issued to when catching ultrasonic signal that the B of another robot sends and amounting to from wireless signal
t=10
ms, the velocity of sound
v=340
m/s,distance between the A of robot and B
l=
t*
v=3.4
m.equally, by the A of compute location robot and the distance of other robot C around, can determine the relative position of positioning robot A.
Although by reference some preferred implementation of the present utility model, the utility model is illustrated and described, but those of ordinary skill in the art should be understood that can be in form or branch road quantitatively it is done to various changes, and do not depart from spirit and scope of the present utility model.
Claims (1)
1. a device of mutually locating and confirming between a plurality of robots, includes positioning robot at interior a plurality of robots, wireless transceiver, ultrasonic transducer, single-chip microcomputer and support circuit, it is characterized in that:
Described positioning robot is provided with wireless transceiver and ultrasonic transducer with it, all the other robots are also provided with wireless transceiver and ultrasonic transducer with it, described in comprise positioning robot wireless transceiver with it of a plurality of robots formed the positioning system of robot with ultrasonic transducer and be all connected with single-chip microcomputer;
The transmitting-receiving of described Single-chip Controlling locating information and the processing to ultrasonic signal;
Described support circuit is transmitting terminal circuit, receiving end amplifying circuit and receiving end comparator circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320353315.5U CN203414589U (en) | 2013-06-20 | 2013-06-20 | Mutual positioning and confirmation device between robots |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320353315.5U CN203414589U (en) | 2013-06-20 | 2013-06-20 | Mutual positioning and confirmation device between robots |
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| CN203414589U true CN203414589U (en) | 2014-01-29 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103914069A (en) * | 2014-03-14 | 2014-07-09 | 上海交通大学 | Multi-robot cooperation locating method capable of allowing cognitive errors |
| CN104237850A (en) * | 2013-06-20 | 2014-12-24 | 沈阳工业大学 | Method and device for mutual location and confirmation among multiple robots |
| CN104880184A (en) * | 2014-02-28 | 2015-09-02 | 原相科技股份有限公司 | Relative position positioning system and tracking system |
| CN106737696A (en) * | 2017-03-11 | 2017-05-31 | 杭州极木科技有限公司 | A kind of multirobot cooperates with transportation resources |
-
2013
- 2013-06-20 CN CN201320353315.5U patent/CN203414589U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104237850A (en) * | 2013-06-20 | 2014-12-24 | 沈阳工业大学 | Method and device for mutual location and confirmation among multiple robots |
| CN104880184A (en) * | 2014-02-28 | 2015-09-02 | 原相科技股份有限公司 | Relative position positioning system and tracking system |
| CN104880184B (en) * | 2014-02-28 | 2018-11-16 | 原相科技股份有限公司 | Relatively orientation system and tracing system |
| CN103914069A (en) * | 2014-03-14 | 2014-07-09 | 上海交通大学 | Multi-robot cooperation locating method capable of allowing cognitive errors |
| CN106737696A (en) * | 2017-03-11 | 2017-05-31 | 杭州极木科技有限公司 | A kind of multirobot cooperates with transportation resources |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140129 Termination date: 20160620 |