CN204790569U - Mobile robot control system based on wireless sensor network - Google Patents
Mobile robot control system based on wireless sensor network Download PDFInfo
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- CN204790569U CN204790569U CN201520620768.9U CN201520620768U CN204790569U CN 204790569 U CN204790569 U CN 204790569U CN 201520620768 U CN201520620768 U CN 201520620768U CN 204790569 U CN204790569 U CN 204790569U
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- mobile robot
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Abstract
The utility model discloses a mobile robot control system based on wireless sensor network, it includes system basic station, beacon node and mobile robot, mobile robot includes power module, control module, wireless communication module, perceiving module and movement module, power module for for each module power supply, wireless communication module for data transmission between mobile robot and system basic station, mobile robot and beacon node, mobile robot and the mobile robot, perceiving module for information monitoring, and convey control module, control module for information processing, and the result that will export conveys movement module, movement module for the result of execution control module output, the removal node of mobile robot in as wireless sensor network can be realized monitoring the node developments, and realize self -defined deployment and expand wireless sensor network's monitoring scope at will, and the while also is the executor of on -the -spot task, can gather field data or execution control task.
Description
Technical field
The utility model relates to wireless sensing field, especially a kind of Mobile Robot Control System based on radio sensing network.
Background technology
Along with the development of social economy, science and technology, the work of robot is no longer confined to the control of individual machine people, by the work compound between multiple robot, can complete work that is more complicated, that have relevance.Radio sensing network is made up of multiple sensing nodes of subordinate in perform region, the multi-hop formed by communication, the network system of self-organization, be very suitable for the wireless control system of multiple mobile robot, effectively can reduce system cost, improve the system expandability.
In robot localization, although the positioning means such as GPS, laser radar, images match, odometer can complete location tasks in some occasion, in cost, precision, property easy to use, also there is many deficiencies.
Utility model content
For solving the deficiency of background technology, the purpose of this utility model is to provide a kind of Mobile Robot Control System based on radio sensing network.
For achieving the above object, the technical scheme that the utility model adopts is: a kind of Mobile Robot Control System based on radio sensing network, it comprises system base-station, beaconing nodes and mobile robot, mobile robot comprises power module, control module, wireless communication module, sensing module and motion module, wherein, power module, for powering for modules; Wireless communication module, for mobile robot and system base-station, mobile robot and beaconing nodes, Wireless Data Transmission between mobile robot and mobile robot; Sensing module, comprises some sensors, for Information Monitoring, and is sent to control module; Control module, for information processing, and is sent to motion module by the result of output; Motion module, for performing the result that control module exports.
Preferably, described control module comprises governor circuit and driving circuit, and wherein, governor circuit is used for realizing information processing, and driving circuit is used for Output rusults with actuation movement module.
Preferably, described motion module comprises motor and wheel, and driving circuit is with motor car wheel to operate by drive motor.
Preferably, described beaconing nodes is evenly distributed on system base-station surrounding.
Preferably, described beaconing nodes adopts 4.
After the utility model adopts said structure,
1) mobile robot is as the mobile node in radio sensing network, monitoring node can be realized dynamic, and realize self-defined deployment and carry out the monitoring range of random extended wireless sensing network, be also the executor of on-the-spot task simultaneously, can collection site data or perform control task;
2) system base-station is used for carrying out management coordination, collection and issuing control information to mobile robots all in system;
3) beaconing nodes is used for the location of sensing network, simultaneously for positioning mobile robot;
4) native system forms radio sensing network by multiple mobile robot, between each mobile robot, work compound completes specific tasks, thus make radio sensing network become a kind of instrument with active monitoring function, for the feature of radio sensing network, the location algorithm adopted and information algorithm all have higher energy efficiency, native system is with good expansibility, versatility, and market application foreground is wide.
Accompanying drawing explanation
Fig. 1 is system schematic of the present utility model.
Fig. 2 is the structured flowchart of the utility model mobile robot.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail:
As shown in Figure 1, a kind of Mobile Robot Control System based on radio sensing network, comprises software section and hardware components; Wherein software section comprises localization for Mobile Robot algorithm and information algorithm, and described location algorithm adopts beaconing nodes to realize, and described information algorithm adopts the judgement of distance threshold to realize; Hardware components comprises mobile robot, system base-station and beaconing nodes.
As shown in Figure 2, a kind of Mobile Robot Control System based on radio sensing network, comprise system base-station, beaconing nodes and mobile robot, mobile robot comprises power module, control module, wireless communication module, sensing module and motion module, wherein, power module, for powering for modules; Wireless communication module, for mobile robot and system base-station, mobile robot and beaconing nodes, Wireless Data Transmission between mobile robot and mobile robot; Sensing module, comprises some sensors, for Information Monitoring, and is sent to control module; Control module, for information processing, and is sent to motion module by the result of output; Motion module, for performing the result that control module exports.
Described control module comprises governor circuit and driving circuit, and wherein, governor circuit is used for realizing information processing, and driving circuit is used for Output rusults with actuation movement module.
Described motion module comprises motor and wheel, and driving circuit is with motor car wheel to operate by drive motor.
Described beaconing nodes adopts 4, and be evenly distributed on system base-station surrounding, system base-station is at center, and beaconing nodes is 4, becomes a square profile formula surrounding, certainly can be more, relative, more costs are higher, and more than 3 just can realize location in theory, but arranging 4, is to distribute more equably in square monitored area.
Based on a method for the Mobile Robot Control System of radio sensing network, comprise
1) according to the position coordinates of information in beaconing nodes framework radio sensing network;
2) predeterminable range threshold value in the control module;
3) mobile robot to be finished the work task by sensing module;
4) mobile robot self is compared judgement to the distance of system base-station and default distance threshold by control module;
5) according to judged result, if system of distance base station distance is less than or equal to this threshold value, then task data is directly transferred to system base-station by this mobile robot; If system of distance base station distance is greater than set distance threshold, then mobile robot be less than in system of distance base station distance in the mobile robot of set threshold value select one as optimum node Node
0as its next-hop node, task data passes through this optimum node-node transmission to system base-station.
The mode of choosing of optimum node is:
Node
0={ Node Shu min (d
i 2+ d
j 2)
Wherein: d
ithe distance that mobile robot arrives next-hop node, d
jthe distance of next-hop node to system base-station.
According to single order wireless communication model, transmission energy consumption is and square being directly proportional of distance, when self is greater than set distance threshold to the distance of system base-station by mobile robot, the energy consumption being directly transferred to system base-station by mobile robot is very high, so can reduce energy consumption by the mode of multi-hop.Can pass through multi-hop (being greater than 2 jumpings) in theory to transmit, meeting conserve energy more, but in the middle of Practical Project, multi-hop not easily realizes technically, so select 2 to jump modes at this.
Above-mentioned optimum node selection method can make communication energy consumption minimize, after optimum node is determined, mobile robot is just sent to this optimum node data, this optimum node forwards the data to system base-station (namely 2 jumping mode) again, thus complete data upload process, this algorithm complex is low, and effectively can reduce system energy consumption.
Also comprise step, mobile robot is according to location, beaconing nodes position self-position, and further, the power being received the signal of mobile robot's feedback by beaconing nodes comes the position of positioning mobile robot.
Based on the location technology of received signal strength (RSSI) according to the emissive power of known node, received power is measured at receiving node, use the dissemination channel attenuation model of theory or experience that signal intensity is converted into distance, because most of node all has signal strength measurement ability, be a kind of inexpensive and widely used ranging technology.System base-station in systems in which and the position of beaconing nodes are fixed and known, and robot localization algorithm adopts the location technology based on received signal strength (RSSI), and the mobile robot's signal intensity utilizing beaconing nodes to receive determines robot location.
Using mobile robot as the mobile node in radio sensing network, the dynamic self-defined deployment of monitoring node can be realized, the operation function of mobile robot can be utilized to take certain action to monitoring target simultaneously, make radio sensing network become a kind of instrument of active monitoring.
Mobile robot is as the mobile node in radio sensing network, monitoring node can be realized dynamic, and realize self-defined deployment and carry out the monitoring range of random extended wireless sensing network, be also the executor of on-the-spot task simultaneously, can collection site data or perform control task; System base-station is used for carrying out management coordination, collection and issuing control information to mobile robots all in system; Beaconing nodes is used for the location of sensing network, simultaneously for positioning mobile robot; Native system forms radio sensing network by multiple mobile robot, between each mobile robot, work compound completes specific tasks, thus make radio sensing network become a kind of instrument with active monitoring function, for the feature of radio sensing network, the location algorithm adopted and information algorithm all have higher energy efficiency, native system is with good expansibility, versatility, and market application foreground is wide.
The above is the preferred embodiment of the present invention; certainly the interest field of the present invention can not be limited with this; should be understood that; for those skilled in the art; technical scheme of the present invention is modified or equivalent replacement, do not depart from the protection domain of technical solution of the present invention.
Claims (5)
1. the Mobile Robot Control System based on radio sensing network, it is characterized in that: it comprises system base-station, beaconing nodes and mobile robot, mobile robot comprises power module, control module, wireless communication module, sensing module and motion module, wherein
Power module, for powering for modules;
Wireless communication module, for mobile robot and system base-station, mobile robot and beaconing nodes, Wireless Data Transmission between mobile robot and mobile robot;
Sensing module, comprises some sensors, for Information Monitoring, and is sent to control module;
Control module, for information processing, and is sent to motion module by the result of output;
Motion module, for performing the result that control module exports.
2. a kind of Mobile Robot Control System based on radio sensing network according to claim 1, it is characterized in that: described control module comprises governor circuit and driving circuit, wherein, governor circuit is used for realizing information processing, and driving circuit is used for Output rusults with actuation movement module.
3. a kind of Mobile Robot Control System based on radio sensing network according to claim 2, it is characterized in that: described motion module comprises motor and wheel, driving circuit is with motor car wheel to operate by drive motor.
4. a kind of Mobile Robot Control System based on radio sensing network according to claim 1, is characterized in that: described beaconing nodes is evenly distributed on system base-station surrounding.
5. a kind of Mobile Robot Control System based on radio sensing network according to claim 4, is characterized in that: described beaconing nodes adopts 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520620768.9U CN204790569U (en) | 2015-08-17 | 2015-08-17 | Mobile robot control system based on wireless sensor network |
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| CN201520620768.9U CN204790569U (en) | 2015-08-17 | 2015-08-17 | Mobile robot control system based on wireless sensor network |
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| CN204790569U true CN204790569U (en) | 2015-11-18 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105116888A (en) * | 2015-08-17 | 2015-12-02 | 广东技术师范学院 | A mobile robot control system based on a wireless sensing network |
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2015
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105116888A (en) * | 2015-08-17 | 2015-12-02 | 广东技术师范学院 | A mobile robot control system based on a wireless sensing network |
| CN105116888B (en) * | 2015-08-17 | 2018-07-31 | 广东技术师范学院 | A kind of control method of the Mobile Robot Control System based on wireless sensor network |
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| 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: 20151118 Termination date: 20160817 |
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| CF01 | Termination of patent right due to non-payment of annual fee |