CN205067727U - Service robot positioning system based on zigBee and RFID - Google Patents
Service robot positioning system based on zigBee and RFID Download PDFInfo
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- CN205067727U CN205067727U CN201520877791.6U CN201520877791U CN205067727U CN 205067727 U CN205067727 U CN 205067727U CN 201520877791 U CN201520877791 U CN 201520877791U CN 205067727 U CN205067727 U CN 205067727U
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Abstract
The utility model provides a service robot positioning system based on zigBee and RFID, includes the service robot of the known anchor node in a plurality of positions and a plurality of mobilizable positions undetermined, every the anchor node includes zigBee signal transmission node or RFID label, and every service robot is including being used for receiving the zigBee signal reception module of zigBee signal and the RFID read write line that is used for reading the RFID label, and every service robot is through 3 at least zigBee signals or through 1 RFID positioning of the label self position. By adopting the above structure, the utility model, service robot removes to when being close to certain RFID location tagging indoor, and service robot discerns this RFID location tagging's positional information to regard this positional information as the service robot current position, when service robot left RFID location tagging, the zigBee signal transmission nodal network that the accessible was arranged on the ceiling carried out the service robot location, gets accurate position in order to obtain service robot.
Description
Technical field
The utility model relates to a kind of indoor locating system be applied in service robot, particularly a kind of service robot positioning system based on ZigBee and RFID.
Background technology
The location of service robot is the basis of service robot path planning research, is one of gordian technique of service robot research, is the prerequisite of service robot freely activity in indoor.Service robot orientation problem, actually belongs to indoor positioning problem.For indoor positioning problem, existing scheme many employings machine vision is located, based on wireless network location or dead reckoning localization method.
The method with map reconstruction is located in the many employings of indoor positioning based on machine vision simultaneously.This indoor orientation method has the high advantage of positioning precision, but algorithm is complicated, high to the computing power of service robot, storage capacity, traffic capacity requirement.
Two classes are mainly divided into based on wireless network indoor orientation method, one class adopts wireless signal propagation model, set up the model between distance and received signal strength, obtain the distance between service robot to certain known node by received signal strength, then estimate the current location of service robot by multiple (at least three) distance.Another method measures the signal intensity that known location receives multiple known node, and preserved with the form of fingerprint base by the corresponding relation of this known location and each received signal strength.When locating in real time, after receiving multiple known node signal intensity, being mated in fingerprint base by matching algorithm, obtaining the estimation of this position location.Indoor orientation method based on wireless network is applicable to the simple situation of indoor environment.
Based on the indoor orientation method of dead reckoning generally as auxiliary positioning mode.After other modes cannot meet positioning requirements, according to gyroscope and accelerometer data, current location is estimated.The method is simple, but precision cannot ensure, and when estimating for a long time, there is error accumulation, makes estimated result inaccurate.
Utility model content
The purpose of this utility model is to provide a kind of service robot positioning system based on ZigBee and RFID, and this system has disposes simply, and algorithm complex is low, is applicable to the simpler environment such as family and office.
For achieving the above object, the technical solution adopted in the utility model is:
A kind of service robot positioning system based on ZigBee and RFID, comprise the known anchor node in some positions and some service robots movably to be positioned, each described anchor node comprises ZigBee signal sending node or RFID label tag, each service robot comprises for receiving the ZigBee signal receiving module of ZigBee signal and the rfid interrogator for reading RFID label tag, and each service robot is by least 3 ZigBee signals or by 1 RFID label tag location self-position.
Preferably: described ZigBee signal receiving module can receive at least three ZigBee signals simultaneously.
Preferably: in described RFID label tag floor tile disposed in the interior, and be positioned at key point position.
Preferably: described all ZigBee signal sending nodes are arranged in indoor ceiling same plane, and form the mesh network that a signal intensity can cover whole room area.
Preferably: described ZigBee signal sending node and described ZigBee signal receiving module all adopt the CC2530 chip of Texas Instrument.
Preferably: described RIFD label adopts ultra-high-frequency passive tag.
After the utility model adopts said structure, service robot is when indoor moving is to certain RFID location tags close, service robot recognizes the positional information of this RFID location tags, and using this positional information as service robot current location, when service robot leaves RFID location tags, carry out service robot location by the ZigBee signal sending node network disposed on the ceiling, obtain accurate location to obtain service robot.
Accompanying drawing explanation
Fig. 1 is structured flowchart of the present utility model.
Fig. 2 is service robot indoor locating system positioning principle schematic diagram.
Fig. 3 is the layout schematic diagram of anchor node.
Fig. 4 is the schematic diagram that service robot receives ZigBee signal sending node signal.
Embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail:
A kind of service robot positioning system based on ZigBee and RFID, comprise the known anchor node in some positions and some service robots movably to be positioned, each described anchor node comprises ZigBee signal sending node or RFID label tag, each service robot comprises for receiving the ZigBee signal receiving module of ZigBee signal and the rfid interrogator for reading RFID label tag, and each service robot is by least 3 ZigBee signals or by 1 RFID label tag location self-position.
Preferably: described ZigBee signal receiving module can receive at least three ZigBee signals simultaneously.
Preferably: in described RFID label tag floor tile disposed in the interior, and be positioned at key point position.
Preferably: described all ZigBee signal sending nodes are arranged in indoor ceiling same plane, and form the mesh network that a signal intensity can cover whole room area.
Preferably: described ZigBee signal sending node and described ZigBee signal receiving module all adopt the CC2530 chip of Texas Instrument.
Preferably: described RIFD label adopts ultra-high-frequency passive tag.
Embodiment
System architecture of the present utility model and positioning principle are respectively as depicted in figs. 1 and 2, service robot is when indoor moving is to certain RFID location tags close, service robot recognizes the positional information of this RFID location tags by rfid interrogator, and using this positional information as service robot current location.When service robot leaves RFID location tags, then the network disposing ZigBee signal sending node formation on the ceiling carries out service robot location, accurately to obtain service robot position.The layout of RFID location tags and ZigBee signal sending node network as shown in Figure 2, each RFID location tags is deployed in Indoor floor tile, and be positioned at key position, as corner, crossover location, position, doorway etc., for ensureing that ZigBee signal sending node network can position each position indoor, all ZigBee signal sending nodes are arranged in indoor ceiling same plane, and form the mesh network that a signal intensity can cover whole room area.
When service robot receives ZigBee signal, by by radio signal, the localization method propagated in atmosphere based on mathematical model can calculate the distance between ZigBee signal sending node and service robot.This model as shown in Equation 1.
PL (d) is the received power of range transmission signal d place Received signal strength, and unit is dB; N refers to the path loss index that distance increases, i.e. envirment factor, usual span 2 ~ 4; PL (d
0) represent that distance is d
0time received signal strength; ζ is shadowing factor, with the stochastic variable that propagation distance is irrelevant.Path loss index n and shadowing factor known time, by the measurement of received power thus the distance calculated between anchor node and service robot.Because ZigBee signal sending node is disposed on the ceiling, and be deployed in the better simply indoor environment of environment, the localization method based on distance can more accurately position service robot.Service robot receives ZigBee signal sending node signal as shown in Figure 4, ZigBee signal sending node is positioned at same plane, service robot can receive multiple (at least three) ZigBee signal sending node signal intensity, the Radio Signal Propagation mathematical model of recycling shown in formula 1, estimates each anchor node to service robot actual range.Finally according to the spatial relationship of ZigBee signal sending node and service robot, orient the particular location of service robot.
Below described by reference to the accompanying drawings embodiment is only preferred implementation of the present utility model, and the restriction not to protection domain of the present utility model, and any improvement done based on the utility model spirit all ought within the utility model protection domain.
Claims (6)
1. the service robot positioning system based on ZigBee and RFID, it is characterized in that: comprise the known anchor node in some positions and some service robots movably to be positioned, each described anchor node comprises ZigBee signal sending node or RFID label tag, each service robot comprises for receiving the ZigBee signal receiving module of ZigBee signal and the rfid interrogator for reading RFID label tag, and each service robot is by least 3 ZigBee signals or by 1 RFID label tag location self-position.
2. a kind of service robot positioning system based on ZigBee and RFID according to claim 1, is characterized in that: described ZigBee signal receiving module can receive at least three ZigBee signals simultaneously.
3. a kind of service robot positioning system based on ZigBee and RFID according to claim 2, is characterized in that: this positioning system is used for indoor, in described RFID label tag floor tile disposed in the interior, and is positioned at corner, crossover location, position, doorway.
4. a kind of service robot positioning system based on ZigBee and RFID according to claim 3, it is characterized in that: described all ZigBee signal sending nodes are arranged in indoor ceiling same plane, and form the mesh network that a signal intensity can cover whole room area.
5. a kind of service robot positioning system based on ZigBee and RFID according to claim 1, is characterized in that: described ZigBee signal sending node and described ZigBee signal receiving module all adopt the CC2530 chip of Texas Instrument.
6. a kind of service robot positioning system based on ZigBee and RFID according to claim 1, is characterized in that: described RIFD label adopts ultra-high-frequency passive tag.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520877791.6U CN205067727U (en) | 2015-11-03 | 2015-11-03 | Service robot positioning system based on zigBee and RFID |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520877791.6U CN205067727U (en) | 2015-11-03 | 2015-11-03 | Service robot positioning system based on zigBee and RFID |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105856227A (en) * | 2016-04-18 | 2016-08-17 | 呼洪强 | Robot vision navigation technology based on feature recognition |
| CN106443583A (en) * | 2016-08-30 | 2017-02-22 | 西安小光子网络科技有限公司 | Location-based rapid regional optical label deployment method |
| CN108152792A (en) * | 2017-12-29 | 2018-06-12 | 同方威视技术股份有限公司 | Method, mobile equipment and the alignment system of the mobile equipment of positioning |
| CN110365419A (en) * | 2019-07-26 | 2019-10-22 | 秒针信息技术有限公司 | The communication means and meal delivery robot of room service |
-
2015
- 2015-11-03 CN CN201520877791.6U patent/CN205067727U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105856227A (en) * | 2016-04-18 | 2016-08-17 | 呼洪强 | Robot vision navigation technology based on feature recognition |
| CN106443583A (en) * | 2016-08-30 | 2017-02-22 | 西安小光子网络科技有限公司 | Location-based rapid regional optical label deployment method |
| CN106443583B (en) * | 2016-08-30 | 2020-09-01 | 西安小光子网络科技有限公司 | Regional optical label rapid deployment method based on positioning |
| CN108152792A (en) * | 2017-12-29 | 2018-06-12 | 同方威视技术股份有限公司 | Method, mobile equipment and the alignment system of the mobile equipment of positioning |
| CN110365419A (en) * | 2019-07-26 | 2019-10-22 | 秒针信息技术有限公司 | The communication means and meal delivery robot of room service |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160302 Termination date: 20161103 |
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| CF01 | Termination of patent right due to non-payment of annual fee |