CN206161162U - Location system for many mobile robot - Google Patents
Location system for many mobile robot Download PDFInfo
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- CN206161162U CN206161162U CN201621223769.0U CN201621223769U CN206161162U CN 206161162 U CN206161162 U CN 206161162U CN 201621223769 U CN201621223769 U CN 201621223769U CN 206161162 U CN206161162 U CN 206161162U
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- mobile robot
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Abstract
The utility model provides a location system for many mobile robot, include: set up UWB orientation module and infrared device in the robot, set up in outdoor a plurality of infrared detector, UWB base station module, wireless data transfer station and master station, still be provided with central processing module and second communication module in the robot. After the robot gets into the room, infrared detector detect behind the infrared energy with room number message routing to the master station and wake the UWB base station module in this room up, adopt the UWB location finding technique to carry out further location to the robot, not only improve positioning accuracy, need not to start UWB base station module in addition in the room that does not have the robot to get into, also practice thrift the cost when reducing the consumption.
Description
Technical field
The utility model belongs to robot localization technical field, more particularly to a kind of positioning for being applied to multiple mobile robot
System.
Background technology
At present, during the participation operation and rescue of robot, the introducing of robot localization monitoring system can be very big
The safety of the support personnel of degree, during operation rescue, in the urgent need to making to coming in and going out using positioning monitoring system is round-the-clock
The robot at industry scene carries out real-time automatic tracking, to grasp position distribution feelings of each robot in operation field at any time
Condition.
But, some in communication module and positioning region are carried using robot in current robot localization detecting system
Communication base station is timed and communicates to obtain the alignment system of personnel positions, but this alignment system easily occurs in positioning
Position drift, causes positioning precision relatively low.Some are based in the localization method of RFID technologies needs in ready-made arrangement larger amt
RFID readers, information is to obtain people on the RFID electronic tags that RFID readers are carried with by read machine people
The position of member.The positioning precision of this alignment system places one's entire reliance upon the quantity of RFID readers, therefore wants to obtain higher
Precision, must just put into bigger equipment cost.
The content of the invention
In view of this, the utility model provides a kind of alignment system for being applied to multiple mobile robot, to solve current machine
Device people's alignment system power consumption height, the technical problem for needing great amount of cost.In order to have one to some aspects for the embodiment for disclosing
Basic understanding, shown below is simple summary.The summarized section is not extensive overview, nor to determine key/critical
Component describes the protection domain of these embodiments.Its sole purpose is that some concepts are presented with simple form, with this
As the preamble of following detailed description.
The utility model is adopted the following technical scheme that：
In some optional embodiments, there is provided a kind of alignment system for being applied to multiple mobile robot, including：It is arranged at
UWB locating modules and infrared radiation device in robot, some infra-red detections being arranged in outdoor each single family house
Device, wireless data terminal and master station, the pyroscan is connected with first communication module, when the pyroscan
When detecting the infrared energy that robot is radiated, the first communication module wakes up pyroscan place house
UWB base station modules simultaneously send the numbering in place house to the wireless data terminal, and the wireless data terminal passes through
Cable is connected with the master station；Central processing module and second communication module, the UWB positioning are additionally provided with the robot
Module is connected to the input side of the central processing module, and the second communication module is connected to the defeated of the central processing module
Go out side, the central processing module is used for receiving data and calculates the position in the house of robot place, second communication
Position in the house of robot place is uploaded to the master station by module by the wireless data terminal.
In some optional embodiments, the pyroscan includes：Support, pyroelectricity probe and signal transacting
Device, the pyroelectricity probe is installed on the support, and the pyroelectricity probe real-time detection is arranged at infrared in robot
Radiation appliance, the pyroelectricity probe is connected to the input side of the signal processor, and the first communication module is connected to institute
The outlet side of signal processor is stated, the signal processor receiving data outputs control signals to first communication Jing after processing
Module.
In some optional embodiments, platform is installed on the support, the platform by electric rotating machine with it is described
Support connects, and the pyroelectricity probe is installed on the platform.
In some optional embodiments, the described alignment system for being applied to multiple mobile robot, also including being arranged at
Power module in robot, the power module be the UWB locating modules, infrared radiation device, central processing module and
Second communication module is powered.
In some optional embodiments, the described alignment system for being applied to multiple mobile robot is also included for reality
When monitor the monitoring device of surrounding environment, the monitoring device be arranged on the wireless data terminal and will detection data
It is uploaded to the master station.
In some optional embodiments, the monitoring device includes：Temperature sensor, humidity sensor, smog sensing
Device, chemical sensor and gas sensor.
The beneficial effect that the utility model is brought：One pyroscan is installed in each house, works as robot
Into after room, pyroscan detects and after infrared energy room number information is sent to master station and waken up in this room
UWB base station modules, are further positioned using UWB location technologies to robot, not only improve positioning precision, and are not being had
Having in the room of robot entrance need not start UWB base station modules, reduce also cost-effective while power consumption；Can in position fixing process
UWB base station modules in selective closing system, now send room number information mode also realize to robot you just
Step positioning, improves the washability of positioning degree.
For above-mentioned and related purpose, one or more embodiments include will be explained in below and in claim
In the feature that particularly points out.Description below and accompanying drawing describe some illustrative aspects in detail, and its indicate be only
Some modes in the utilizable various modes of principle of each embodiment.Other benefits and novel features will be with
The detailed description in face is considered in conjunction with the accompanying and becomes obvious, the disclosed embodiments be will include all these aspects and they
Equivalent.
Description of the drawings
Fig. 1 is the structural representation of the alignment system for being applied to multiple mobile robot of the present utility model；
Fig. 2 is the structural representation of the utility model pyroscan.
Specific embodiment
The following description and drawings fully illustrate specific embodiments of the present invention, to enable those skilled in the art to
Put into practice them.Other embodiments can include structure, logic, it is electric, process and it is other changes.Embodiment
Only represent possible change.Unless explicitly requested, otherwise single components and functionality is optional, and the order for operating can be with
Change.The part of some embodiments and feature can be included in or replace part and the feature of other embodiments.This
The scope of bright embodiment includes the gamut of claims, and all obtainable equivalent of claims
Thing.
In some illustrative embodiments, as shown in Figure 1, there is provided a kind of positioning system for being applied to multiple mobile robot
System, including：UWB locating modules 1, infrared radiation device 2, pyroscan 3, wireless data terminal 4, master station 5 and first
Communication module 6.
Pyroscan 3 be arranged at outdoor house in, each house it is separate and within doors arrange an infrared ray
Detector 3, pyroscan 3 is connected with first communication module 6, transmits when pyroscan 3 detects infrared energy
To 6 one triggers of first communication module with notify first communication module 6 by the numbering in the place house of pyroscan 3 send out
See off.
In some illustrative embodiments, the pyroscan 3 includes：Support 31, pyroelectricity probe 32 and
Signal processor 33, the real-time detection of the pyroelectricity probe 32 is arranged at the infrared radiation device in robot, the pyroelectricity
Probe is connected to the input side of the signal processor 33.The first communication module 6 is connected to the signal processor 33
Outlet side, the receiving data of the signal processor 33 outputs control signals to the first communication module 6 Jing after processing.
UWB locating modules 1 and infrared radiation device 2 are arranged in robot, when robot enters room, in the room
Pyroscan 3 detect the infrared energy that infrared radiation device 2 is radiated, the pyroelectricity probe 32 gives the signal
33 1 signals of processor, after the process of the signal processor 33 first communication module 6 is output control signals to.Described
One communication module 6 is received after control signal, and the numbering in house is sent to the wireless data terminal 4, the wireless data
Terminal 4 is connected by cable with the master station 5, and final house numbers are uploaded to master station 5, and master station 5 can learn robot
The house at place, in the advance typing master station 5 in address in house, i.e., master station 5 obtains the approximate location that robot is located.Meanwhile, when
When the pyroscan 3 detects the infrared energy that robot is radiated, the first communication module 6 wakes up described infrared
The UWB base station modules 7 in the place house of line detector 3.
Central processing module 8 and second communication module 9 are additionally provided with the robot, the UWB locating modules 1 connect
To the input side of the central processing module 8, the second communication module 9 is connected to the outlet side of the central processing module 8.
UWB base station modules 7 are arranged in house fixed location and send pulse signal in real time, the UWB locating modules 1 be used for it is described
UWB base station modules 7 are communicated, and using pulse ranging mode the distance of robot and the UWB base station modules 7 is obtained.It is described
UWB locating modules 1 are obtained after distance, are transmitted to central processing module 8, and the central processing module is used for receiving data and foundation
The distance of acquisition calculates the particular location in the house of robot place.The second communication module 9 is by house that robot is located
Interior particular location is uploaded to the master station 5 by the wireless data terminal 4.During the wireless data terminal 4 is used for
Revolution evidence, it is to avoid loss of data, master station is used for total process, calculating and the classification of data.
Primary Location is realized first with infrared radiation device 2, Infrared Detectors 3, first communication module 6, works as robot
Into after corresponding room, the UWB locating modules 1 and UWB base station modules 7 based on UWB location technologies is just waken up, and realizes more smart
Accurate positioning, not only improves positioning precision, and need not start UWB base station modules 7 in the room entered without robot, drops
It is also cost-effective while low-power consumption；UWB base station modules 7 in position fixing process optionally in closing system, now send
The mode of room number information is also realized to your Primary Location of robot, the washability of raising positioning degree.
In some illustrative embodiments, first communication module 6 and second communication module 9 adopt 2.4G wireless modules.
As shown in Fig. 2 the pyroelectricity probe 32 is installed on the support 31, the real-time detection of the pyroelectricity probe 32
The infrared radiation device of robot is arranged at, platform 34 is installed on the support 31, the platform 34 passes through electric rotating machine 35
It is connected with the support 31, the pyroelectricity probe 33 is installed on the platform 34, electric rotating machine 35 drives pyroelectricity probe
32 rotations, increase coverage.
In some illustrative embodiments, the described alignment system for being applied to multiple mobile robot, also including setting
Power module 10 in robot, the power module 10 is the UWB locating modules 1, infrared radiation device 2, centre
Reason module 8 and second communication module 9 are powered.
In some illustrative embodiments, the described alignment system for being applied to multiple mobile robot, also include for
The monitoring device 11 of real-time monitoring surrounding environment, the monitoring device 11 is arranged on the wireless data terminal and will detection
Data be uploaded to the master station.The monitoring device includes：Temperature sensor, humidity sensor, Smoke Sensor, chemistry are passed
Sensor and gas sensor, the environment around real-time monitoring house is uploaded to master station, improves the comprehensive of data, facilitates machine
People's operation.
Above-described embodiment is the utility model preferably embodiment, but embodiment of the present utility model is not by above-mentioned
The restriction of embodiment, other are any to substitute without departing from the change made under Spirit Essence of the present utility model and principle, modification,
Combination, simplifies, and should be equivalent substitute mode, all should be included in protection domain of the present utility model.
Claims (6)
1. the alignment system of multiple mobile robot is applied to, it is characterised in that included：The UWB positioning moulds being arranged in robot
Block and infrared radiation device, some pyroscans being arranged in outdoor each single family house, wireless data terminal and
Master station, the pyroscan is connected with first communication module, is radiated when the pyroscan detects robot
Infrared energy when, the first communication module wakes up the UWB base station modules in pyroscan place house and by institute
Numbering in house is sent to the wireless data terminal, and the wireless data terminal is connected by cable with the master station
Connect；Be additionally provided with central processing module and second communication module in the robot, the UWB locating modules be connected to it is described in
The input side of centre processing module, the second communication module is connected to the outlet side of the central processing module, the centre
Reason module is used for receiving data and calculates the position in the house of robot place, and the second communication module is located in robot
Position in house is uploaded to the master station by the wireless data terminal.
2. the alignment system for being applied to multiple mobile robot according to claim 1, it is characterised in that the infrared ray is visited
Surveying device includes：Support, pyroelectricity probe and signal processor, the pyroelectricity probe is installed on the support, the heat
The infrared radiation device that electric probe real-time detection is arranged in robot is released, the pyroelectricity probe is connected to the signal transacting
The input side of device, the first communication module is connected to the outlet side of the signal processor, and the signal processor receives number
The first communication module is output control signals to according to Jing after processing.
3. the alignment system for being applied to multiple mobile robot according to claim 2, it is characterised in that pacify on the support
Equipped with platform, the platform is connected by electric rotating machine with the support, and the pyroelectricity probe is installed on the platform.
4. the alignment system for being applied to multiple mobile robot according to claim 3, it is characterised in that also including being arranged at
Power module in robot, the power module be the UWB locating modules, infrared radiation device, central processing module and
Second communication module is powered.
5. the alignment system for being applied to multiple mobile robot according to claim 4, it is characterised in that also include for reality
When monitor the monitoring device of surrounding environment, the monitoring device be arranged on the wireless data terminal and will detection data
It is uploaded to the master station.
6. the alignment system for being applied to multiple mobile robot according to claim 5, it is characterised in that the monitoring device
Including：Temperature sensor, humidity sensor, Smoke Sensor, chemical sensor and gas sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621223769.0U CN206161162U (en) | 2016-11-15 | 2016-11-15 | Location system for many mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621223769.0U CN206161162U (en) | 2016-11-15 | 2016-11-15 | Location system for many mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206161162U true CN206161162U (en) | 2017-05-10 |
Family
ID=58658856
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621223769.0U Active CN206161162U (en) | 2016-11-15 | 2016-11-15 | Location system for many mobile robot |
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|---|---|
| CN (1) | CN206161162U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110461028A (en) * | 2019-08-08 | 2019-11-15 | 北京洛必德科技有限公司 | A kind of robot communication control unit and system |
| CN110824978A (en) * | 2019-09-27 | 2020-02-21 | 安徽延达智能科技有限公司 | Fire-fighting robot remote control system |
| CN111031483A (en) * | 2019-12-23 | 2020-04-17 | 谭啸 | Wireless and infrared pyroelectric sensor-based indoor positioning system and method for old people |
| CN112825588A (en) * | 2019-11-21 | 2021-05-21 | 珠海格力电器股份有限公司 | Power supply control method, system and device for tooling vehicle base station and storage medium |
-
2016
- 2016-11-15 CN CN201621223769.0U patent/CN206161162U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110461028A (en) * | 2019-08-08 | 2019-11-15 | 北京洛必德科技有限公司 | A kind of robot communication control unit and system |
| CN110824978A (en) * | 2019-09-27 | 2020-02-21 | 安徽延达智能科技有限公司 | Fire-fighting robot remote control system |
| CN112825588A (en) * | 2019-11-21 | 2021-05-21 | 珠海格力电器股份有限公司 | Power supply control method, system and device for tooling vehicle base station and storage medium |
| CN111031483A (en) * | 2019-12-23 | 2020-04-17 | 谭啸 | Wireless and infrared pyroelectric sensor-based indoor positioning system and method for old people |
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