CN206431489U - Crusing robot navigation system based on ultra wide band - Google Patents
Crusing robot navigation system based on ultra wide band Download PDFInfo
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- CN206431489U CN206431489U CN201720131027.3U CN201720131027U CN206431489U CN 206431489 U CN206431489 U CN 206431489U CN 201720131027 U CN201720131027 U CN 201720131027U CN 206431489 U CN206431489 U CN 206431489U
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Abstract
The utility model discloses a kind of crusing robot navigation system based on ultra wide band.Microprocessor and several ultra-wideband receiver labels are provided with several signal projector base stations where it includes crusing robot and is arranged on the crusing robot in inspection space, the crusing robot.The utility model passes through the setting signal transmitter base station transmitting UWB signal in inspection space, again by setting ultra-wideband receiver label to receive the UWB signal of signal projector Base Transmitter on crusing robot, the present co-ordinate position of crusing robot can be obtained in real time, and calculate inspection machine human body posture and the direction of motion, so as to more accurately provide motion vector navigation information for crusing robot, have broad application prospects.
Description
Technical field
The invention belongs to field of intelligent control technology, more particularly to a kind of crusing robot navigation system based on ultra wide band
System.
Background technology
At present, crusing robot present on market, using magnetic navigation or laser navigation, magnetic navigation needs applying in advance
Man-hour carries out magnetic orbital construction, and quantities is big, and the maintenance difficulties in later stage are also higher；Magnetic navigation is in advance on the road for needing to advance
Magnetic stripe is laid, conduct path is very fixed, it is desirable to change path really pretty troublesome something, application receives very big limit
System.Each crusing robot can only be fixed on corresponding magnetic orbital and operate, when needing many robot manipulating tasks, it is necessary to increase
The quantity of magnetic orbital, very big puzzlement is caused to engineering construction, it is evident that the intelligence degree of magnetic navigation is not special
It is good, it is impossible to meet the flexible commercialization demand of present user.
Crusing robot based on laser navigation, although avoiding magnetic navigation needs in engineering constructions such as ground laying magnetic stripes
The problem of, but laser radar is expensive, technical difficulty is high, it is necessary to the algorithm of complexity；The data gathered due to laser radar
Many, requirement of real-time is high, and the hardware resource requirements performance that the robot required for laser navigation is carried is high, could expire in real time
The fortune work(navigation needs of biped robot.It will be apparent that the crusing robot of laser navigation is above restricted in the application of low cost.Together
When, there is the optical characteristics such as refraction, total reflection in laser, under some specific environments, laser navigation can fail, and cause inspection machine
The feature failure of people, it is obvious that the application of laser navigation is restricted.
The content of the invention
The present invention goal of the invention be：In order to solve crusing robot magnetic navigation and laser navigation in the prior art not
Foot, the present invention proposes a kind of crusing robot navigation system based on ultra wide band.
The technical scheme is that：A kind of crusing robot navigation system based on ultra wide band, including crusing robot
And several signal projector base stations where being arranged on the crusing robot in inspection space, the signal projector base station
For launching UWB signal；Microprocessor and several ultra-wideband receiver labels are provided with the crusing robot, it is described micro-
Processor is connected with several ultra-wideband receiver labels respectively, and the ultra-wideband receiver label is used to receive the signal hair
Emitter Base Transmitter UWB signal.
Further, the quantity of the signal projector base station is at least 3.
Further, the quantity of the ultra-wideband receiver label is at least 2.
Further, X-direction of the ultra-wideband receiver label along the crusing robot is installed.
Further, Y-direction of the ultra-wideband receiver label along the crusing robot is installed.
The beneficial effects of the invention are as follows：The present invention passes through the setting signal transmitter base station transmitting UWB letters in inspection space
Number, then by setting ultra-wideband receiver label to receive the UWB signal of signal projector Base Transmitter on crusing robot, can
To obtain the present co-ordinate position of crusing robot in real time, and inspection machine human body posture and the direction of motion are calculated, so that
Motion vector navigation information more accurately is provided for crusing robot, is had broad application prospects.
Brief description of the drawings
Fig. 1 is the crusing robot navigation system structural representation based on ultra wide band of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, not
For limiting the present invention.
As shown in figure 1, being the crusing robot navigation system structural representation based on ultra wide band of the present invention.One kind is based on
The crusing robot navigation system of ultra wide band, including crusing robot S7 and inspection where being arranged on the crusing robot S7 it is empty
Several interior signal projector base stations, the signal projector base station is used to launch UWB signal；The crusing robot S7
On be provided with microprocessor S6 and several ultra-wideband receiver labels, the microprocessor S6 connects with several ultra wide bands respectively
The connection of device label is received, the ultra-wideband receiver label is used to receive the signal projector Base Transmitter UWB signal.
In order to ensure the validity of signal transmission, crusing robot S7 present co-ordinate position is obtained in real time, it is of the invention
The quantity of signal projector base station is at least 3 in crusing robot navigation system, and the quantity of ultra-wideband receiver label is at least
For 2.Here the quantity for setting ultra-wideband receiver label is 2, and S1, S2 are designated as respectively；Setting signal transmitter base station
Quantity is 3, and S3, S4, S5 are designated as respectively.Signal projector base station S3, S4, S5 are respectively to ultra-wideband receiver label S1, S2
Launch UWB signal, ultra-wideband receiver label S1, S2 receive the UWB signal of signal projector base station S3, S4, S5 transmitting respectively.
Map of the invention by building inspection space in advance, based on ranging (TOF) principle, utilizes ultra-wideband receiver label and signal
The distance of transmitter base station, calculates coordinate of the ultra-wideband receiver label in the map in inspection space.Here ranging (TOF)
Principle is the common technology means of those skilled in the art, and the present invention is not repeated.
In order to confirm athletic postures and the direction of motion of the crusing robot S7 during inspection, the present invention connects ultra wide band
Receive X-directions or Y-direction of device label S1, the S2 along crusing robot S7 to be arranged on crusing robot S7, while signal is launched
Device base station S3, S4, S5 are separately mounted to the different azimuth in inspection space.The present invention is according to ultra-wideband receiver label in inspection
Coordinate in the map in space can draw out straight line in map, obtain crusing robot S7 so as to calculate and patrolling
Athletic posture and the direction of motion during inspection, effectively avoid single ultra-wideband receiver label and only export crusing robot
The deficiency of S7 coordinates, so as to more accurately provide motion vector information for crusing robot S7.
The microprocessor S6 of the present invention is connected with ultra-wideband receiver label S1, S2 respectively by signal wire；Microprocessor
S6 by obtaining ultra-wideband receiver label S1, S2 in the map in inspection space respectively from ultra-wideband receiver label S1, S2
Coordinate data, so as to calculate coordinates and crusing robot S7 of the crusing robot S7 in the map in inspection space in inspection
During athletic posture and the direction of motion, the current good working condition data of crusing robot S7 are obtained in real time.Crusing robot
S7 constantly corrects its coordinate and athletic posture and fortune in map according to current good working condition data in navigation procedure
Dynamic direction, so as to complete navigation.
One of ordinary skill in the art will be appreciated that embodiment described here is to aid in reader and understands this hair
Bright principle, it should be understood that protection scope of the present invention is not limited to such especially statement and embodiment.This area
Those of ordinary skill can make according to these technical inspirations disclosed by the invention various does not depart from the other each of essence of the invention
Plant specific deformation and combine, these deformations and combination are still within the scope of the present invention.
Claims (5)
1. a kind of crusing robot navigation system based on ultra wide band, it is characterised in that including crusing robot and be arranged on institute
Several signal projector base stations where stating crusing robot in inspection space, the signal projector base station is used to launch
UWB signal；Microprocessor and several ultra-wideband receiver labels, the microprocessor point are provided with the crusing robot
It is not connected with several ultra-wideband receiver labels, the ultra-wideband receiver label is used to receive the signal projector base station
Launch UWB signal.
2. the crusing robot navigation system as claimed in claim 1 based on ultra wide band, it is characterised in that the signal transmitting
The quantity of device base station is at least 3.
3. the crusing robot navigation system as claimed in claim 2 based on ultra wide band, it is characterised in that the ultra wide band connects
The quantity for receiving device label is at least 2.
4. the crusing robot navigation system as claimed in claim 3 based on ultra wide band, it is characterised in that the ultra wide band connects
X-direction of the device label along the crusing robot is received to install.
5. the crusing robot navigation system as claimed in claim 3 based on ultra wide band, it is characterised in that the ultra wide band connects
Y-direction of the device label along the crusing robot is received to install.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720131027.3U CN206431489U (en) | 2017-02-13 | 2017-02-13 | Crusing robot navigation system based on ultra wide band |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720131027.3U CN206431489U (en) | 2017-02-13 | 2017-02-13 | Crusing robot navigation system based on ultra wide band |
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| CN206431489U true CN206431489U (en) | 2017-08-22 |
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| CN201720131027.3U Active CN206431489U (en) | 2017-02-13 | 2017-02-13 | Crusing robot navigation system based on ultra wide band |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109270932A (en) * | 2018-09-30 | 2019-01-25 | 成都精位科技有限公司 | Automatic Pilot positioning system and automated driving system |
| CN109276190A (en) * | 2018-10-23 | 2019-01-29 | 中国人民解放军陆军工程大学 | Sweeping robot monitoring method and its equipment based on UWB |
| CN109375166A (en) * | 2018-12-07 | 2019-02-22 | 成都精位科技有限公司 | Active positioning method and active location system |
| CN111053569A (en) * | 2019-12-30 | 2020-04-24 | 广东博智林机器人有限公司 | Posture judgment method and device based on positioning system and storage medium |
| CN111360796A (en) * | 2018-12-07 | 2020-07-03 | 深圳市优必选科技有限公司 | Robot and positioning method and device thereof |
| CN111474517A (en) * | 2020-05-25 | 2020-07-31 | 北京海益同展信息科技有限公司 | Positioning method and device and inspection robot |
| CN112518757A (en) * | 2020-12-17 | 2021-03-19 | 湖南工程学院 | Robot control method, robot, and readable storage medium |
| CN112882471A (en) * | 2021-01-15 | 2021-06-01 | 南京工业大学 | UWB-based inspection robot and positioning method thereof |
| CN112969903A (en) * | 2018-09-14 | 2021-06-15 | 创科无线普通合伙 | Navigation system for use in an autonomous tool and method for controlling an autonomous tool |
| CN113433266A (en) * | 2021-06-10 | 2021-09-24 | 山东欧齐珞信息科技有限公司 | Method and system for monitoring gas components in whole tunnel |
| CN113645581A (en) * | 2021-09-24 | 2021-11-12 | 国网上海市电力公司 | Ultra-wideband time difference method mobile positioning system of indoor inspection robot |
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2017
- 2017-02-13 CN CN201720131027.3U patent/CN206431489U/en active Active
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112969903A (en) * | 2018-09-14 | 2021-06-15 | 创科无线普通合伙 | Navigation system for use in an autonomous tool and method for controlling an autonomous tool |
| CN109270932A (en) * | 2018-09-30 | 2019-01-25 | 成都精位科技有限公司 | Automatic Pilot positioning system and automated driving system |
| CN109276190A (en) * | 2018-10-23 | 2019-01-29 | 中国人民解放军陆军工程大学 | Sweeping robot monitoring method and its equipment based on UWB |
| CN111360796B (en) * | 2018-12-07 | 2021-10-29 | 深圳市优必选科技有限公司 | Robot and positioning method and device thereof |
| CN109375166A (en) * | 2018-12-07 | 2019-02-22 | 成都精位科技有限公司 | Active positioning method and active location system |
| CN111360796A (en) * | 2018-12-07 | 2020-07-03 | 深圳市优必选科技有限公司 | Robot and positioning method and device thereof |
| CN111053569A (en) * | 2019-12-30 | 2020-04-24 | 广东博智林机器人有限公司 | Posture judgment method and device based on positioning system and storage medium |
| CN111053569B (en) * | 2019-12-30 | 2023-04-07 | 广东博智林机器人有限公司 | Posture judgment method and device based on positioning system and storage medium |
| CN111474517A (en) * | 2020-05-25 | 2020-07-31 | 北京海益同展信息科技有限公司 | Positioning method and device and inspection robot |
| CN112518757A (en) * | 2020-12-17 | 2021-03-19 | 湖南工程学院 | Robot control method, robot, and readable storage medium |
| CN112882471A (en) * | 2021-01-15 | 2021-06-01 | 南京工业大学 | UWB-based inspection robot and positioning method thereof |
| CN113433266A (en) * | 2021-06-10 | 2021-09-24 | 山东欧齐珞信息科技有限公司 | Method and system for monitoring gas components in whole tunnel |
| CN113645581A (en) * | 2021-09-24 | 2021-11-12 | 国网上海市电力公司 | Ultra-wideband time difference method mobile positioning system of indoor inspection robot |
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