CN208937979U - Intelligent transfer robot control system hardware configuration based on UWB positioning - Google Patents

Abstract

The utility model discloses a kind of Intelligent transfer robot control system hardware configurations based on UWB positioning, including control unit, positioning unit, navigation elements, avoidance unit and human-computer interaction part, positioning uses UWB location technology in the utility model, distance measurement function is realized by way of transmission time of the measuring signal between positioning label and base station, the distance between label and each base station information of capture positioning in real time.The beneficial effects of the utility model are that 1. the utility model use dual processor distributed control mode, and control system is made to become safer；2.MC9S12XDT256 microprocessor has a variety of peripheral hardware communication interfaces；3. the utility model positioning method uses UWB location technology；4. the utility model can be applied to warehouse logistics field, the cost of logistics sorting transport is advantageously reduced, reduces the investment of personnel, improves logistics management.5. the utility model provides a friendly human-computer interaction interface.

Description

Intelligent transfer robot control system hardware configuration based on UWB positioning

Technical field

The utility model relates to a kind of Intelligent transfer robot control technology fields, and in particular to one kind is positioned based on UWB Intelligent transfer robot control system hardware configuration.

Background technique

With further implementing for " made in China 2025 " planning, every profession and trade is to intelligence machine Man's Demands also towards spirit The directions such as activity, convenience extend.In recent years, with booming, the electronic logistics industry development of internet and e-commerce Very rapidly.Become more efficiently, quickly to make transport, carry, more and more automation equipments are applied in logistics field. In traditional logistics work pattern, manpower transport is taken a long time, and person works' intensity is big, while personnel's sorting efficiency is relatively It is low, error rate is relatively high, be not able to satisfy the more categories of electronic logistics operation, the feature of small batch.In addition, old plus China human mortality The intensification of age degree, labor cost is continuously improved, so that the intelligentized logistics equipment of logistics company urgent need, using certainly Dynamicization technology, the ability for improving E-business logistics sorting, carrying link.

Transfer robot (Transfer Robot) is the industrial robot that can carry out automated handling operation.Carrying implement Device people is the new and high technology that modern age automation field occurs, and has been related to mechanics, mechanics, electric appliance hydraulic-pneumatic skill The ambits such as art, automatic control technology, sensor technology, singlechip technology and computer technology, it has also become modern mechanical system Make an important component in production system.

For transfer robot, can correctly identify itself present position and can carry out walking according to design route is Smoothly carry out the most important condition of its services.Now, the location technologies such as WIFI, ZigBee, bluetooth developed more at It is ripe, but they communication distance, power consumption, in terms of still have different degrees of defect, the utility model uses UWB (Ultra Wideband) ultra wideband location techniques realize robot localization, it sends signal because of its ultra-wideband characteristic, carrierfree The features such as, have many advantages, such as that small power consumption, strong security, penetration power are strong, anti-interference, positioning accuracy is high, indoors mobile object Locating and tracking and navigation aspect have its significant advantage.

Utility model content

For above-mentioned the technical problems existing in the prior art, it is a kind of fixed based on UWB that the utility model aim is to provide The Intelligent transfer robot control system hardware configuration of position.

In order to solve the above-mentioned technical problem, a kind of technical solution provided by the utility model are as follows: intelligence based on UWB positioning Transport Robot Control System for Punch hardware configuration, including control unit, positioning unit, navigation elements, avoidance unit and human-computer interaction Unit,

Described control unit includes single-chip microcontroller；

The positioning unit includes positioning label, and the single-chip microcontroller is carried out real-time by serial port and positioning label Communication；

The navigation elements include motor driver, and the single-chip microcontroller is connected by the motor driver and motor control It connects；

The avoidance unit includes microprocessor and ultrasonic radar, and the ultrasonic radar is used for real-time detection robot At a distance between barrier, data exchanges are realized by Transistor-Transistor Logic level signal and four ultrasonic radars, by serial communication with it is micro- Processor communication connection；

The man-machine interaction unit includes touch screen, and the touch screen is realized single with the control by serial port Member carries out data exchange.

Wherein, the touch screen is LCD display.

Wherein, the single-chip microcontroller is the MC9S12XDT256 single-chip microcontroller of grace intelligence Pu semiconductor (NXP) company production.

Wherein, the microprocessor is the MSP430G2553 single-chip microcontroller that single-chip microcontroller is the production of TI company.

Compared with prior art, a kind of Intelligent transfer robot based on UWB positioning provided by the utility model controls system Hardware configuration of uniting provides a kind of hard to realize robot localization using UWB (Ultra Wideband) ultra wideband location techniques Part structure, to provide possibility for further software development.

Detailed description of the invention

Fig. 1 show system hardware block diagram involved in the utility model.

Fig. 2 show robot control unit's software implemented structure block diagram involved in the utility model.

Fig. 3 show robot control unit's serial ports involved in the utility model and receives data outage software flow pattern.

Fig. 4 show robot control unit involved in the utility model and positions label position resolving processing routine software Flow chart.

Fig. 5 show T0 interrupt service routine software flow pattern in avoidance unit involved in the utility model.

Fig. 6 show 0 server software flow chart of external interrupt in avoidance unit involved in the utility model.

Specific embodiment

The utility model is described in further detail below in conjunction with the drawings and specific embodiments.It should be appreciated that this place The specific embodiment of description is only used to explain the utility model, is not used to limit the utility model.

It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase Mutually combination.

This application provides a kind of hardware configuration, innovation is not related to the improvement of method.

This application provides a kind of hardware mechanisms of Intelligent transfer robot control system based on UWB positioning, including control Unit, positioning unit, navigation elements, avoidance unit and man-machine interaction unit processed,

Described control unit is using the MC9S12XDT256 single-chip microcontroller of grace intelligence Pu semiconductor (NXP) company production as core Control unit；

The positioning unit uses UWB positioning method, including positioning label, by wireless between positioning label and the base station Mode communicates, and MC9S12XDT256 single-chip microcontroller carries out real-time communication by serial ports (TTL) communication modes and positioning label, thus To the real-time range information of positioning label and each base station, data are surveyed after digital filtering is handled, then through tri- side Trilateration After measuring location algorithm calculating, to obtain coordinate, i.e. location information locating for outgoing label；

Target position and actual position information are carried out respective handling by MC9S12XDT256 single-chip microcontroller in the navigation elements Show that the control signal of four motors, motor control signal finally control the phase of four motors after motor driven is amplified after calculating It should act；

The avoidance unit using ultrasonic radar distance measuring method real-time detection robot between barrier at a distance from, in order to The computational load for reducing MC9S12XDT256 processing arithmetic unit, reduces calculating error in data processing, increases data processing Precision, this system uses distributed system architecture, i.e., using the MSP430G2553 single-chip microcontroller of TI company production as avoidance processing Unit realizes data exchange by Transistor-Transistor Logic level signal and four ultrasonic radars, then after data processing operation, passes through serial ports The ranging information of four ultrasonic radar signals is transmitted to MC9S12XDT256 single-chip microcontroller by communication modes, to realize avoidance function Energy；

The man-machine interaction unit using touch screen (LCD display) by serial port realize and MC9S12XDT256 control unit carries out data exchange, to realize that setting base station coordinates, setting destination, display label are real-time The functions such as position.

Positioning uses UWB location technology in the utility model, passes through biography of the measuring signal between positioning label and base station The mode of defeated time realizes distance measurement function, i.e., positioning (TOA/TDOA positioning) based on time of arrival (toa). MC9S12XDT256 single-chip microcontroller realizes data exchange by serial communication and positioning label, in real time capture positioning label and each base station The distance between information.After receiving data frame, the way of median average filter (anti-impulse disturbances average filter is first passed around Method), i.e., after five groups of data of continuous sampling, remove a maximum value and a minimum value, the arithmetic for then calculating remaining data is flat Mean value；After through Trilateration trilateration location algorithm resolve location information, that is, select three reference base stations, mutually Several triangles are connected into, various nets (lock) shape figure is constituted.By calculating the side length of triangle, further according to reference base station Coordinate plays the side length and grid azimuth of initial line, is resolved triangle and each side of triangle can be obtained in grid azimuth reckoning Side length and grid azimuth, and then formula is just being calculated by rectangular co-ordinate and is calculating the plane coordinates (x, y) for positioning label.

In the utility model,

1. the utility model uses dual processor distributed control mode, using MC9S12XDT256 microprocessor as machine The control core of people's control system, using MSP430G2553 single-chip microcontroller as avoidance distance measuring unit, this distributed AC servo system is in data Calculating error is reduced in processing, is increased data processing precision, data operation process is simplified, to reduce core processor Burden, so that control system is become more safe and stable；

2.MC9S12XDT256 microprocessor includes Flash, the RAM of 32Kbyte of 256KBbyte, 4Kbyte's EEPROM has a variety of peripheral hardware communication interfaces, such as SCI, MSCAN, SPI, IIC etc..Waking up delay and power consumption, several provinces Power mode provides the largest optimization scheme with flexibility.

3. the utility model positioning method uses UWB location technology, compared with the location technologies such as WIFI, ZigBee, bluetooth Have the advantage that 1) transmission rate is high.The transmission rate of UWB can achieve 500Mbit/s.2) equipment is simple.It is in view of UWB No-load wave communication, transmitter need to only use the small-sized active antenna of pulse, eliminate the frequency converter generally wirelessly communicated, also not It need to be used in combination with amplifier, frequency mixer etc..Same receiving end also eliminates IF process device, and the structure of whole system is realized Get up relatively simple.3) low in energy consumption.The same no-load wave property because of UWB, so that it is super by sending when transmitting signal Short non-sine burst pulse, the pulse duration is short, and duty factor is low, so that power consumption is very low, in battery life and electromagnetic radiation Aspect has very big advantage.4) good confidentiality.On the one hand, UWB is using hop-time spread spectrum, and receiver only knows transmission at oneself End spreading code Shi Caineng solves transmitting data；In addition, signal is dispersed in extremely wide frequency range, right since UWB power is extremely low For other communication systems, possible this is that a white noise can not so that signal concealment is fine with traditional receiver yet It correctly parses, therefore the confidentiality of UWB is also relatively high.5) accurate positioning.Ultra wide band transmits information using shock pulse, tool There is higher temporal resolution, corresponding positioning accuracy can achieve Centimeter Level, easily positioning can be combined with communication, This is that other wireless communication techniques are difficult to accomplish.

4. the utility model can be applied to warehouse logistics field, the cost of logistics sorting transport is advantageously reduced, reduces people The investment of member improves logistics management, reduces the probability that cargo carries damage, the sorting efficiency of modern logistics can be improved, promote object The development of popular industry.In addition, it applies also for other field, comprising: material process field, the hotel field Ban Huo, military affairs and Hazardous area field etc..

5. the utility model provides a friendly human-computer interaction interface, 800*600 resolution ratio can be fixed by its setting The functions such as position base station coordinates, setting destination, display positioning label real time position.

As shown in Figure 1, the specific embodiment of the application provides a kind of Intelligent transfer robot control based on UWB positioning The hardware configuration of system, comprising: base station power (220V), level switch module 2, level switch module 3, level switch module 4, The base station UWB 1, the base station UWB 2, the base station UWB 3, lithium battery (12V), level switch module 1, UWB positioning label, ultrasonic radar are surveyed Away from module 1, ultrasonic radar range finder module 2, ultrasonic radar range finder module 3, ultrasonic radar range finder module 4, avoidance detection Unit, robot control unit, motor driver module, motor 1, motor 2, motor 3, motor 4, level switch module 5 and people Machine operation interface composition.

Wherein, base station power is provided by AC220V, be connected to be spaced apart 2 input terminal, the output end for being spaced apart 2 is connected to wiring The input terminal of terminal, the output end out1 of connecting terminal are connected to the input terminal of level switch module 2, the output end of connecting terminal Out2 is connected to the input terminal of level switch module 3, and the output end out3 of connecting terminal is connected to the input of level switch module 4 End；The output end of level translation module 2 is connected to the power input of the base station UWB 1, the output end connection of level translation module 3 To the power input of the base station UWB 2, the output end of level translation module 4 is connected to the power input of the base station UWB 3.

The power output end of lithium battery (12V) be connected to be spaced apart 1 input terminal, be spaced apart 1 output end out1, out2 difference It is connected to the input terminal of DC12V connecting terminal and level switch module 1, the output end of level switch module 1 is connected to DC5V and connects The input terminal of line terminals；Output end out1, out2, out3, out4, out5, out6, out7 of DC5V connecting terminal are separately connected To ultrasonic radar 1, ultrasonic radar 2, ultrasonic radar 3,4 module of ultrasonic radar, MSP430 controller, UWB positioning mark The power input of label and MC9S12XDT256 controller；Output end out1, out2, out3, out4 of DC12V connecting terminal And out5 is respectively connected to the power input of motor 1, motor 2, motor 3, motor 4 and motor driver；DC12V connecting terminal Output end out6 be connected to the power input of level switch module 5, the output end of level switch module 5 is connected to man-machine behaviour Make the power input at interface.

Ultrasonic radar 1, ultrasonic radar 2, ultrasonic radar 3, ultrasonic radar 4 input port be connected respectively The port signal output end P2.0/P2.1/P2.2/P2.3 of MSP430G2553 single-chip microcontroller, ultrasonic radar 1, ultrasonic radar 2, Ultrasonic radar 3, ultrasonic radar 4 output port be connected respectively the signal input part of MSP430G2553 single-chip microcontroller The port P2.4/P2.5/P2.6/P2.7.

The port MSP430G2553 single-chip microcontroller P1.1, P1.2 is separately connected the end PS2, PS3 of MC9S12XDT256 microprocessor Mouthful；The input, output end of UWB positioning label is separately connected the port PS1, PS0 of MC9S12XDT256 controller；Motor driven The input, output end of device is respectively connected to the port PJ1, PJ0 of MC9S12XDT256 controller；Man machine operation interface it is defeated Enter end, output end is respectively connected to the port PM7, PM6 of MC9S12XDT256 controller.

Above-mentioned described lithium battery (12V) provides for DC12V 60AH rechargeable lithium battery, and the level switch module 1 is DC12V turns DC5V module, and level switch module 2 is that AC220V turns DC5V module, and level switch module 3 is that AC220V turns DC5V mould Block, level switch module 4 are that AC220V turns DC5V module, and level switch module 5 is that DC12V turns DC5V module.

Above-mentioned described robot control unit MC9S12XDT256 is that 16 with high performance of NXP company production are micro- Controller, CPU core have up to 40MHz bus frequency, the RAM of the Flash comprising 256KBbyte, 32Kbyte, 4Kbyte EEPROM, have a variety of peripheral hardware communication interfaces, such as SCI, MSCAN, SPI, IIC etc..

Above-mentioned described avoidance detection unit MSP430G2553 be a kind of 16 super low-power consumptions of Texas Instruments (TI), Mixed-signal processor with reduced instruction set computer (RISC) has super low-power consumption, powerful processing capacity, system work steady The characteristics such as fixed, convenience and high-efficiency exploitation environment.It realizes data exchange by Transistor-Transistor Logic level signal and ultrasonic radar 1-4, then passes through After data processing operation, by serial port by the ranging information real-time Transmission of four ultrasonic radar signals to robot Control unit MC9S12XDT256 controller.

The above-mentioned described base station UWB 1-3 and UWB positioning label is the DW1000 chip based on the exploitation of DecaWave company Exploitation, it positions and is communicated between label and each base station by wireless communication mode, pass through serial port after being computed processing By the Distance Transmission between measured positioning label and each base station to robot control unit's MC9S12XDT256 controller.

Above-mentioned described man machine operation interface realized by one 8 inches of touch LCD screen, resolution ratio: 800*600, backlight Mode: LED, power consumption: 2.2W realizes data exchange by serial port and robot control unit MC9S12XDT256, To which locating base station coordinate, setting destination, display positioning label real time position etc. be arranged by it.

In addition, the hardware configuration based on the application can carry out method design control as follows:

Include the following steps:

1) at a distance from positioning label is calculated between each base station by wireless communication mode with each locating base station, Zhi Houli Real-time communication is carried out with serial ports (TTL) communication modes and MC9S12XDT256 microprocessor, thus will positioning label and each base station Real-time range information be transmitted to MC9S12XDT256 microprocessor, MC9S12XDT256 microprocessor is by data information through number After filtering processing, then after the calculating of Trilateration trilateration location algorithm, thus obtain coordinate locating for positioning label, That is location information.

2) actual position information obtained after resolving and target position are carried out PID arithmetic by MC9S12XDT256 microprocessor After processing, the control signal of four motors is calculated, the control signal of motor finally controls four after motor driver amplifies The corresponding actions of a motor.

3) MSP430G2553 processor controls the control signal of ultrasonic radar 1-4 by timing (500ms), to count Calculation obtains at a distance between barrier, then after data processing operation, is believed four ultrasonic radars by serial port Number ranging information real-time Transmission to MC9S12XDT256 controller, MC9S12XDT256 controller is when detecting robot and barrier When hindering object distance lower than setting value, robot will act accordingly.

4) touch screen (LCD display) is realized by serial port carries out data with MC9S12XDT256 control unit Exchange is, it can be achieved that the functions such as setting base station coordinates, setting destination, display positioning label real time position.

Software flow is as follows:

System software is made of robot control unit, avoidance unit two large divisions, wherein robot control unit MC9S12XDT256 is mainly completed to realize the functions such as position portion, navigational portions, control section and human-computer interaction part, be kept away Barrier unit MSP430G2553 controller mainly completes the functions such as ranging and data upload to ultrasonic radar.

As shown in Fig. 2, robot control unit's software section is mainly by initialization program, interrupt routine, positioning calculation journey The most of composition of sequence, motion control program four.Initialization program is only executed in system electrification once, mainly to system mode The setting of register, the setting of interrupt identification and permission, the setting of house dog, timer, external crystal-controlled oscillation, capturing unit are initial Change, initialization of (a) serial ports, I/O mouthfuls setting etc.；Interrupt routine is mainly taken by serial ports (1-4) interrupt service routine and Interruption Program of being engaged in composition, 1 interrupt service routine primary recipient of serial ports are believed at a distance from each base station from the label of UWB positioning label transmission Breath, 2 interrupt service routine of serial ports mainly realize robot and obstacle between MC9S12XDT256 controller and MSP430 controller The exchange of the ranging data of object, 3 interrupt service routine of serial ports realizes control motor driver, to realize the phase to 4 motors Control action is answered, 4 interrupt service routine of serial ports realizes the data exchange with man-machine interface；Positioning calculation program part is mainly by fixed The compositions such as position data filtering, trilateration location algorithm and data storage, to realize real to the progress of robot present position Shi Dingwei；Motion control portion program is mainly made of pid control algorithm and motor control signal generation etc., thus realization pair 4 motors of robot carry out motion control.

As shown in figure 3, serial ports receives data outage software flow in robot control unit involved in the utility model It is as follows:

(1) reception flag set is interrupted, into SCI interrupt service subroutine；

(2) it removes and receives interrupt identification；

(3) data frame and set reception flag are received；

(4) data CRC check state is judged in main program: carrying out follow-up data processing if correct.Otherwise it does not execute Data processing operation continues waiting for receiving data frame.

As shown in figure 4, positioning label position in robot control unit described in the utility model resolves processing software process It is as follows:

(1) main program judgement receive Data Labels, if true then will positioning label between each base station at a distance from place array In；

(2) it when receiving data frame number up to 5 groups of data, carries out the way of median average filter and data is filtered；

(3) data obtained after the filtering of upper step are subjected to the coordinate that positioning label is calculated in trilateration location algorithm；

(4) it returns

As shown in figure 5, T0 interruption service software process is as follows in avoidance unit described in the utility model:

(1) timer T0 is every 56ms respectively according to left front --- -- sequentially gates next after --- left back --- -- is right before right Road ultrasound wave transmitting circuit；

(2) it calls ultrasonic wave that subprogram occurs, sends out the ultrasonic pulse voltage of 10kHz；

(3) timer T1 starts timing；

(4) external interrupt 0 is opened to interrupt

(5) it returns

As shown in fig. 6,0 server software process of external interrupt is as follows in avoidance unit described in the utility model:

(1) single-chip microcontroller once receives return ultrasonic signal, immediately enters 0 service routine of external interrupt；

(2) stop T1 timer, external interrupt 0 is forbidden to interrupt；

(3) numerical value for reading T1 timer calculates the ultrasonic wave round-trip time used；

(4) it is calculated at a distance between barrier according to ultrasonic distance measurement principle；

(5) range information is stored in buffer area

(6) it returns

The above is only the preferred embodiment of the utility model, it is noted that for the general of the art For logical technical staff, without departing from the principle of this utility model, several improvements and modifications can also be made, these change It also should be regarded as the protection scope of the utility model into retouching.

Claims (4)

1. a kind of Intelligent transfer robot control system hardware configuration based on UWB positioning, which is characterized in that single including control Member, positioning unit, navigation elements, avoidance unit and man-machine interaction unit,

Described control unit includes single-chip microcontroller；

The positioning unit includes positioning label, and the single-chip microcontroller is led in real time by serial port and positioning label News；

The navigation elements include motor driver, and the single-chip microcontroller is connect by the motor driver with motor control；

The avoidance unit includes microprocessor and ultrasonic radar, and the ultrasonic radar is for real-time detection robot and barrier Hinder the distance between object, data exchange is realized by Transistor-Transistor Logic level signal and four ultrasonic radars, passes through serial communication and micro process Device communication connection；

The man-machine interaction unit includes touch screen, the touch screen by serial port realize and described control unit into Row data exchange.

2. a kind of Intelligent transfer robot control system hardware configuration based on UWB positioning according to claim 1, special Sign is that the touch screen is LCD display.

3. a kind of Intelligent transfer robot control system hardware configuration based on UWB positioning according to claim 1, special Sign is that the single-chip microcontroller is the MC9S12XDT256 single-chip microcontroller of the Pu En Zhi semiconductor company production.

4. a kind of Intelligent transfer robot control system hardware configuration based on UWB positioning according to claim 1, special Sign is that the microprocessor is the MSP430G2553 single-chip microcontroller that single-chip microcontroller is the production of TI company.