LU101922B1 - A GPS and Ultrasonic Wave Based Outdoor Robot Positioning System and Method - Google Patents

A GPS and Ultrasonic Wave Based Outdoor Robot Positioning System and Method Download PDF

Info

Publication number
LU101922B1
LU101922B1 LU101922A LU101922A LU101922B1 LU 101922 B1 LU101922 B1 LU 101922B1 LU 101922 A LU101922 A LU 101922A LU 101922 A LU101922 A LU 101922A LU 101922 B1 LU101922 B1 LU 101922B1
Authority
LU
Luxembourg
Prior art keywords
ultrasonic
positioning
robot
gps
module
Prior art date
Application number
LU101922A
Other languages
German (de)
Inventor
Honglei Che
Congling Shi
Jingmin Lv
Xingkai Zhang
Wenwei Wang
Hu Hu
Xuan Xu
Jian Li
Binbin Wu
Chen Zhao
Original Assignee
China Academy Safety Science & Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by China Academy Safety Science & Technology filed Critical China Academy Safety Science & Technology
Application granted granted Critical
Publication of LU101922B1 publication Critical patent/LU101922B1/en

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/16—Systems for determining distance or velocity not using reflection or reradiation using difference in transit time between electrical and acoustic signals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
    • G01S5/30—Determining absolute distances from a plurality of spaced points of known location

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The present invention relates to a GPS and ultrasonic wave based outdoor robot positioning system and method, belonging to the field of outdoor robot positioning technologies. The outdoor robot positioning system includes a GPS positioning system, an ultrasonic positioning system and a robot navigation system; the robot navigation system is mounted on a robot body, and includes a GPS antenna, a GPS processing module, an ultrasonic transmitting module, an ultrasonic positioning processing module and an integrated positioning chip. The present invention uses an algorithm combining GPS and an ultrasonic wave, which may further increase the outdoor positioning precision to be better than 0.1 meter, and at the same time effectively expand the coverage of ultrasonic positioning and solve a multi-value problem of ultrasonic array positioning.

Description

Ÿ _ 1/18 | A | LU101922 | À GPS and Ultrasonic Wave Based Outdoor Robot Positioning System and . Method .
Technical Field . The present invention relates to a GPS and ultrasonic wave based outdoor robot | positioning system and method, belonging to the field of outdoor robot positioning 1 technologies. | Background | In a power system, it is an important task to assign regular inspections, to read | out meters of substation facilities and to conduct routine checks of high-voltage . electrical equipment. At present, inspection work of a substation is still a very © arduous task. A traditional method of manual inspection of a substation is still widely ; used in most domestic substations. However, many factors coming from an inspector | would directly affect the reliability of inspection, such as work experience, . professional ability, a sense of responsibility and mental status of an inspector. In | terms of efficiency, in particular for inspection of a substation in a remote area, the | cost of manpower and time wasted on the road cannot be ignored. Besides, when it | comes to security, due to the large number of high-voltage equipment, there are | considerable potential dangers for an inspector to shuttle through a substation. | Meanwhile, from the perspective of management and dispatch, when a substation | suddenly fails, a substation in a remote area with few people on duty or even | unattended has weak ability to respond to accidents and emergencies and has | difficulty in remote command and dispatch. Therefore, considering reliability, 0 efficiency, security and controllability of substation inspection, automatic inspection of a substation performed by an inspection robot instead of a human worker has | become a development trend to an extent, and accurate positioning is a fundamental | condition for a robot to conduct reliable inspection. | A positioning function of a mobile robot is the most important function in many | fields of navigation, and it is also the most basic link to complete the robot navigation |
2/18 |
LU101922 | task.
Accuracy and reliability of positioning directly determine whether the mobile | robot can correctly implement the navigation function.
Common sensors for | positioning robots are classified into internal sensors and external sensors.
External . sensors are required to collect external information.
External environment usually . changes with movement of the robot, and external environment has characteristics ; ofrandomness and suddenness, which affect accuracy and authenticity of sensor data. | Common external sensors include visual sensors, ultrasonic sensors, temperature | sensors, lidar sensors, etc.
Internal sensors are mounted on a robot and do not interact | with external information.
Common internal sensors include accelerometers, | photoelectric encoders, gyroscopes and other inertial sensors.
Internal sensors can . provide accurate information in a short time and achieve high positioning accuracy. . Positioning of a mobile robot is a process in which the robot relies on its own sensors or interacts with information from external sensors to perceive itself and surrounding |! environment information, fuses and converts data collected by the sensors, and uses | a certain positioning algorithm to obtain its own position and posture.
Positioning of | the mobile robot is generally classified into absolute positioning and relative | positioning according to different references.
À reference coordinate system for the | absolute positioning of a robot is the earth coordinate system, and a reference | coordinate system for the relative positioning is an operating environment.
In . research, the operating environment coordinate system is generally equated or fixed | to the world coordinate system.
Mutual positional relationship between the mobile | robot and its operating environment must be determined in both cases, which is also | a research object of positioning technologies.
At present, the most commonly used ; outdoor positioning method is the global satellite positioning system (GPS). | However, since positioning accuracy of GPS is inferior, the use of GPS alone cannot | satisfy requirements when it comes to a system that needs to acquire positioning | navigation information in real time and has high requirements for reliability of a | positioning navigation system.
The field of robot positioning research mainly . focuses on research of relative positioning of indoor robots.
Commonly used | positioning methods today for indoor robots are as follows: |
.. LU101922 | Vision positioning: at present, vision-based robot positioning technologies | mainly include monocular vision positioning, binocular vision positioning and . panoramic vision positioning.
Vision positioning technologies mainly involve | research of camera calibration, signal filtering in image processing, image grayscale | processing, feature extraction, straight line fitting and the like.
Wang Xuan from | Beijing University of Posts and Telecommunications conducted a study of vision | positioning of a spherical mobile robot based on a principle of binocular vision | positioning.
Li Maohai, Cai Zesu and others from Harbin Institute of Technology | have realized monocular vision global positioning for mobile robots by using a . positioning algorithm based on consistency of random sampling.
In the field of | RoboCup robots, panoramic vision positioning technology is commonly used to | implement positioning of a robot on a football field.
Positioning may also be based on road signs: Liu Jia from Central South University conducted a study of vision | positioning of mobile robots based on road signs, and have realized positioning of | robots in complex environments through edge detection with separable Laplacian | operators.
However, vision positioning systems have complex algorithms, high cost | and large volume. | Track estimation positioning: track estimation algorithms are classified into an | inertial sensor-based track estimation positioning method and an odometer-based | track estimation positioning method.
An odometer estimates position and posture of | a robot through calculation of encoder rotation angles in conjunction with a | kinematic model.
An inertial sensor measures angular velocity and acceleration by | using a gyroscope sensor and an accelerometer, respectively, and can derive angle | and position parameters based on primary and secondary integrals of measurements, | respectively.
Compared with the GPS navigation system, the track estimation | positioning system is an autonomous positioning technology having an advantage of . calculating speed and position information of an object with its own integrated . inertial sensor.
However, like other positioning algorithms based on inertial ; navigation elements, due to accumulation of its own errors, positioning precision of |
4/18 | the track estimation positioning system decreases over time, which is not suitable CO | for long-distance and long-term accurate positioning. |
Map matching positioning: a robot perceives local external environment by | sensors, establishes a local map, and then determines its own position in the | environment by comparing geometric features of the local environment with the | global map established in advance.
The core of map matching positioning | technology also lies in research of establishing map models and matching algorithms. | Kweon and Kanadel first used the map matching positioning method to estimate an | initial state of a relative position by extracting features and matching features, then | obtain position and orientation of a global map in a working environment through a | plurality of local maps, and finally iterate, estimate and calculate a more precise | position by an optimized program. |
Ultrasonic positioning: Zhang Ting from Chang’an University has realized | calculation of a distance of a mobile robot from four receiving modules with an | ultrasonic signal from an ultrasonic transmitting module on the robot received by | four piezoelectric ultrasonic sensor receive modules based on a ranging principle of , ultrasonic sensors, and has realized reliable calculation of the precise position of the | robot in conjunction with a least square method based on a principle of three-point | positioning.
Ultrasonic positioning has strong anti-interference, high precision, and | can solve a problem of robot getting lost.
However, an ultrasonic wave is obviously | attenuated during transmission, which affects an effective range of positioning.
The | coverage of this method is small and should not be greater than 10 meters, making | it difficult for large-scale outdoor applications. |
In addition, lidar positioning has high precision but cannot be applied in places | wide open or with large environmental changes, rain and snow weather and direct | sunlight.
In radio frequency identification technology, precise preliminary on-site | investigation of RFID tags and prearrangement of a plurality of tags are required. | An inertial navigation system has drift errors and cumulative errors.
Vision-based | positioning has considerable difficulties in dealing with different illumination, à weather and backgrounds. ;
LU101922 |
Due to limited information collected by a single sensor and influence of sensor | noises on positioning accuracy and effective contents, a current research focus in the . field of mobile robot positioning is fusion of information from a plurality of sensors | and corresponding fusion algorithms. | Summary | In terms of realizing high-precision positioning of outdoor inspection robots, | GPS-based outdoor positioning has natural advantages, but precision of civilian | positioning is low.
The use of an ultrasonic wave has low cost and convenient | deployment, but the ultrasonic wave has obvious attenuation during transmission ‘ and small coverage.
The present invention provides a GPS and ultrasonic wave | based outdoor robot positioning system and method. | The present invention is implemented by the following technical solutions: | a GPS and ultrasonic wave based outdoor robot positioning system including a |
GPS positioning system, an ultrasonic positioning system and a robot navigation | system; the ultrasonic positioning system comprises several ultrasonic receiving | modules fixedly mounted in a positioning region; the robot navigation system is | mounted on a robot body, and includes a GPS antenna, a GPS processing module, | an ultrasonic transmitting module, an ultrasonic positioning processing module and . an integrated positioning chip; | the GPS processing module is used to receive and process a GPS signal | received by the GPS antenna, and at the same time transmit GPS positioning data | processed by the GPS processing module to the integrated positioning chip via a | serial port; | the ultrasonic positioning processing module is used to provide a trigger signal | to the ultrasonic transmitting module via a serial port and record time, and at the ‘ same time, the ultrasonic positioning processing module also sends a trigger signal | to the ultrasonic receiving module wirelessly; timing starts when the ultrasonic . receiving module receives the trigger signal and stops when the ultrasonic receiving | module receives an ultrasonic signal transmitted by the ultrasonic transmitting .
6/18 |
LU101922 À module, the ultrasonic receiving module transmits time difference between start and | stop of the timing and ultrasonic receiving a module code to the ultrasonic ) positioning processing module via a wireless radio frequency signal; . the integrated positioning chip is used to integrally process GPS positioning | data of the GPS processing module and a signal of the ultrasonic positioning | processing module, the GPS processing module and the ultrasonic positioning | processing module are respectively connected to the integrated positioning chip via | a serial port; after matching time, the integrated positioning chip submits the GPS . positioning data of the robot to the ultrasonic positioning processing module, and | the ultrasonic positioning processing module performs a table lookup calculation . and an accurate value calculation of the positioning data according to the GPS ] positioning data. | Further, the ultrasonic transmitting module includes a first single-chip | microcomputer, an ultrasonic transmission drive circuit, an ultrasonic transmitter | and a first radio frequency communication module that are connected in sequence; . the ultrasonic receiving module includes a second radio frequency communication . module, an ultrasonic receiver, a signal modulation circuit and a second single-chip | microcomputer that are connected in sequence, the signal modulation circuit being | used for signal processing and amplification, and both the first radio frequency | communication module and the second radio frequency communication module | being used to generate a time reference and enable communication between the . ultrasonic receiving module and the robot. | Further, an overall shape of the ultrasonic transmitting module is a circular table | or a cone, several ultrasonic transmitters are evenly arranged along periphery of an | outer wall of the circular table or the cone, and an ultrasonic transmitter is also . arranged on top of the circular table or the cone. | Further, the ultrasonic wave transmitting module further includes a temperature | sensor for measuring outdoor temperature in real time, and transmitting measured ; outdoor temperature to the first single-chip microcomputer. |
LU101922 | Further, both the ultrasonic transmitter and the ultrasonic receiver use a | piezoelectric ultrasonic sensor, and the piezoelectric ultrasonic sensor consists of | two piezoelectric wafers and one resonance board. | Further, the robot is a crawler robot. | A method for positioning a GPS and ultrasonic wave based outdoor robot | including the following steps: | Step 1: a GPS antenna of the robot acquires a GPS signal, and a GPS processing | module carried by the robot acquires GPS positioning data of the robot; | Step 2: an ultrasonic transmitting module carried by the robot transmits an | ultrasonic wave, and at the same time a first radio frequency communication module | transmits a time reference signal to an ultrasonic receiving module; ; Step 3: a second radio frequency communication module initiates a timer when | the time reference signal is received by the ultrasonic receiving module located in a | positioning region; and at the same time, the ultrasonic receiving module waits for | receiving a transmitted ultrasonic signal, calculates flying time of the ultrasonic . wave, and determines a distance between positions of the robot and the ultrasonic | receiving module based on the flying time of the ultrasonic wave; | Step 4: an ultrasonic positioning processing module carried by the robot | receives distance information wirelessly returned by each ultrasonic receiving È module and calculates position coordinates of the robot; | Step 5: if calculated position coordinates of the robot are the only solution, the | position coordinates are used as a positioning result of the robot; and if there are a . plurality of solutions of the calculated position coordinates of the robot, a plurality ; of the calculated position coordinates of the robot are respectively compared with | the GPS positioning data from Step 1, and a smallest difference is taken as the 7 positioning result of the robot. | The beneficial effects of the present invention are: ;
1. The present invention uses an algorithm combining GPS and an ultrasonic | wave, which may further increase the outdoor positioning precision to be better than .
0.1 meter. =
2. The present invention uses an algorithm combining GPS and an ultrasonic | wave in conjunction with GPS coarse positioning technology, which may effectively | expand the coverage of ultrasonic positioning and solve a multi-value problem of | ultrasonic array positioning. |
3. The outdoor composite positioning algorithm proposed by the present | invention roughly delimits a mesh and rapidly traverse the algorithm, thereby greatly | reducing complexity of the ultrasonic three-point positioning algorithm and its | dependence on hardware. |
4. The outdoor composite positioning algorithm proposed by the present | invention utilizes an ultrasonic receiver that can be used for verification of both | partial discharge and gas leakage of pressure vessels. | Brief Description of the Drawings Fig. 1 is a schematic structural diagram of an outdoor robot positioning system | according to the present invention; | Fig. 2 is a schematic structural diagram of an inspection robot according to the | present invention; and . Fig. 3 is a schematic diagram of internal structure of a robot navigation system | according to the present invention; | wherein 1- inspection robot, 2 - inspection route, 3 - inspection equipment, 4- | ultrasonic receiving module, 5 - GPS antenna, 6 - ultrasonic transmitting module. - Detailed Description | In order to make objectives, technical solutions and advantages of the present Ë invention clearer, the present invention will be further described in detail below with | reference to the accompanying drawings and embodiments. It will be understood , that the specific embodiments described herein are only used to explain the present | invention and are not intended to limit the present invention. | Embodiment 1 |
A GPS and ultrasonic wave based outdoor robot positioning system includes à Jones | GPS positioning system, an ultrasonic positioning system and a robot navigation | system. | The GPS positioning system used herein is a current mainstream commercial | GPS positioning system. The current GPS positioning method is to measure a | distance between a satellite with a known position and a user receiver, and then | integrate data of multiple satellites to know the specific position of the receiver. Due | to errors related to GPS satellites, signal propagation, and receiving equipment, | positioning precision of the current mainstream commercial GPS positioning is 10 : meters. In this application, GPS is used for preliminary positioning. GPS is a | relatively mature commercial system, and will not be described in detail in this | application. A The ultrasonic positioning system includes several ultrasonic receiving Î modules 4 fixedly mounted in a positioning region, and world coordinates of all the | mounted several ultrasonic receiving modules are known. In this embodiment, in the i vicinity of key inspection equipment 3 in the substation, an ultrasonic receiving | module 4 is fixedly mounted at a distance of 8 meters, as shown in Fig. 1. , The robot navigation system is mounted on a robot body, and includes a GPS ' antenna 5, a GPS processing module, an ultrasonic transmitting module 6, an | ultrasonic positioning processing module and an integrated positioning chip, as ; shown in Figs. 2 and 3. The robot is a crawler robot, and robot motion modules and | control modules are not outlined herein. .
The GPS processing module is used to receive and process a GPS signal | received by the GPS antenna, and at the same time used to transmit GPS positioning ; data processed by the GPS processing module to the integrated positioning chip via ; a serial port. | The ultrasonic positioning processing module is used to provide a trigger signal | to the ultrasonic transmitting module via a serial port and record time, and at the ; same time, the ultrasonic positioning processing module also sends a trigger signal | in form of a radio frequency signal to the ultrasonic receiving module wirelessly; | timing starts when the ultrasonic receiving module receives the trigger signal and VOTE | stops when the ultrasonic receiving module receives an ultrasonic signal transmitted | by the ultrasonic transmitting module, the ultrasonic receiving module transmits | time difference between start and stop of the timing and ultrasonic receiving a | module code to the ultrasonic positioning processing module via a wireless radio | frequency signal. |
The integrated positioning chip is used to integrally process GPS positioning | data of the GPS processing module and a signal of the ultrasonic positioning | processing module, the GPS processing module and the ultrasonic positioning Ê processing module are respectively connected to the integrated positioning chip via | a serial port; after matching time, the integrated positioning chip submits the GPS ; positioning data of the robot to the ultrasonic positioning processing module, and ; the ultrasonic positioning processing module performs a table lookup calculation ; and an accurate value calculation of the positioning data according to the GPS . positioning data.
A
The ultrasonic transmitting module 6 includes a first single-chip ; microcomputer, an ultrasonic transmission drive circuit, an ultrasonic transmitter ‘ and a first radio frequency communication module that are connected in sequence; | the ultrasonic receiving module 4 includes a second radio frequency communication | module, an ultrasonic receiver, a signal modulation circuit and a second single-chip | microcomputer that are connected in sequence, the signal modulation circuit being ; used for signal processing and amplification, and both the first radio frequency ; communication module and the second radio frequency communication module | being used to generate a time reference and enable communication between the : ultrasonic receiving module 4 and the robot.
Since transmission rate of a radio ; frequency signal is close to the speed of light and much higher than the radio | frequency rate, the present invention uses a radio frequency signal to activate an : electronic tag first and then causes it to receive the ultrasonic signal, and uses the Ë time difference method to measure the distance. ;
11 / 18 |
Both the ultrasonic transmitter and the ultrasonic receiver use a piezoelectric VOTE | ultrasonic sensor, and the piezoelectric ultrasonic sensor works by using resonance | of piezoelectric crystals and consists of two piezoelectric wafers and one resonance | board.
When a pulse signal 1s applied to the two poles of the piezoelectric wafer, the | frequency of which is equal to the intrinsic oscillation frequency of the piezoelectric | wafer, the piezoelectric wafer will resonate and drive the resonance board to vibrate, | thereby generating an ultrasonic wave as an ultrasonic transmitter.
The above ) process is reversible.
When no voltage is applied to the two poles of the piezoelectric | wafer and the resonance board receives an ultrasonic wave, the two poles will | generate a corresponding electrical signal as an ultrasonic receiver, : An overall shape of the ultrasonic transmitting module 4 is a circular table or a | cone, several ultrasonic transmitters are evenly arranged along periphery of an outer , wall of the circular table or the cone, and an ultrasonic transmitter is also arranged | on top of the circular table or the cone, thereby ensuring the coverage of an ultrasonic / wave emitted in directions of 360 degrees.
In this embodiment, the ultrasonic ; transmitting module 4 is designed as a cone.
An ultrasonic transmitting module is | arranged along periphery of an outer wall of the cone every 72°, and an ultrasonic | transmitting module is also arranged at the tip of the cone. | The ultrasonic wave transmitting module 4 further includes a temperature . sensor for measuring outdoor temperature in real time, and transmitting measured Ë outdoor temperature to the first single-chip microcomputer. | Embodiment 2 :
A method for positioning a GPS and ultrasonic wave based outdoor robot , includes the following steps: , Step 1: a GPS antenna of the robot acquires a GPS signal, and a GPS processing ; module carried by the robot acquires GPS positioning data of the robot. | Specifically, during movement of the robot, the robot can acquire GPS : positioning data 50 times per second, and displacement of central absolute : coordinates of the robot does not exceed 5 centimeters.
The positioning system will : constantly take the previous position as a center to form a mesh of 0.1 meters * 0.1 :
LU101922 | meters, precision of each of which is 0.02 meters * 0.02 meters, until time difference | on arrival is traversed. | If the robot loses coordinates during the movement, it returns to reacquire GPS | coordinates. | If reacquiring GPS coordinates fails, the robot automatically restarts and | acquires GPS coordinates again. | The robot will issue an alarm if it fails to acquire GPS coordinates after | restarting. à Step 2: When the robot moves to the vicinity of the key equipment, the | ultrasonic system is combined for composite positioning. An ultrasonic transmitting l module carried by the robot transmits an ultrasonic wave, and at the same time a first ; radio frequency communication module transmits a time reference signal to an Ë ultrasonic receiving module. f Step 3: a second radio frequency communication module initiates a timer when ' the time reference signal is received by the ultrasonic receiving module located in a ; positioning region; and at the same time, the ultrasonic receiving module waits for | receiving a transmitted ultrasonic signal, calculates flying time of the ultrasonic | wave, and determines a distance between positions of the robot and the ultrasonic ; receiving module based on the flying time of the ultrasonic wave. Wherein the | distance is calculated by L = vt, where L is a distance between positions of the robot : and the ultrasound receiving module, v is the propagation speed of an ultrasonic | wave in the air, and t is the flying time of an ultrasonic wave. , Step 4: an ultrasonic positioning processing module carried by the robot . receives distance information wirelessly returned by each ultrasonic receiving | module and calculates position coordinates of the robot. | Step 5: if calculated position coordinates of the robot are the only solution, the | position coordinates are used as a positioning result of the robot; and if there are a | plurality of solutions of the calculated position coordinates of the robot, a plurality ; of the calculated position coordinates of the robot are respectively compared with :
ZELL
13 / 18 |
© LU101922 | the GPS positioning data from Step 1, and a smallest difference is taken as the | positioning result of the robot. | In ultrasonic positioning, in theory, after any two ultrasonic receivers have | received signals, the robot can acquire its accurate coordinates through this distance | value.
But when more than two ultrasonic receivers of the robot have received | signals, and when radiuses are the same, a double solution may occur.
At this time, | the robot constantly takes its GPS positioning data as a center to form a mesh of 10 | meters * 10 meters, precision of each of which is 0.05 meters * 0.05 meters, until | distance it arrives at the ultrasonic receiver is traversed to output positioning results. | Embodiment 3 |
On basis of Embodiment 1, for pipelines, welding processing interfaces or the |:
like of various hydraulic and pneumatic sealed vessels in inspection equipment, fine | pores and cracks may be caused due to various reasons such as insufficient À processing quality, unreasonable installation, or long-term continuous use.
Therefore, | leakage occurs under action of a pressure system.
Î When sizes of pores are small enough and the pressure difference between the ' inside and outside of a vessel is large enough, flow rate of gas generated due to | leakage from the pores will be large, and the Reynolds number of the leaked gas is Ë usually high, thus generating a turbulent jet.
The jet will generate an ultrasonic wave. | An ultrasonic receiving module fixedly mounted near the equipment receives the | ultrasonic wave.
These signals can be transmitted to the robot by the second radio , frequency module of the ultrasonic receiving module and an alarm signal can be À issued after judgment. , Embodiment 4 l
On the basis of Embodiment 1, if transformer oil in the inspection equipment | contains some bubbles, the bubbles are in a certain electric field.
Due to partial À discharge, the bubble carries a certain charge, so the bubble receives a certain Ë externally applied electric field force Fe, a certain elastic force Fq exists inside the , bubble, and thus the bubble maintains a balanced state.
At the time when the partial / discharge occurs, the external electric field force borne by the bubble suddenly À
14 / 18 | disappears, and the balanced state of the bubble is broken.
The bubble generates an ores | attenuated oscillating motion under action of pulsed electric field force.
Under action | of the bubble vibration, a surrounding medium will generate an ultrasonic wave. | Ignoring oscillation process of the partial discharge, amplitude of the ultrasonic | wave is proportional to the actual discharge amount.
The ultrasonic wave is received | by the ultrasonic receiving module fixedly mounted near the transformer equipment | and can be further transmitted to the robot by the second radio frequency module. | An alarm signal can be issued after judgment. |
The above are merely preferred embodiments of the present invention and are | not intended to limit the present invention.
For those skilled in the art, the present | invention may have various modifications and variations.
Any modification, | equivalent replacement, improvement and the like within the spirit and principle of | the present invention shall be encompassed in protection scope of the present | invention. |

Claims (7)

/ 18 CLAIMS LU101922
1. A GPS and ultrasonic wave based outdoor robot positioning system comprising a GPS positioning system, an ultrasonic positioning system and a robot navigation system, wherein the ultrasonic positioning system comprises several ultrasonic receiving modules fixedly mounted in a positioning region; and the robot navigation system is mounted on a robot body, and comprises a GPS antenna, a GPS | processing module, an ultrasonic transmitting module, an ultrasonic positioning | processing module and an integrated positioning chip; wherein | the GPS processing module is used to receive and process a GPS signal | received by the GPS antenna, and at the same time transmit GPS positioning data | processed by the GPS processing module to the integrated positioning chip via a | serial port; | the ultrasonic positioning processing module is used to provide a trigger signal | to the ultrasonic transmitting module via a serial port and record time, and at the | same time, the ultrasonic positioning processing module also sends a trigger signal | ; to the ultrasonic receiving module wirelessly; timing starts when the ultrasonic ; receiving module receives the trigger signal and stops when the ultrasonic receiving | module receives an ultrasonic signal transmitted by the ultrasonic transmitting : module, the ultrasonic receiving module transmits time difference between start and | stop of the timing and ultrasonic receiving a module code to the ultrasonic ; positioning processing module via a wireless radio frequency signal; : the integrated positioning chip is used to integrally process GPS positioning | data of the GPS processing module and a signal of the ultrasonic positioning | processing module, the GPS processing module and the ultrasonic positioning | processing module are respectively connected to the integrated positioning chip via | a serial port; after matching time, the integrated positioning chip submits the GPS | positioning data of the robot to the ultrasonic positioning processing module, and | the ultrasonic positioning processing module performs a table lookup calculation .
16 / 18 LU101922 and an accurate value calculation of the positioning data according to the GPS positioning data.
2. The GPS and ultrasonic wave based outdoor robot positioning system according to claim 1, wherein the ultrasonic transmitting module comprises a first single-chip microcomputer, an ultrasonic transmission drive circuit, an ultrasonic transmitter and a first radio frequency communication module that are connected in sequence; the ultrasonic receiving module comprises a second radio frequency communication module, an ultrasonic receiver, a signal modulation circuit and a second single-chip microcomputer that are connected in sequence, the signal modulation circuit being used for signal processing and amplification, and both the | first radio frequency communication module and the second radio frequency | communication module being used to generate a time reference and enable | communication between the ultrasonic receiving module and the robot. |
3. The GPS and ultrasonic wave based outdoor robot positioning system | according to claim 1, wherein an overall shape of the ultrasonic transmitting module | is a circular table or a cone, several ultrasonic transmitters are evenly arranged along | periphery of an outer wall of the circular table or the cone, and an ultrasonic : transmitter is also arranged on top of the circular table or the cone. |
4. The GPS and ultrasonic wave based outdoor robot positioning system | according to claim 1, wherein the ultrasonic wave transmitting module further ; comprises a temperature sensor for measuring outdoor temperature in real time, and ; transmitting measured outdoor temperature to the first single-chip microcomputer. :
5. The GPS and ultrasonic wave based outdoor robot positioning system | according to claim 1, wherein both the ultrasonic transmitter and the ultrasonic : receiver use a piezoelectric ultrasonic sensor, and the piezoelectric ultrasonic sensor | consists of two piezoelectric wafers and one resonance board. |
6. The GPS and ultrasonic wave based outdoor robot positioning system | according to claim 1, wherein the robot is a crawler robot. |
7. A method for positioning a GPS and ultrasonic wave based outdoor robot | comprising the following steps: |
17 / 18
Step 1: acquiring a GPS signal through a GPS antenna of the robot, and” ve acquiring GPS positioning data of the robot through a GPS processing module carried by the robot;
Step 2: an ultrasonic transmitting module carried by the robot transmitting an ultrasonic wave, and at the same time transmitting a time reference signal to an ultrasonic receiving module through a first radio frequency communication module;
Step 3: initiating a timer by a second radio frequency communication module | when the time reference signal is received by the ultrasonic receiving module located in a positioning region; and at the same time, the ultrasonic receiving module waits | for receiving a transmitted ultrasonic signal, calculates flying time of the ultrasonic | wave, and determines a distance between positions of the robot and the ultrasonic | receiving module based on the flying time of the ultrasonic wave; |
Step 4: receiving, through an ultrasonic positioning processing module carried | by the robot, distance information wirelessly returned by each ultrasonic receiving | module and calculating position coordinates of the robot; /
Step 5: using the position coordinates as a positioning result of the robot if : calculated position coordinates of the robot are the only solution; and respectively / comparing a plurality of the calculated position coordinates of the robot with the | GPS positioning data from Step 1, and taking a smallest difference as the positioning | result of the robot if there are a plurality of solutions of the calculated position | coordinates of the robot. |
LU101922A 2019-09-02 2020-07-10 A GPS and Ultrasonic Wave Based Outdoor Robot Positioning System and Method LU101922B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910824370.XA CN110531398A (en) 2019-09-02 2019-09-02 Outdoor robot positioning system and method based on GPS and ultrasonic wave

Publications (1)

Publication Number Publication Date
LU101922B1 true LU101922B1 (en) 2021-01-13

Family

ID=68666353

Family Applications (1)

Application Number Title Priority Date Filing Date
LU101922A LU101922B1 (en) 2019-09-02 2020-07-10 A GPS and Ultrasonic Wave Based Outdoor Robot Positioning System and Method

Country Status (2)

Country Link
CN (1) CN110531398A (en)
LU (1) LU101922B1 (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3859382B1 (en) * 2020-01-28 2022-08-03 Sick Ag Security system and method for locating a person or object in a surveillance area with a security system
CN112065428B (en) * 2020-11-16 2021-01-15 中南大学 Sound wave positioning system and method of trenchless pilot bit based on sound wave resonance
CN114295944B (en) * 2021-12-28 2023-11-10 南京力通达电气技术有限公司 Intelligent seeking type transformer fault monitoring and positioning device and optimization algorithm

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102221685B (en) * 2011-06-08 2013-04-03 东南大学 Code division multiple access (CDMA) wireless positioning method suitable for ultra-tight global positioning system (GPS)/strap-down inertial navigation system (SINS) integration
CN102645645A (en) * 2012-04-25 2012-08-22 东北大学 Indoor self-positioning method and system
CN105629221A (en) * 2014-10-26 2016-06-01 江西理工大学 Logistics vehicle wireless-infrared-ultrasonic distance-measuring and positioning system
CN105467416B (en) * 2015-11-23 2017-10-10 国网河南省电力公司濮阳供电公司 A kind of unmanned plane Precise Position System
CN205384363U (en) * 2016-03-01 2016-07-13 上海朗都物联网科技有限公司 Outdoor positioning system of high accuracy
CN105929368A (en) * 2016-04-14 2016-09-07 南京创维信息技术研究院有限公司 Supersonic wave based indoor positioning method, device and system
WO2019119289A1 (en) * 2017-12-20 2019-06-27 深圳前海达闼云端智能科技有限公司 Positioning method and device, electronic apparatus, and computer program product

Also Published As

Publication number Publication date
CN110531398A (en) 2019-12-03

Similar Documents

Publication Publication Date Title
LU101922B1 (en) A GPS and Ultrasonic Wave Based Outdoor Robot Positioning System and Method
CN102608636B (en) Stepping inquiry-response locating system for flight data recorder
CN103941746A (en) System and method for processing unmanned aerial vehicle polling image
CN209623718U (en) Patrol robot positioning system
CN103033836B (en) navigation pointing method of vehicle navigation pointing device
CN101860562A (en) Integrated forest fire dynamic monitoring and accurate positioning system and positioning method
CN105021188A (en) Dual-mode bionic polarization/geomagnetic-aided integrated navigation system
CN103529465A (en) Indoor and outdoor person seamless positioning device
CN107356945A (en) A kind of portable low-altitude unmanned plane management-control method and system
CN102944238B (en) Method for determining relative position of planetary probe in process of approaching target
CN106898249A (en) A kind of map structuring system and its construction method for earthquake-stricken area communication failure region
CN105509874A (en) Ambient noise detection and location method based on aerial vehicle
CN108803633A (en) A kind of unmanned plane low latitude monitoring system based on mobile communications network
CN113791074A (en) Unmanned aerial vehicle bridge crack inspection system and method based on multi-sensor fusion
CN208126205U (en) A kind of unmanned flight's device of automatic obstacle-avoiding
CN109001756A (en) Multi-line laser radar obstacle detection system and method based on embedded device
CN111694001A (en) Real-time distance measurement positioning system for unmanned aerial vehicle
CN102998689A (en) Area judging method based on virtual sensor
CN106017465A (en) Micro inertial navigation-based positioning system and positioning method of routing inspection mobile terminal
CN112285755A (en) Finding-missing seamless positioning system and positioning method
CN109211248A (en) A kind of intelligent vehicle navigation system and its air navigation aid based on multisensor
RU127944U1 (en) INTEGRATED ATMOSPHERIC RADIO sounding system
CN111694006A (en) Navigation sensing system for indoor unmanned system
CN110531397B (en) Outdoor inspection robot positioning system and method based on GPS and microwave
CN207718230U (en) Wind-powered electricity generation intelligent inspection robot

Legal Events

Date Code Title Description
FG Patent granted

Effective date: 20210113