CN104750108B - A kind of mobile platform and its distance-finding method with comprehensive distance measurement function - Google Patents
A kind of mobile platform and its distance-finding method with comprehensive distance measurement function Download PDFInfo
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- CN104750108B CN104750108B CN201510137920.2A CN201510137920A CN104750108B CN 104750108 B CN104750108 B CN 104750108B CN 201510137920 A CN201510137920 A CN 201510137920A CN 104750108 B CN104750108 B CN 104750108B
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Abstract
The invention discloses a kind of mobile platform and its distance-finding method with comprehensive distance measurement function, mobile platform includes：Epoxy resin board is arranged on bottom, and epoxy resin board has been sequentially arranged above first layer aluminium sheet, second layer aluminium sheet, and the bottom of epoxy resin board is provided with support wheel and driving wheel；Power module is arranged on epoxy resin board, and control module, phase demodulation module and drive module setting are on first layer aluminium sheet；Ultrasonic module, radio-frequency module are arranged on second layer aluminium sheet；Centered on control module, the motor function of phase demodulation module and drive module completion mobile platform；Ultrasonic module and radio-frequency module complete the distance measurement function of mobile platform.Distance-finding method includes：After mobile platform A, B confirm ranging information, mobile platform A sends ultrasonic signal and opens timing, stops timing after the ultrasonic signal that mobile platform B sends is received, and calculates ranging distance.Present invention, avoiding requirement of the ranging to synchronousness, the accuracy and real-time of ranging are improved.
Description
Technical field
The present invention relates to ranging field, more particularly to a kind of mobile platform and its ranging side with comprehensive distance measurement function
Method.
Background technology
With the development of social productive forces and the progress of modern science and technology level, people carry to the stationkeeping ability of mobile robot
Higher requirement is gone out.Fast accurate is positioned in order to which mobile robot is in the extensive of the fields such as industry, service trade and logistics
Using premise.
Existing Position Research is broadly divided into positioning based on ranging and based on non-ranging positioning, wherein based on ranging
Positioning is widely used because its positioning precision is high.The ranging technology that current mobile robot uses mainly has ultrasonic technique, red
Outer technology, laser technology and vision technique etc..
Inventor has found during the present invention is realized, at least has the following disadvantages in the prior art and insufficient：
The distance measurement function for once getting 360 ° omni-directional information is difficult to realize using existing mobile robot platform, such as
Comprehensive ranging is realized, it is necessary to which mobile robot platform or sensor are rotated, control so can be not only improved and calculate
The complexity of method, but also the positioning precision and real-time of ranging can be reduced.
The content of the invention
The invention provides a kind of mobile platform and its distance-finding method with comprehensive distance measurement function, the present invention improves
The stability of mobile platform, the accuracy and real-time of ranging are improved, it is described below：
A kind of mobile platform with comprehensive distance measurement function, including：Mechanical structure and hardware configuration,
The mechanical structure includes：Epoxy resin board, first layer aluminium sheet, second layer aluminium sheet, support wheel and driving wheel；
The epoxy resin board is arranged on bottom, the epoxy resin board be sequentially arranged above the first layer aluminium sheet,
The second layer aluminium sheet, the bottom symmetrical of the epoxy resin board are provided with support wheel and driving wheel；
The hardware configuration includes：Power module, control module, phase demodulation module, drive module, ultrasonic module and radio frequency mould
Block；
The power module is arranged on the epoxy resin board, the control module, the phase demodulation module and the drive
Dynamic model block is arranged on the first layer aluminium sheet；The ultrasonic module, the radio-frequency module are arranged on the second layer aluminium sheet；
The speed or mileage of the pulse signal detection wheel of the phase demodulation resume module pulse coder feedback, will be handled
Signal afterwards is transferred to the control module, judges the movement velocity and distance of mobile platform.
Wherein, the support wheel and driving wheel use four-wheel layout structure form.
The power module includes：Rechargeable battery and voltage stabilizing chip, the voltage stabilizing chip fix output using LM2596
Type voltage stabilizing chip.
Further, the model MC9S12XS128 of control module single-chip microcomputer.
Wherein, the drive module uses 4 BTS7960 chipsets into dual H-bridge, to drive two direct currents to slow down respectively
Motor.
The ultrasonic module is using transmitting-receiving standalone ultrasound sensor.The radio-frequency module is used and wirelessly received based on NRF24L01
Send out the wireless radio frequency modules of chip.
A kind of distance-finding method of the mobile platform with comprehensive distance measurement function, the distance-finding method comprise the following steps：
Mobile platform A and B carries out authentication, and mobile platform B opens ultrasonic module after receiving ranging response, into reception
Pattern；
Mobile platform A gets the emission mode opened after mobile platform B ranging response in ultrasonic module, mobile platform
A starts timing, time TaMobile platform A enters reception pattern afterwards；
Mobile platform B starts timing, elapsed time T after receiving ultrasonic signalbAfterwards, ultrasonic signal is launched；
After mobile platform A receives ultrasonic signal, stop timing immediately, obtain timing total time TAlways；
Ultrasonic signal propagates one-way time TSoundFor：
TSound=(TAlways-Tb)/2
Institute's ranging is from S：
S=VSound·TSound
Wherein, VSoundFor ultrasonic velocity.
The beneficial effect of technical scheme provided by the invention is：
1st, the design of mobile platform mechanical structure is with building.Having designed and Implemented some has the movement of circular mechanical structure
Platform, for reasonable Arrangement hardware module and sufficient space being reserved, the mobile platform is designed to three sheaf space structures, and
It is driven and supported using four wheel constructions, it is moved more flexible stabilization.
2nd, hardware module is required according to motion control function, the distance measurement function etc. to be realized, erects the circuit mould come
Block.The mobile platform mainly includes six hardware modules, be respectively power module, control module, phase demodulation module, drive module,
Ultrasonic module, radio-frequency module.Their realizations together for mobile platform function provide hardware foundation.
3rd, actively reflective location algorithm by combining wireless radio frequency and ultrasonic technology, avoids ranging to time synchronized
The requirement of property, and the complexity of control algolithm is greatly reduced, improve the accuracy and real-time of ranging.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the mobile platform with comprehensive distance measurement function；
Fig. 2 is the schematic diagram of mechanical structure；
Fig. 3-1 is that hardware configuration is laid out bottom upward view；
Fig. 3-2 is that hardware configuration is laid out bottom top view；
Fig. 3-3 is that hardware configuration is laid out intermediate layer top view；
Fig. 3-4 is that hardware configuration is laid out third layer front view；
Fig. 4 is the circuit diagram of power module；
Fig. 5 is the circuit diagram of drive module；
Fig. 6 is a kind of flow chart of the distance-finding method of the mobile platform with comprehensive distance measurement function.
In accompanying drawing, the list of parts representated by each label is as follows：
1：Mechanical structure； 2：Hardware configuration；
11：Epoxy resin board； 12：First layer aluminium sheet；
13：Second layer aluminium sheet； 14：Support wheel；
15：Driving wheel； 16：DC speed-reducing；
21：Power module； 22：Control module；
23：Phase demodulation module； 24：Drive module；
25：Ultrasonic module； 26：Radio-frequency module；
211：Rechargeable battery； 212：Voltage stabilizing chip.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, embodiment of the present invention is made below further
It is described in detail on ground.
A kind of mobile platform with comprehensive distance measurement function, referring to Fig. 1, including：Mechanical structure 1 and hardware configuration 2.Its
In, all parts such as mechanical structure carrying used power supply, motor, sensor and hardware module.In order to be better achieved
The motion index of mobile platform, the design of the mechanical structure mainly consider vehicle body design, wheel configuration and the installation of each module
Locus require.Hardware configuration is required according to motion control function, the distance measurement function etc. to be realized, erects the electricity come
Road module.
Referring to Fig. 2, mechanical structure 1 uses three-decker, and (embodiment of the present invention is entered so that three layer heights is 20cm or so as an example
Row explanation, the embodiment of the present invention is without limitation during specific implementation), required load-bearing less but needs more manual processing,
In order that vehicle body height of C.G. reduces and is convenient for as far as possible to polish, drills etc., technique processing, the mechanical structure 1 include：
One layer of epoxy resin board 11, first layer aluminium sheet 12, second layer aluminium sheet 13, support wheel 14 and driving wheel 15.Epoxy resin board 11 is set
Put in bottom, epoxy resin board 11 has been sequentially arranged above first layer aluminium sheet 12, second layer aluminium sheet 13, the bottom of epoxy resin board 11
Portion is symmetrically arranged with support wheel 14 and driving wheel 15.
When mounted, heavier epoxy resin board 11 is placed on bottom, and upper two layers aluminium sheet, thus effectively
The height of C.G. of mobile platform is reduced, mobile platform movement is got up more stable.
Wherein, support wheel 14 and driving wheel 15 have selected four-wheel layout structure form, improve the flexibility of motion；It is simultaneously
Solve 4 points of non-coplanar problems, one of support wheel 14 is designed as void and landed, prevents in " making somebody a mere figurehead " by the embodiment of the present invention
Between driving wheel, influence driveability；When running into road surface and having projection, such design can also play temporary support effect,
Ensure the stationarity of mobile platform.
Consider mobile platform to select towards indoor environment and mobile platform entirety size and weight, the support wheel 14
External diameter 65mm, width 27mm, embed the rubber wheel of sponge inner bag.The rubber wheel not only has larger frictional force, prevents
Sliding effect is good, and with excellent antidetonation, anti-performance of jolting.
Referring to Fig. 3-1, Fig. 3-2, Fig. 3-3 and Fig. 3-4, hardware configuration includes：Power module 21, control module 22, phase demodulation
Module 23, drive module 24, ultrasonic module 25 and radio-frequency module 26.They are provided firmly for the realization of mobile platform function together
Part basis.According to the size and function of designed pcb board, power module 21 is arranged on epoxy resin board 11, controls mould
Block 22, phase demodulation module 23, drive module 24 are arranged on first layer aluminium sheet 12；Ultrasonic module 25, radio-frequency module 26 are arranged on
On two layers of aluminium sheet 13.The convenience of connection and block size have thus been taken into account between modules to space requirement
It is complementary.
Wherein, the highest of power module 21 needs 20V or so voltage (being used for motor), and the embodiment of the present invention is selected
Full voltage be 21.6V rechargeable Ni-H 2 battery pack as general supply, then by the decompression of power module 21, voltage stabilizing, obtain
The different voltages needed.Power module 21 includes：Rechargeable battery 211 and voltage stabilizing chip 212, the voltage stabilizing in the embodiment of the present invention
Chip 212 fixes output type voltage stabilizing chip from LM2596.
The total voltage that power module 21 inputs is 21.6V, is directly fed to the drive module of DC speed-reducing 16 all the way；One
Decompression and voltage stabilizing of the road Jing Guo voltage stabilizing chip 212, obtain tri- kinds of different voltages of 3.3V, 5V, 12V.Wherein, it is actual for convenience
Needs in, DC speed-reducing 16 and voltage stabilizing chip 212 are arranged on epoxy resin board 11, the electricity of power module 21
Road figure is as shown in Figure 4.
Control module 22 is the control centre of mobile platform, is responsible for issue control command and analyzes and processes various data, makes
The coordinated operation as requested of mobile platform each several part.This mobile platform has selected model in Freescale companies S12X Series MCUs
For MC9S12XS128 single-chip microcomputer.MC9S12X series is the enhanced product of HCS12 series, can reach 25MHz HCS12's
2~5 times of performance.One characteristic of S12X series monolithics is that a coprocessor is added on HCS12 basic products
XGATE.XGATE is the core of a programmable 16 risc architectures, and high-speed data processing can be achieved and share CPU tasks.
MC9S12X series subfamilies several including MC9S12XA, MC9S12XB, MC9S12XE and MC9S12XS etc..MC9S12XS systems
Row are the very high chips of cost performance, are optimized mainly for extensive inexpensive body of a motor car electronic application, have 64KB
To the encapsulation of 256KB flash memories and 48 to 112 pins.MC9S12XS128 models single-chip microcomputer has the processor of 16
CPU12X, 128KB memory space, can overclocking to 80MHz.
The effect of phase demodulation module 23 is the speed or mileage for the pulse signal detection wheel for handling pulse coder feedback,
Then the signal after processing is transferred to control module 22 to judge the movement velocity of mobile platform and distance.Mobile platform root
According to self-condition and needs, photoelectric pulse coder have selected.
Photoelectric pulse coder is for measuring rotating speed and coordinating PWM technologies to realize the device of quick speed governing, pass through photoelectricity
The mechanical quantities such as the angular displacement of output shaft, angular speed can be converted into corresponding electric pulse with digital output by conversion, encoder.
Drive module 24 is used for controlling drive motor.Mobile platform typically by the use of stepper motor or DC speed-reducing as
Drive device.Stepper motor is the device that pulse signal is converted to rotational angle.In the case of non-overload, stepper motor
Rotating speed, the position stopped being solely dependent upon the frequency and umber of pulse of pulse signal.Its operating principle is when step actuator receives
One pulse signal, it rotates a fixed angle (being referred to as " step angle ") with regard to Driving Stepping Motor by the direction of setting.It
Rotation be to be run step by step with fixed angle, angular displacement can be controlled by controlling pulse number, reach fixed
The purpose that position rotates；Speed governing can be reached by controlling the speed and acceleration that pulse frequency rotates come controlled motor simultaneously
Purpose.
Stepper motor, typically can be than the DC speed-reducing weight of same volume because itself is constructed, and energy utilization rate is low, no
High rotating speed and high torque (HT) are easily obtained, and torque can drastically decline with the raising of rotating speed, by extreme influence.In addition, stepping
Drive and control of electric machine is more complicated, it is necessary to uses special stepping motor driver, is made troubles to application.
DC speed-reducing refers to the conglomerate of direct current generator and gear reduction box.It on the basis of common DC motor,
Plus associated gear reduction box, the rotating speed of motor output shaft is slowed down through certain speed reducing ratio and is output to the axle being connected with wheel
On, to increase the torque of driving moment.Under certain power, the torque of the lower output of rotating speed is bigger.This mobile platform is selected
Model 28JX10K DC speed-reducing.
DC speed-reducing smooth speed control and speed-regulating range width, efficiency high, energy loss it is small, it is easily controllable, bear to overload
Ability is high and output torque is big, is widely applied in Qu Donglingyu, the embodiment of the present invention uses DC speed-reducing 16
Illustrate.
The action principle of drive module 24 is that control command is inputed to driving chip by MCU, and driving chip utilizes the H formed
Bridge circuit, the voltage duty cycle at the both ends of DC speed-reducing 16 is controlled, so as to control vehicle wheel rotational speed, realizes mobile platform
Advance, retrogressing and turning, the action such as stopping.The drive module 24 employs 4 BTS7960 chipsets into dual H-bridge, to
Two DC speed-reducings 16 are driven respectively.The circuit diagram of drive module 24 is as shown in Figure 5.
Ultrasonic module 25 receives sensor using ultrasonic wave emission sensor and ultrasonic wave.Used in ultrasonic wave emission sensor
Ultrasonic transducer be piezoelectric type, driven using voltage, transmission power is proportional to voltage.So a feature of the module is exactly
First with transformer by the 5V low pressure of input according to 1:12 step-up ratio is increased to 60V or so, improves transmission power, is advantageous to increase
Add can ranging from.The effect that ultrasonic wave receives sensor is that detection receives ultrasonic wave, and maximum characteristic is to use special ultrasound
Ripple signal detection chip carries out the control of variable gain.Detection of the variable gain for ultrasonic wave receives critically important.It is if permanent
Gain is determined, it is difficult to be accepted or rejected between sensitivity and reliability.If because want to receive more remote ultrasonic wave, it is necessary to increase
Sensitivity, but can so be destroyed by interference signal closely.And variable gain is allowed for the difference for receiving distance,
Receiving sensitivity is adjusted, reduces the interference of noise signal, ensures the reliability received.The module can carry out 0~11 grade of increasing
Benefit is set.
Radio-frequency module 26 uses the wireless radio frequency modules based on NRF24L01 radio transmitting and receiving chips.Radio transmitting and receiving chip
NRF24L01 is by the monolithic wireless transceiver of the ISM band for being operated in 2.4GHz~2.5GHz of NORDIC companies of Norway production
Chip.The chip has following features：Small volume, Width funtion working range, 1.9V~3.6V, wide operating temperature range, -40
DEG C~+80 DEG C, low power dissipation design, optional different transmission power under different mode, power consumption, wireless data transmission rate is reduced as far as possible
It hurry up, up to 2Mbps, built in hardware CRC error detections and the control of point-to-multipoint delivery address, 1 pair 6 of radio communication can be achieved.It is based on
Its functional characteristics of NRF24L01 radio-frequency module fully meets the requirement of mobile platform.
A kind of distance-finding method of the mobile platform with comprehensive distance measurement function, the reflective location algorithm of the active pass through knot
Less radio-frequency and ultrasonic technology are closed, avoids requirement of the ranging to synchronousness, and greatly reduce control algolithm
Complexity, the accuracy and real-time of ranging are improved, referring to Fig. 6, exemplified by the ranging between mobile platform A and B, the ranging
Method comprises the following steps：
101：Mobile platform A and B carries out authentication, and mobile platform B opens ultrasonic module 25 after receiving ranging response, entered
Enter reception pattern；
When mobile platform A has ranging requirement to mobile platform B, distance measurement inquiring signal, the ranging can be sent to mobile platform B
Request signal includes：Mobile platform A and B identity (being used to confirm that ranging is only directly carried out in mobile platform A and B), address are tested
Demonstrate,prove information and whether can be with ranging etc..
Mobile platform B receives radio-frequency information and be made whether that the response of ranging can be carried out.It is mobile flat if ranging can be carried out
Platform B reception patterns in ultrasonic module 25 is opened after responding mobile platform A distance measurement request, into wait reception pattern；Such as
Fruit cannot ranging, mobile platform A inquires or turns to again other movements after then waiting time interval that some has set
Platform carries out ranging.
102：After mobile platform A receives mobile platform B ranging answer signal, the transmitting mould in ultrasonic module 25 is opened
Formula, mobile platform A start timing, time TaMobile platform A enters reception pattern afterwards；
Wherein, time TaIt can be set according to experiment needs, mainly by ranging depending on, each segment distance can correspond to
Set some TaValue, the embodiment of the present invention are without limitation.
103：Mobile platform B starts timing, elapsed time T after receiving ultrasonic signalbAfterwards, ultrasonic signal is launched；
Time TbEffect：1st, eliminate due to intrinsic time delays such as hardware calculated, action responses；2nd, filter out because
Clutter caused by reflection etc., such as：Mobile platform B transmittings are 360 ° of full hairs when ultrasonic.Mobile platform A and B clocks only need to be ensured
The uniformity of frequency, it is not necessary to it is required that mobile platform A and the synchronism of B timing.
104：After mobile platform A receives ultrasonic signal, stop timing immediately, obtain timing total time TAlways。
Wherein, time TbValue be already present in mobile platform A program, i.e., for mobile platform A, time Tb
It is known condition.
Ultrasonic signal propagates one-way time TSoundFor：
TSound=(TAlways-Tb)/2
Institute's ranging is from S：
S=VSound·TSound
Wherein, VSoundFor ultrasonic velocity.
In summary, the distance between mobile platform A and B can be accurately acquired by above-mentioned steps, meets reality
Needs in the application of border.
To the model of each device in addition to specified otherwise is done, the model of other devices is not limited the embodiment of the present invention,
As long as the device of above-mentioned function can be completed.
It will be appreciated by those skilled in the art that accompanying drawing is the schematic diagram of a preferred embodiment, the embodiments of the present invention
Sequence number is for illustration only, does not represent the quality of embodiment.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc., it should be included in the scope of the protection.
Claims (6)
1. a kind of distance-finding method of the mobile platform with comprehensive distance measurement function, the mobile platform include：Mechanical structure and
Hardware configuration, the mechanical structure include：Epoxy resin board, first layer aluminium sheet, second layer aluminium sheet, support wheel and driving wheel；
The epoxy resin board is arranged on bottom, and the epoxy resin board has been sequentially arranged above the first layer aluminium sheet, described
Second layer aluminium sheet, the bottom symmetrical of the epoxy resin board are provided with support wheel and driving wheel；
The hardware configuration includes：Power module, control module, phase demodulation module, drive module, ultrasonic module and radio-frequency module；
The power module is arranged on the epoxy resin board, the control module, the phase demodulation module and the driving mould
Block is arranged on the first layer aluminium sheet；The ultrasonic module, the radio-frequency module are arranged on the second layer aluminium sheet；
The speed or mileage of the pulse signal detection wheel of the phase demodulation resume module pulse coder feedback, after processing
Signal be transferred to the control module, judge the movement velocity and distance of mobile platform；The ultrasonic module is only using transmitting-receiving
Vertical sonac；
Characterized in that, the distance-finding method comprises the following steps：
Mobile platform A and B carries out authentication, and mobile platform B opens ultrasonic module after receiving ranging response, into reception mould
Formula；
Mobile platform A gets the emission mode opened after mobile platform B ranging response in ultrasonic module, and mobile platform A is opened
Beginning timing, time TaMobile platform A enters reception pattern afterwards；
Mobile platform B starts timing, elapsed time T after receiving ultrasonic signalbAfterwards, ultrasonic signal is launched；
After mobile platform A receives ultrasonic signal, stop timing immediately, obtain timing total time TAlways；
Ultrasonic signal propagates one-way time TSoundFor：
TSound=(TAlways-Tb)/2
Institute's ranging is from S：
S=VSound·TSound
Wherein, VSoundFor ultrasonic velocity；
Wherein, time TaDepending on ranging distance；Time TbCalculated for eliminating hardware, the time that action response is intrinsic prolongs
Late；Filter out because of clutter caused by reflection, time TbValue be already present in mobile platform A program.
2. a kind of distance-finding method of mobile platform with comprehensive distance measurement function according to claim 1, its feature exist
In the support wheel and driving wheel use four-wheel layout structure form.
3. a kind of distance-finding method of mobile platform with comprehensive distance measurement function according to claim 1, its feature exist
In the power module includes：Rechargeable battery and voltage stabilizing chip, the voltage stabilizing chip fix output type voltage stabilizing using LM2596
Chip.
4. a kind of distance-finding method of mobile platform with comprehensive distance measurement function according to claim 1, its feature exist
In the model MC9S12XS128 of control module single-chip microcomputer.
5. a kind of distance-finding method of mobile platform with comprehensive distance measurement function according to claim 1, its feature exist
In the drive module uses 4 BTS7960 chipsets into dual H-bridge, to drive two DC speed-reducings respectively.
6. a kind of distance-finding method of mobile platform with comprehensive distance measurement function according to claim 1, its feature exist
In the radio-frequency module uses the wireless radio frequency modules based on NRF24L01 radio transmitting and receiving chips.
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1997911A (en) * | 2003-07-29 | 2007-07-11 | 李东活 | Distance measurement method and device using ultrasonic waves |
| CN101053955A (en) * | 2007-04-06 | 2007-10-17 | 江南大学 | Control device for moving robot based on blue-tooth technology |
| CN103487050A (en) * | 2013-10-10 | 2014-01-01 | 哈尔滨工业大学 | Positioning method for indoor mobile robot |
| CN104237850A (en) * | 2013-06-20 | 2014-12-24 | 沈阳工业大学 | Method and device for mutual location and confirmation among multiple robots |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4630146B2 (en) * | 2005-07-11 | 2011-02-09 | 本田技研工業株式会社 | Position management system and position management program |
| KR100794728B1 (en) * | 2006-08-11 | 2008-01-15 | 주식회사 나인티시스템 | System and method of measuring robot in localization |
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2015
- 2015-03-26 CN CN201510137920.2A patent/CN104750108B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1997911A (en) * | 2003-07-29 | 2007-07-11 | 李东活 | Distance measurement method and device using ultrasonic waves |
| CN101053955A (en) * | 2007-04-06 | 2007-10-17 | 江南大学 | Control device for moving robot based on blue-tooth technology |
| CN104237850A (en) * | 2013-06-20 | 2014-12-24 | 沈阳工业大学 | Method and device for mutual location and confirmation among multiple robots |
| CN103487050A (en) * | 2013-10-10 | 2014-01-01 | 哈尔滨工业大学 | Positioning method for indoor mobile robot |
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