CN107367729A - Real-time location method based on infrared ray and ultrasonic wave - Google Patents
Real-time location method based on infrared ray and ultrasonic wave Download PDFInfo
- Publication number
- CN107367729A CN107367729A CN201710417932.XA CN201710417932A CN107367729A CN 107367729 A CN107367729 A CN 107367729A CN 201710417932 A CN201710417932 A CN 201710417932A CN 107367729 A CN107367729 A CN 107367729A
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- ultrasound emission
- infrared
- control panel
- ultrasound
- ultrasonic
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- 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
- G01S15/42—Simultaneous measurement of distance and other co-ordinates
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a kind of real-time location method based on infrared ray and ultrasonic wave, the hardware that method uses includes two blocks of ultrasound emission plates, one piece of ultrasound emission control panel and one block of ultrasonic reception plate, two blocks of ultrasound emission plates and one piece of ultrasound emission control panel are respectively positioned on the same plane of cradle, ultrasound emission control panel is located at the point midway of two blocks of ultrasound emission plates, has two infrared transmitting tubes arranged up and down on ultrasound emission control panel；Ultrasonic reception plate is arranged on robot, highly parallel with the ultrasound emission control panel on cradle；Ultrasonic reception plate is provided with ultrasonic reception head and two infrared receiving tubes；This method combines infrared timing using supersonic sounding, carries out plane trigonometry positioning to determine that robot reaches the orientation and distance of cradle, and self-service charging is carried out so as to which guided robot smoothly reaches cradle.The present invention can accurately calculate real-time coordinates information of the robot relative to cradle, meet that robot realizes the functional requirement of recharging task.
Description
Technical field
The present invention relates to robot localization field of navigation technology, and in particular to a kind of real-time based on infrared ray and ultrasonic wave
Localization method.
Background technology
Robot industry development was swift and violent in recent years, and the market demand of robot is also increasing, while to robot
Intelligent requirements also more and more higher.Increasing application scenarios need robot to have recharging function, to realize autonomous
Charging must first determine real-time position information of the robot relative to cradle, and navigate to and filled according to real-time position information
Electric seat.Inside numerous location technologies, the small-sized location technology based on infrared ray and ultrasonic wave is then due to its small volume, electricity
The advantages such as road is simple, price is low, obtain more and more extensive application in terms of small range positioning.Especially ultrasonic wave positions indoors
Technology just seems more convenient.
In order to realize robot autonomous charging, Some Enterprises use binocular visual positioning system.This scheme needs charging
Special pixel is installed on seat, and two cameras are installed in robot in the same horizontal position, this two cameras are simultaneously
IMAQ is carried out to these special pixel points, then carries out corresponding algorithm process by data source of this two width picture, finally
The coordinate information of cradle opposed robots is calculated, so as to realize recharging function.
The shortcomings that binocular vision system is that high cost, hardware system and mechanical structure all complexity, algorithm realize the big need of difficulty
The processor and relatively more professional algorithm engineering Shi Caineng for wanting superior performance realize, so this scheme is within a short period of time very
It is rare to apply and promote to large-scale.
The content of the invention
In view of this, the invention provides a kind of real-time location method based on infrared ray and ultrasonic wave, this method to use
Supersonic sounding combines infrared timing, carries out plane trigonometry positioning to determine that robot reaches the orientation and distance of cradle, so as to
Guided robot smoothly reaches cradle and carries out self-service charging.
A kind of real-time location method based on infrared ray and ultrasonic wave, the hardware that this method uses include two pieces of ultrasound emissions
Plate, one piece of ultrasound emission control panel and one block of ultrasonic reception plate, two blocks of ultrasound emission plates and one piece of equal position of ultrasound emission control panel
In on the same plane of cradle, ultrasound emission control panel is positioned at the point midway of two blocks of ultrasound emission plates, the ultrasound emission
There are two infrared transmitting tubes arranged up and down on control panel；The ultrasonic reception plate be arranged on robot with, highly with charging
Ultrasound emission control panel on seat is parallel；The ultrasonic reception plate is provided with ultrasonic reception head and two infrared receiving tubes；The party
Method realizes that step is as follows：
The first step：Make A points and B points be respectively two blocks of ultrasound emission plates position, O points are the position of ultrasound emission control panel
Put, O points are 2 points of AB midpoint；XY coordinate systems are established using O points as origin, and the positive direction of X-axis is towards B points, Y positive direction direction
The position C points of robot；
Second step：Two ultrasound emission plates are simultaneously emitted by ultrasonic signal, and the ultrasonic reception head on ultrasonic reception plate receives super
Acoustical signal；Base when one infrared transmitting tube transmitting infrared modulated encoded signal is established, controls infrared signal and ultrasonic signal simultaneously
Transmitting；Another infrared transmitting tube sends collimation infrared signal and is used to calculate ultrasound emission plate and issue a signal to ultrasonic reception head to connect
Receive the duration of signal；
3rd step：The infrared data and ultrasound data that ultrasonic reception plate receives according to infrared receiving tube and ultrasonic reception head is connect
AC and BC length are calculated, ∠ BAC cosine value, cos ∠ BAC=(AB*AB+AC*AC-BC* are calculated by the cosine law
BC)/(2*AB*AC), the X-axis coordinate for calculating C points is x=AC*cos ∠ BAC-OA, and sin ∠ are obtained according to trigonometric function relation
BAC, C point Y-axis coordinate are y=AC*sin ∠ BAC, you can obtain the real-time coordinates of robot；
4th step：Robot control system learns robot relative to cradle O according to the C point coordinates information calculated
The position of point, and cradle (O points) is moved towards according to the real-time coordinates control machine people of C points, realize recharging function.
Further, the ultrasound emission plate transmitting 40KHz ultrasonic signals.
Further, the infrared transmitting tube transmitting 56KHz infrared modulated coding letters on the ultrasound emission control panel
Number, signals diverging angle is 60 degree；The angle of divergence that another infrared transmitting tube sends collimation infrared signal is 15 degree, ultrasound emission plate
The ultrasonic signal angle of divergence of transmitting is 60 degree.
Further, the ultrasound emission control panel is powered by two power lines, and supply voltage is 6-36V direct currents, and two
Individual ultrasound emission plate is connected to the ultrasonic the corresponding interface for penetrating control panel of hair by 4P winding displacements.
Further, the ultrasonic reception plate using 5V dc sources power, and by UART interface will receive away from
Externally exported with respect to the coordinate information of cradle from data and robot.
Beneficial effect：
Real-time positioning system cost of the invention is low, hardware circuit and Design of Mechanical Structure are simple, without complicated algorithm
Program, it is not high to the performance requirement of processor, real-time coordinates information of the robot relative to cradle can be accurately calculated,
It disclosure satisfy that robot realizes the functional requirement of recharging task.Avoid needing to establish when infrared or ultrasonic wave is used alone
Complicated communication mechanism, simplify programming, shorten product development cycle.
Brief description of the drawings
Fig. 1 is the topology layout schematic diagram of ultrasound emission plate and ultrasound emission control panel；
Fig. 2 is the structural representation of ultrasonic reception plate；
Fig. 3 is the positioning schematic of the present invention.
Wherein, the first ultrasound emissions of 1- plate, the second ultrasound emissions of 2- plate, 3- ultrasound emissions control panel, the first infrared hairs of 4-
Penetrate pipe, the infrared transmitting tubes of 5- second, 6- ultrasonic receptions plate, 7- ultrasonic receptions head, the infrared receiving tubes of 8- first, 9- second is infrared connects
Closed tube.
Embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
The invention provides a kind of this method use hardware include the first ultrasound emission plate 1, the second ultrasound emission plate 2,
Ultrasound emission control panel 3 and ultrasonic reception plate 6, the first ultrasound emission plate 1, the second ultrasound emission plate 2, ultrasound emission control panel 3
On the same plane of cradle, ultrasound emission control panel 3 is located at the first ultrasound emission plate 1 and the second ultrasound emission plate 2 connects
The point midway of line, there are the first infrared transmitting tube 4 and the second infrared transmitting tube 5 arranged up and down on ultrasound emission control panel 3,
The spacing of one infrared transmitting tube 4 and the second infrared transmitting tube 5 is 12mm, the first ultrasound emission plate 1 and the second ultrasound emission plate 2 with
Infrared transmitting tube is at a distance of 191.5mm；Ultrasonic reception plate 6 is arranged on robot, in the height and cradle of ultrasonic reception plate 6
Ultrasound emission control panel 3 it is parallel；It is infrared that ultrasonic reception plate 6 is provided with first 7, first infrared receiving tube 8 and second of ultrasonic reception
Reception pipe 9；This method realizes that step is as follows：
The first step：Make A points and B points be respectively the first ultrasound emission plate 1 and the second ultrasound emission plate 2 position, O points are super
The position of sound emission control panel 3, O points are 2 points of AB midpoint；XY coordinate systems, the positive direction direction of X-axis are established by origin of O points
B points, the position C points of Y positive direction towards robot；
Second step：First ultrasound emission plate 1 and the second ultrasound emission plate 2 are simultaneously emitted by ultrasonic signal, 6 on ultrasonic reception plate
Ultrasonic reception it is first 7 receive ultrasonic signal；Base when first infrared transmitting tube 4 transmitting infrared modulated encoded signal is established, control are red
External signal and ultrasonic signal are launched simultaneously；Second infrared transmitting tube 5 sends collimation infrared signal and is used to calculate the first ultrasound emission
The ultrasound emission plate 2 of plate 1 and second issues a signal to the duration that ultrasonic reception first 7 receives signal；
3rd step：Ultrasonic reception plate 6 is according to connecing the first infrared receiving tube 8 and the second infrared receiving tube 9 and ultrasonic reception
First 7 infrared datas received and ultrasound data calculate AC and BC length, and ∠ BAC cosine is calculated by the cosine law
Value, cos ∠ BAC=(AB*AB+AC*AC-BC*BC)/(2*AB*AC), the X-axis coordinate for calculating C points is x=AC*cos ∠
BAC-OA, it is y=AC*sin ∠ BAC to obtain sin ∠ BAC, C point Y-axis coordinate according to trigonometric function relation, you can obtains robot
Real-time coordinates；
4th step：Robot control system learns robot relative to cradle O according to the C point coordinates information calculated
The position of point, and cradle (O points) is moved towards according to the real-time coordinates control machine people of C points, realize recharging function.
Ultrasound emission plate launches 40KHz ultrasonic signals, and for range measurement, the first infrared transmitting tube 4 transmitting 56KHz is infrared
Modulating coding signal, base during for establishing, control is infrared and ultrasonic launches simultaneously；Second infrared transmitting tube 5, which is used to send, to be collimated
Infrared signal, it is accurately positioned for robot.The infrared signal angle of divergence of first infrared transmitting tube 4 transmitting is 60 degree, and second is red
The infrared signal angle of divergence that outer transmitting tube 5 is launched is 15 degree, and the first ultrasound emission plate 1 and the transmitting of the second ultrasound emission plate 2 surpass
The acoustic signals angle of divergence is 60 degree." ultrasound emission control panel " only needs two power line power supplies, and supply voltage is 6-36V direct currents
Electricity, two " ultrasound emission plate " are connected to the corresponding interface of " hair ultrasound penetrates control panel " by 4P winding displacements.
In summary, presently preferred embodiments of the present invention is these are only, is not intended to limit the scope of the present invention.
Within the spirit and principles of the invention, any modification, equivalent substitution and improvements made etc., it should be included in the present invention's
Within protection domain.
Claims (5)
1. a kind of real-time location method based on infrared ray and ultrasonic wave, it is characterised in that the hardware that this method uses includes two
Block ultrasound emission plate, one piece of ultrasound emission control panel and one block of ultrasonic reception plate, two blocks of ultrasound emission plates and one piece of ultrasound emission
Control panel is respectively positioned on the same plane of cradle, and ultrasound emission control panel is positioned at the point midway of two blocks of ultrasound emission plates, institute
Stating has two infrared transmitting tubes arranged up and down on ultrasound emission control panel；The ultrasonic reception plate is arranged on robot,
Height is parallel with the ultrasound emission control panel on cradle；The ultrasonic reception plate is provided with ultrasonic reception head and two infrared connect
Closed tube；This method realizes that step is as follows：
The first step：Make A points and B points be respectively two blocks of ultrasound emission plates position, O points are the position of ultrasound emission control panel, O points
For 2 points of midpoints of AB；XY coordinate systems are established using O points as origin, and the positive direction of X-axis is towards B points, and Y positive direction is towards robot
Position C points；
Second step：Two ultrasound emission plates are simultaneously emitted by ultrasonic signal, and the ultrasonic reception head on ultrasonic reception plate receives ultrasound letter
Number；Base when one infrared transmitting tube transmitting infrared modulated encoded signal is established, controls infrared signal and ultrasonic signal to launch simultaneously；
Another infrared transmitting tube sends collimation infrared signal and is used to calculate ultrasound emission plate and issue a signal to ultrasonic reception head to receive
The duration of signal；
3rd step：Ultrasonic reception plate is according to connecing infrared data that infrared receiving tube and ultrasonic reception head receive and ultrasound data calculates
Go out AC and BC length, calculate ∠ BAC cosine value by the cosine law, cos ∠ BAC=(AB*AB+AC*AC-BC*BC)/
(2*AB*AC), the X-axis coordinate for calculating C points is x=AC*cos ∠ BAC-OA, and sin ∠ BAC are obtained according to trigonometric function relation,
C point Y-axis coordinate is y=AC*sin ∠ BAC, you can obtains the real-time coordinates of robot；
4th step：Robot control system learns position of the robot relative to cradle according to the C point coordinates information calculated
Put, and cradle is moved towards according to the real-time coordinates control machine people of C points, realize recharging function.
2. the real-time location method based on infrared ray and ultrasonic wave as claimed in claim 1, it is characterised in that the ultrasound hair
Penetrate plate transmitting 40KHz ultrasonic signals.
3. the real-time location method based on infrared ray and ultrasonic wave as claimed in claim 1, it is characterised in that the ultrasound hair
The infrared transmitting tube transmitting 56KHz infrared modulated encoded signals penetrated on control panel, signals diverging angle is 60 degree；Another is red
The angle of divergence that outer transmitting tube sends collimation infrared signal is 15 degree, and the ultrasonic signal angle of divergence of ultrasound emission plate transmitting is 60
Degree.
4. the real-time location method based on infrared ray and ultrasonic wave as claimed in claim 3, it is characterised in that the ultrasound hair
Penetrate control panel to be powered by two power lines, supply voltage is 6-36V direct currents, and two ultrasound emission plates are connected to by 4P winding displacements
Hair ultrasound penetrates the corresponding interface of control panel.
5. the real-time location method based on infrared ray and ultrasonic wave as claimed in claim 4, it is characterised in that the ultrasound connects
Plate is received to power using 5V dc sources, and by UART interface by the seat of the range data received and robot cradle relatively
Mark information externally exports.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710417932.XA CN107367729A (en) | 2017-06-06 | 2017-06-06 | Real-time location method based on infrared ray and ultrasonic wave |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710417932.XA CN107367729A (en) | 2017-06-06 | 2017-06-06 | Real-time location method based on infrared ray and ultrasonic wave |
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| Publication Number | Publication Date |
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| CN107367729A true CN107367729A (en) | 2017-11-21 |
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| CN201710417932.XA Pending CN107367729A (en) | 2017-06-06 | 2017-06-06 | Real-time location method based on infrared ray and ultrasonic wave |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107943054A (en) * | 2017-12-20 | 2018-04-20 | 北京理工大学 | Automatic recharging method based on robot |
| CN111596260A (en) * | 2020-07-27 | 2020-08-28 | 南京天创电子技术有限公司 | Method and system for robot to autonomously position charging pile and computer storage medium |
| CN111856509A (en) * | 2020-07-30 | 2020-10-30 | 广东博智林机器人有限公司 | Positioning method, positioning device and mobile equipment |
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| CN106113049A (en) * | 2016-08-30 | 2016-11-16 | 江苏北人机器人***股份有限公司 | The welding system of a kind of pose adaptive robot and pose method of adjustment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107943054A (en) * | 2017-12-20 | 2018-04-20 | 北京理工大学 | Automatic recharging method based on robot |
| CN111596260A (en) * | 2020-07-27 | 2020-08-28 | 南京天创电子技术有限公司 | Method and system for robot to autonomously position charging pile and computer storage medium |
| CN111596260B (en) * | 2020-07-27 | 2020-11-06 | 南京天创电子技术有限公司 | Method and system for robot to autonomously position charging pile and computer storage medium |
| CN111856509A (en) * | 2020-07-30 | 2020-10-30 | 广东博智林机器人有限公司 | Positioning method, positioning device and mobile equipment |
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Application publication date: 20171121 |