CN108983772A - Intelligent transfer robot control system and control method based on UWB positioning - Google Patents
Intelligent transfer robot control system and control method based on UWB positioning Download PDFInfo
- Publication number
- CN108983772A CN108983772A CN201810727276.8A CN201810727276A CN108983772A CN 108983772 A CN108983772 A CN 108983772A CN 201810727276 A CN201810727276 A CN 201810727276A CN 108983772 A CN108983772 A CN 108983772A
- Authority
- CN
- China
- Prior art keywords
- positioning
- label
- chip microcontroller
- base station
- real
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000012546 transfer Methods 0.000 title claims abstract description 17
- 238000004891 communication Methods 0.000 claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims abstract description 10
- 230000003993 interaction Effects 0.000 claims abstract description 8
- 238000012545 processing Methods 0.000 claims description 20
- 238000001914 filtration Methods 0.000 claims description 7
- 230000004888 barrier function Effects 0.000 claims description 6
- 230000000875 corresponding effect Effects 0.000 claims description 6
- 238000004519 manufacturing process Methods 0.000 claims description 5
- 238000011897 real-time detection Methods 0.000 claims description 2
- 239000004065 semiconductor Substances 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 13
- 238000005259 measurement Methods 0.000 abstract description 3
- 230000002093 peripheral effect Effects 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000009977 dual effect Effects 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 6
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 4
- 230000008901 benefit Effects 0.000 description 4
- 229910052744 lithium Inorganic materials 0.000 description 4
- 239000000203 mixture Substances 0.000 description 4
- 238000013519 translation Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 239000013078 crystal Substances 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005670 electromagnetic radiation Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
- 230000002618 waking effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Acoustics & Sound (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of Intelligent transfer robot control systems and control method based on UWB positioning, including control section, position portion, navigational portions avoidance part and human-computer interaction part, positioning uses UWB location technology in the present invention, distance measurement function is realized by way of transmission time of the measuring signal between positioning label and base station, the distance between label and each base station information of capture positioning in real time.Beneficial effects of the present invention are that 1. present invention use dual processor distributed control mode, and control system is made to become more safe and stable；2.MC9S12XDT256 microprocessor has a variety of peripheral hardware communication interfaces；3. positioning method of the present invention uses UWB location technology；4. advantageously reducing the cost of logistics sorting transport present invention can apply to warehouse logistics field, the investment of personnel is reduced, improves logistics management.5. the present invention provides a friendly human-computer interaction interfaces.
Description
Technical field
The present invention relates to a kind of Intelligent transfer robot control technology fields, and in particular to a kind of intelligence based on UWB positioning
It can Transport Robot Control System for Punch and control method.
Background technique
With further implementing for " made in China 2025 " planning, every profession and trade is to intelligence machine Man's Demands also towards spirit
The directions such as activity, convenience extend.In recent years, with booming, the electronic logistics industry development of internet and e-commerce
Very rapidly.Become more efficiently, quickly to make transport, carry, more and more automation equipments are applied in logistics field.
In traditional logistics work pattern, manpower transport is taken a long time, and person works' intensity is big, while personnel's sorting efficiency is relatively
It is low, error rate is relatively high, be not able to satisfy the more categories of electronic logistics operation, the feature of small batch.In addition, old plus China human mortality
The intensification of age degree, labor cost is continuously improved, so that the intelligentized logistics equipment of logistics company urgent need, using certainly
Dynamicization technology, the ability for improving E-business logistics sorting, carrying link.
Transfer robot (Transfer Robot) is the industrial robot that can carry out automated handling operation.Carrying implement
Device people is the new and high technology that modern age automation field occurs, and has been related to mechanics, mechanics, electric appliance hydraulic-pneumatic skill
The ambits such as art, automatic control technology, sensor technology, singlechip technology and computer technology, it has also become modern mechanical system
Make an important component in production system.
For transfer robot, can correctly identify itself present position and can carry out walking according to design route is
Smoothly carry out the most important condition of its services.Now, the location technologies such as WIFI, ZigBee, bluetooth developed more at
It is ripe, but they communication distance, power consumption, in terms of still have different degrees of defect, the present invention uses UWB (Ultra
Wideband the features such as) ultra wideband location techniques realize robot localization, it sends signal because of its ultra-wideband characteristic, carrierfree,
Have many advantages, such as that small power consumption, strong security, penetration power are strong, anti-interference, positioning accuracy is high, indoors the locating and tracking of mobile object
There is its significant advantage with navigation aspect.
Summary of the invention
For above-mentioned the technical problems existing in the prior art, it is an object of that present invention to provide a kind of based on UWB positioning
Intelligent transfer robot control system and control method.
In order to solve the above technical problem, the present invention provides technical solution are as follows: it is a kind of based on UWB positioning intelligence carry
Robot control system, including control section, position portion, navigational portions, avoidance part and human-computer interaction part,
The control section is using the MC9S12XDT256 single-chip microcontroller of grace intelligence Pu semiconductor (NXP) company production as core
Control unit；
The position portion uses UWB positioning method, positions and wirelessly communicates between label and base station,
MC9S12XDT256 single-chip microcontroller carries out real-time communication by serial ports (TTL) communication modes and positioning label, to obtain positioning mark
The real-time range information of label and each base station, data are after digital filtering is handled, then position and calculate through Trilateration trilateration
After method calculates, to obtain coordinate, i.e. location information locating for outgoing label；
Target position and actual position information are carried out respective handling by MC9S12XDT256 single-chip microcontroller in the navigational portions
Show that the control signal of four motors, motor control signal finally control the phase of four motors after motor driven is amplified after calculating
It should act；
The avoidance part using ultrasonic radar distance measuring method real-time detection robot between barrier at a distance from, in order to
The computational load for reducing MC9S12XDT256 processing arithmetic unit, reduces calculating error in data processing, increases data processing
Precision, this system uses distributed system architecture, i.e., using the MSP430G2553 single-chip microcontroller of TI company production as avoidance processing
Unit realizes data exchange by Transistor-Transistor Logic level signal and four ultrasonic radars, then after data processing operation, passes through serial ports
The ranging information of four ultrasonic radar signals is transmitted to MC9S12XDT256 single-chip microcontroller by communication modes, to realize avoidance function
Energy；
The human-computer interaction part using touch screen (LCD display) by serial port realize and
MC9S12XDT256 control unit carries out data exchange, to realize that setting base station coordinates, setting destination, display label are real-time
The functions such as position.
Positioning uses UWB location technology in the present invention, through measuring signal when positioning the transmission between label and base station
Between mode realize distance measurement function, i.e., positioning (TOA/TDOA positioning) based on time of arrival (toa).MC9S12XDT256 is mono-
Piece machine realizes data exchange by serial communication and positioning label, the distance between label and each base station letter of capture positioning in real time
Breath.After receiving data frame, the way of median average filter (anti-impulse disturbances average filter method), i.e. continuous sampling are first passed around
After five groups of data, remove a maximum value and a minimum value, then calculates the arithmetic mean of instantaneous value of remaining data；After pass through
Trilateration trilateration location algorithm resolves location information, that is, selects three reference base stations, be interconnected to several
Triangle constitutes various nets (lock) shape figure.By calculating the side length of triangle, further according to the coordinate of reference base station, initial line is played
Side length and grid azimuth, being resolved triangle and grid azimuth and calculating can be obtained side length and the coordinate side on each side of triangle
Parallactic angle, and then formula is just being calculated by rectangular co-ordinate and is calculating the plane coordinates (x, y) for positioning label.
Correspondingly, a kind of controlling party for Intelligent transfer robot control system based on UWB positioning that HIA of the present invention is provided
Method includes the following steps:
1) MC9S12XDT256 microprocessor carries out real-time communication by serial ports (TTL) communication modes and positioning label, from
And the real-time range information of positioning label and each base station is obtained, data information is after digital filtering is handled, then passes through
After Trilateration trilateration location algorithm calculates, to obtain coordinate, i.e. location information locating for positioning label.
2) actual position information obtained after resolving and target position are carried out PID arithmetic by MC9S12XDT256 microprocessor
After processing, the control signal of four motors is calculated, the control signal of motor finally controls four after motor driver amplifies
The corresponding actions of a motor.
3) MSP430G2553 processor realizes data exchange by Transistor-Transistor Logic level signal and four ultrasonic radars, then through number
According to processing operation after, by serial port by the ranging information real-time Transmission of four ultrasonic radar signals extremely
MC9S12XDT256 controller, when detecting robot and obstacle distance lower than setting value, robot will make corresponding dynamic
Make.
4) touch screen (LCD display) is realized by serial port carries out data with MC9S12XDT256 control unit
Exchange, to realize the functions such as setting base station coordinates, setting destination, display positioning label real time position.
Compared with prior art, beneficial effects of the present invention are,
1. the present invention uses dual processor distributed control mode, using MC9S12XDT256 microprocessor as robot control
The control core of system processed, using MSP430G2553 single-chip microcontroller as avoidance distance measuring unit, this distributed AC servo system is in data processing
On reduce calculating error, increase data processing precision, simplify data operation process, to reduce the negative of core processor
Load, makes control system become more safe and stable；
2.MC9S12XDT256 microprocessor includes Flash, the RAM of 32Kbyte of 256KBbyte, 4Kbyte's
EEPROM has a variety of peripheral hardware communication interfaces, such as SCI, MSCAN, SPI, IIC etc..Waking up delay and power consumption, several provinces
Power mode provides the largest optimization scheme with flexibility.
3. positioning method of the present invention uses UWB location technology, have compared with the location technologies such as WIFI, ZigBee, bluetooth
Following advantage: 1) transmission rate is high.The transmission rate of UWB can achieve 500Mbit/s.2) equipment is simple.It is no-load in view of UWB
Wave communication, transmitter only need to use the small-sized active antenna of pulse, eliminate the frequency converter generally wirelessly communicated, be also not required to
Amplifier, frequency mixer etc. are used in combination.Same receiving end also eliminates IF process device, and the structure of whole system implements
It is relatively simple.3) low in energy consumption.The same no-load wave property because of UWB, so that it is ultrashort non-by sending when transmitting signal
Sinusoidal burst pulse, the pulse duration is short, and duty factor is low, so that power consumption is very low, in terms of battery life and electromagnetic radiation
There is very big advantage.4) good confidentiality.On the one hand, UWB only knows that transmitting terminal expands at oneself using hop-time spread spectrum, receiver
Transmitting data can be just solved when frequency code；In addition, signal is dispersed in extremely wide frequency range, for it since UWB power is extremely low
For his communication system, possible this is an a white noise, so that signal concealment is fine, it also can not be correct with traditional receiver
It parses, therefore the confidentiality of UWB is also relatively high.5) accurate positioning.Ultra wide band transmits information using shock pulse, have compared with
High temporal resolution, corresponding positioning accuracy can achieve Centimeter Level, can easily be combined positioning with communication, this is
What other wireless communication techniques were difficult to accomplish.
4. advantageously reducing the cost of logistics sorting transport present invention can apply to warehouse logistics field, reducing personnel's
Investment improves logistics management, reduces the probability that cargo carries damage, the sorting efficiency of modern logistics can be improved, promote logistics row
The development of industry.In addition, it applies also for other field, comprising: material process field, the hotel field Ban Huo, military affairs and danger
Place field etc..
5. the present invention provides a friendly human-computer interaction interface, positioning base can be arranged in 800*600 resolution ratio by it
The functions such as station coordinates, setting destination, display positioning label real time position.
Detailed description of the invention
Fig. 1 show system hardware block diagram according to the present invention.
Fig. 2 show robot control unit's software architecture diagram according to the present invention.
Fig. 3 show robot control unit's serial ports according to the present invention and receives data outage software flow pattern.
Fig. 4 show robot control unit according to the present invention and positions label position resolving processing routine software flow
Figure.
Fig. 5 show T0 interrupt service routine software flow pattern in avoidance unit according to the present invention.
Fig. 6 show 0 server software flow chart of external interrupt in avoidance unit according to the present invention.
Specific embodiment
The present invention is described in further detail below in conjunction with the drawings and specific embodiments.It should be appreciated that described herein
Specific embodiment be only used to explain the present invention, be not intended to limit the present invention.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.
As shown in Figure 1, a kind of Intelligent transfer robot control system based on UWB positioning, comprising: base station power
(220V), level switch module 2, level switch module 3, level switch module 4, the base station UWB 1, the base station UWB 2, the base station UWB 3,
Lithium battery (12V), level switch module 1, UWB position label, ultrasonic radar range finder module 1, ultrasonic radar range finder module
2, ultrasonic radar range finder module 3, ultrasonic radar range finder module 4, avoidance detection unit, robot control unit, motor drive
Dynamic device module, motor 1, motor 2, motor 3, motor 4, level switch module 5 and man machine operation interface composition.
Wherein, base station power is provided by AC220V, be connected to be spaced apart 2 input terminal, the output end for being spaced apart 2 is connected to wiring
The input terminal of terminal, the output end out1 of connecting terminal are connected to the input terminal of level switch module 2, the output end of connecting terminal
Out2 is connected to the input terminal of level switch module 3, and the output end out3 of connecting terminal is connected to the input of level switch module 4
End；The output end of level translation module 2 is connected to the power input of the base station UWB 1, the output end connection of level translation module 3
To the power input of the base station UWB 2, the output end of level translation module 4 is connected to the power input of the base station UWB 3.
The power output end of lithium battery (12V) be connected to be spaced apart 1 input terminal, be spaced apart 1 output end out1, out2 difference
It is connected to the input terminal of DC12V connecting terminal and level switch module 1, the output end of level switch module 1 is connected to DC5V and connects
The input terminal of line terminals；Output end out1, out2, out3, out4, out5, out6, out7 of DC5V connecting terminal are separately connected
To ultrasonic radar 1, ultrasonic radar 2, ultrasonic radar 3,4 module of ultrasonic radar, MSP430 controller, UWB positioning mark
The power input of label and MC9S12XDT256 controller；Output end out1, out2, out3, out4 of DC12V connecting terminal
And out5 is respectively connected to the power input of motor 1, motor 2, motor 3, motor 4 and motor driver；DC12V connecting terminal
Output end out6 be connected to the power input of level switch module 5, the output end of level switch module 5 is connected to man-machine behaviour
Make the power input at interface.
Ultrasonic radar 1, ultrasonic radar 2, ultrasonic radar 3, ultrasonic radar 4 input port be connected respectively
The port signal output end P2.0/P2.1/P2.2/P2.3 of MSP430G2553 single-chip microcontroller, ultrasonic radar 1, ultrasonic radar 2,
Ultrasonic radar 3, ultrasonic radar 4 output port be connected respectively the signal input part of MSP430G2553 single-chip microcontroller
The port P2.4/P2.5/P2.6/P2.7.
The port MSP430G2553 single-chip microcontroller P1.1, P1.2 is separately connected the end PS2, PS3 of MC9S12XDT256 microprocessor
Mouthful；The input, output end of UWB positioning label is separately connected the port PS1, PS0 of MC9S12XDT256 controller；Motor driven
The input, output end of device is respectively connected to the port PJ1, PJ0 of MC9S12XDT256 controller；Man machine operation interface it is defeated
Enter end, output end is respectively connected to the port PM7, PM6 of MC9S12XDT256 controller.
Above-mentioned described lithium battery (12V) provides for DC12V 60AH rechargeable lithium battery, and the level switch module 1 is
DC12V turns DC5V module, and level switch module 2 is that AC220V turns DC5V module, and level switch module 3 is that AC220V turns DC5V mould
Block, level switch module 4 are that AC220V turns DC5V module, and level switch module 5 is that DC12V turns DC5V module.
Above-mentioned described robot control unit MC9S12XDT256 is that 16 with high performance of NXP company production are micro-
Controller, CPU core have up to 40MHz bus frequency, the RAM of the Flash comprising 256KBbyte, 32Kbyte, 4Kbyte
EEPROM, have a variety of peripheral hardware communication interfaces, such as SCI, MSCAN, SPI, IIC etc..
Above-mentioned described avoidance detection unit MSP430G2553 be a kind of 16 super low-power consumptions of Texas Instruments (TI),
Mixed-signal processor with reduced instruction set computer (RISC) has super low-power consumption, powerful processing capacity, system work steady
The characteristics such as fixed, convenience and high-efficiency exploitation environment.It realizes data exchange by Transistor-Transistor Logic level signal and ultrasonic radar 1-4, then passes through
After data processing operation, by serial port by the ranging information real-time Transmission of four ultrasonic radar signals to robot
Control unit MC9S12XDT256 controller.
The above-mentioned described base station UWB 1-3 and UWB positioning label is the DW1000 chip based on the exploitation of DecaWave company
Exploitation, it positions and is communicated between label and each base station by wireless communication mode, pass through serial port after being computed processing
By the Distance Transmission between measured positioning label and each base station to robot control unit's MC9S12XDT256 controller.
Above-mentioned described man machine operation interface realized by one 8 inches of touch LCD screen, resolution ratio: 800*600, backlight
Mode: LED, power consumption: 2.2W realizes data exchange by serial port and robot control unit MC9S12XDT256,
To which locating base station coordinate, setting destination, display positioning label real time position etc. be arranged by it.
In addition, control method of the application based on the UWB Intelligent transfer robot control system positioned includes as follows in detail
Step:
1) at a distance from positioning label is calculated between each base station by wireless communication mode with each locating base station, Zhi Houli
Real-time communication is carried out with serial ports (TTL) communication modes and MC9S12XDT256 microprocessor, thus will positioning label and each base station
Real-time range information be transmitted to MC9S12XDT256 microprocessor, MC9S12XDT256 microprocessor is by data information through number
After filtering processing, then after the calculating of Trilateration trilateration location algorithm, thus obtain coordinate locating for positioning label,
That is location information.
2) actual position information obtained after resolving and target position are carried out PID arithmetic by MC9S12XDT256 microprocessor
After processing, the control signal of four motors is calculated, the control signal of motor finally controls four after motor driver amplifies
The corresponding actions of a motor.
3) MSP430G2553 processor controls the control signal of ultrasonic radar 1-4 by timing (500ms), to count
Calculation obtains at a distance between barrier, then after data processing operation, is believed four ultrasonic radars by serial port
Number ranging information real-time Transmission to MC9S12XDT256 controller, MC9S12XDT256 controller is when detecting robot and barrier
When hindering object distance lower than setting value, robot will act accordingly.
4) touch screen (LCD display) is realized by serial port carries out data with MC9S12XDT256 control unit
Exchange is, it can be achieved that the functions such as setting base station coordinates, setting destination, display positioning label real time position.
Software flow according to the present invention is as follows:
This system software is made of robot control unit, avoidance unit two large divisions, wherein robot control unit
MC9S12XDT256 is mainly completed to realize the functions such as position portion, navigational portions, control section and human-computer interaction part, be kept away
Barrier unit MSP430G2553 controller mainly completes the functions such as ranging and data upload to ultrasonic radar.
As shown in Fig. 2, robot control unit's software section is mainly by initialization program, interrupt routine, positioning calculation journey
The most of composition of sequence, motion control program four.Initialization program is only executed in system electrification once, mainly to system mode
The setting of register, the setting of interrupt identification and permission, the setting of house dog, timer, external crystal-controlled oscillation, capturing unit are initial
Change, initialization of (a) serial ports, I/O mouthfuls setting etc.；Interrupt routine is mainly taken by serial ports (1-4) interrupt service routine and Interruption
Program of being engaged in composition, 1 interrupt service routine primary recipient of serial ports are believed at a distance from each base station from the label of UWB positioning label transmission
Breath, 2 interrupt service routine of serial ports mainly realize robot and obstacle between MC9S12XDT256 controller and MSP430 controller
The exchange of the ranging data of object, 3 interrupt service routine of serial ports realizes control motor driver, to realize the phase to 4 motors
Control action is answered, 4 interrupt service routine of serial ports realizes the data exchange with man-machine interface；Positioning calculation program part is mainly by fixed
The compositions such as position data filtering, trilateration location algorithm and data storage, to realize real to the progress of robot present position
Shi Dingwei；Motion control portion program is mainly made of pid control algorithm and motor control signal generation etc., thus realization pair
4 motors of robot carry out motion control.
As shown in figure 3, serial ports reception data outage software flow is as follows in robot control unit according to the present invention:
(1) reception flag set is interrupted, into SCI interrupt service subroutine；
(2) it removes and receives interrupt identification；
(3) data frame and set reception flag are received；
(4) data CRC check state is judged in main program: carrying out follow-up data processing if correct.Otherwise it does not execute
Data processing operation continues waiting for receiving data frame.
As shown in figure 4, it is as follows to position label position resolving processing software process in robot control unit of the present invention:
(1) main program judgement receive Data Labels, if true then will positioning label between each base station at a distance from place array
In；
(2) it when receiving data frame number up to 5 groups of data, carries out the way of median average filter and data is filtered；
(3) data obtained after the filtering of upper step are subjected to the coordinate that positioning label is calculated in trilateration location algorithm；
(4) it returns
As shown in figure 5, T0 interruption service software process is as follows in avoidance unit of the present invention:
(1) timer T0 is every 56ms respectively according to left front --- -- sequentially gates next after --- left back --- -- is right before right
Road ultrasound wave transmitting circuit；
(2) it calls ultrasonic wave that subprogram occurs, sends out the ultrasonic pulse voltage of 10kHz；
(3) timer T1 starts timing；
(4) external interrupt 0 is opened to interrupt
(5) it returns
As shown in fig. 6,0 server software process of external interrupt is as follows in avoidance unit of the present invention:
(1) single-chip microcontroller once receives return ultrasonic signal, immediately enters 0 service routine of external interrupt；
(2) stop T1 timer, external interrupt 0 is forbidden to interrupt；
(3) numerical value for reading T1 timer calculates the ultrasonic wave round-trip time used；
(4) it is calculated at a distance between barrier according to ultrasonic distance measurement principle；
(5) range information is stored in buffer area
(6) it returns
The above is only a preferred embodiment of the present invention, it is noted that for the common skill of the art
For art personnel, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications
Also it should be regarded as protection scope of the present invention.
Claims (6)
1. a kind of Intelligent transfer robot control system based on UWB positioning, which is characterized in that including control section, positioning region
Point, navigational portions, avoidance part and human-computer interaction part,
The control section is using single-chip microcontroller as key control unit；
The position portion uses UWB positioning method, positions and wirelessly communicates between label and base station, and the single-chip microcontroller is logical
It crosses serial port and positioning label carries out real-time communication, so that the real-time range information of positioning label and each base station is obtained,
Data obtain coordinate, i.e. location information locating for outgoing label after being computed；
The navigational portions obtain four after target position and actual position information are carried out respective handling calculating for single-chip microcontroller
The control signal of motor, motor control signal finally control the corresponding actions of four motors after motor driven is amplified；
The avoidance part using ultrasonic radar distance measuring method real-time detection robot between barrier at a distance from, pass through TTL
Level signal realizes data exchanges with four ultrasonic radars, then after data processing operation, by serial port by four
The ranging information of a ultrasonic radar signal is transmitted to single-chip microcontroller；
The human-computer interaction part, which is realized using touch screen by serial port, carries out data exchange with the control section.
2. a kind of Intelligent transfer robot control system based on UWB positioning according to claim 1, which is characterized in that
The touch screen is LCD display.
3. a kind of Intelligent transfer robot control system based on UWB positioning according to claim 1, which is characterized in that
The real-time range information of the obtained positioning label and each base station is after digital filtering is handled, then through Trilateration
After trilateration location algorithm calculates, coordinate locating for outgoing label is obtained.
4. a kind of Intelligent transfer robot control system based on UWB positioning according to claim 1, which is characterized in that
The single-chip microcontroller is the MC9S12XDT256 single-chip microcontroller of the Pu En Zhi semiconductor company production.
5. a kind of Intelligent transfer robot control method based on UWB positioning, which comprises the steps of:
1) MC9S12XDT256 single-chip microcontroller carries out real-time communication by serial port and positioning label, to obtain positioning mark
The real-time range information of label and each base station, after data calculate, to obtain coordinate, i.e. location information locating for positioning label；
2) actual position information obtained after resolving and target position are carried out PID arithmetic processing by MC9S12XDT256 single-chip microcontroller
Afterwards, the control signal of four motors is calculated, the control signal of motor finally controls four electricity after motor driver amplifies
The corresponding actions of machine；
3) MSP430G2553 single-chip microcontroller is by Transistor-Transistor Logic level signal and four ultrasonic radars realization data exchanges, then through data at
After managing operation, by serial port by the ranging information real-time Transmission of four ultrasonic radar signals to MC9S12XDT256
Single-chip microcontroller, when detecting robot and obstacle distance lower than setting value, robot will act accordingly；
4) touch screen is realized by serial port carries out data exchange with MC9S12XDT256 single-chip microcontroller, to realize setting
Base station coordinates, setting destination, display positioning label real time position function.
6. a kind of Intelligent transfer robot control method based on UWB positioning according to claim 5, which is characterized in that
The real-time range information of the obtained positioning label and each base station is after digital filtering is handled, then through Trilateration
After trilateration location algorithm calculates, coordinate locating for outgoing label is obtained.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810727276.8A CN108983772A (en) | 2018-07-05 | 2018-07-05 | Intelligent transfer robot control system and control method based on UWB positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810727276.8A CN108983772A (en) | 2018-07-05 | 2018-07-05 | Intelligent transfer robot control system and control method based on UWB positioning |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108983772A true CN108983772A (en) | 2018-12-11 |
Family
ID=64536959
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810727276.8A Pending CN108983772A (en) | 2018-07-05 | 2018-07-05 | Intelligent transfer robot control system and control method based on UWB positioning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108983772A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109809210A (en) * | 2019-02-01 | 2019-05-28 | 云南柔控科技有限公司 | A kind of cigarette packet Full automatic loading flexible robot system |
| CN109933070A (en) * | 2019-03-27 | 2019-06-25 | 上海理工大学 | The rescue system of six wheel rescue nonirrigated farmland robots |
| CN110279996A (en) * | 2019-06-28 | 2019-09-27 | 广州睿达信息科技有限公司 | Golf robot control system based on UWB location navigation |
| CN110647089A (en) * | 2019-10-28 | 2020-01-03 | 天津中德应用技术大学 | Intelligent warehouse logistics robot control system and control method |
| CN111818448A (en) * | 2020-06-02 | 2020-10-23 | 武汉天喻聚联网络有限公司 | SIM card integrating UWB function, positioning method and point-to-point positioning method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102092354A (en) * | 2009-12-15 | 2011-06-15 | 上海工程技术大学 | Ultrasonic wave-based car ranging control system and method |
| CN104298235A (en) * | 2014-08-25 | 2015-01-21 | 洛阳理工学院 | Mobile robot system based on wireless video transmission and PID compound control |
| CN105657668A (en) * | 2016-03-16 | 2016-06-08 | 南通大学 | Positioning and navigation control method of indoor mobile robot based on UWB |
| CN105682047A (en) * | 2016-03-16 | 2016-06-15 | 南通大学 | UWB-based indoor mobile robot navigation and positioning system |
| CN108205325A (en) * | 2018-03-19 | 2018-06-26 | 徐州艾奇机器人科技有限公司 | A kind of round-the-clock unmanned cruiser system of four-wheel drive low speed |
-
2018
- 2018-07-05 CN CN201810727276.8A patent/CN108983772A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102092354A (en) * | 2009-12-15 | 2011-06-15 | 上海工程技术大学 | Ultrasonic wave-based car ranging control system and method |
| CN104298235A (en) * | 2014-08-25 | 2015-01-21 | 洛阳理工学院 | Mobile robot system based on wireless video transmission and PID compound control |
| CN105657668A (en) * | 2016-03-16 | 2016-06-08 | 南通大学 | Positioning and navigation control method of indoor mobile robot based on UWB |
| CN105682047A (en) * | 2016-03-16 | 2016-06-15 | 南通大学 | UWB-based indoor mobile robot navigation and positioning system |
| CN108205325A (en) * | 2018-03-19 | 2018-06-26 | 徐州艾奇机器人科技有限公司 | A kind of round-the-clock unmanned cruiser system of four-wheel drive low speed |
Non-Patent Citations (1)
| Title |
|---|
| 徐骏: "基于超宽带定位的自动导引车辆导航方法及其导航***的研究", 《中国优秀硕士学位论文全文数据库信息科技辑》 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109809210A (en) * | 2019-02-01 | 2019-05-28 | 云南柔控科技有限公司 | A kind of cigarette packet Full automatic loading flexible robot system |
| CN109933070A (en) * | 2019-03-27 | 2019-06-25 | 上海理工大学 | The rescue system of six wheel rescue nonirrigated farmland robots |
| CN109933070B (en) * | 2019-03-27 | 2022-05-31 | 上海理工大学 | Rescue system of six-wheel rescue land robot |
| CN110279996A (en) * | 2019-06-28 | 2019-09-27 | 广州睿达信息科技有限公司 | Golf robot control system based on UWB location navigation |
| CN110647089A (en) * | 2019-10-28 | 2020-01-03 | 天津中德应用技术大学 | Intelligent warehouse logistics robot control system and control method |
| CN111818448A (en) * | 2020-06-02 | 2020-10-23 | 武汉天喻聚联网络有限公司 | SIM card integrating UWB function, positioning method and point-to-point positioning method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108983772A (en) | Intelligent transfer robot control system and control method based on UWB positioning | |
| CN207219045U (en) | A kind of positional information acquisition terminal and system based on LoRa technologies | |
| CN105472566A (en) | Indoor positioning system and method | |
| CN101534470A (en) | System and method for tracking moving target based on wireless sensor network | |
| CN103997781A (en) | Area positioning base station system and area positioning method thereof | |
| CN104270194A (en) | Visible light indoor positioning method | |
| WO2010078844A1 (en) | System and method for positioning using signal transmission power and signal reception bit-error-rate | |
| CN111367320A (en) | Management method and management system for indoor mobile robot | |
| CN101782652A (en) | Indoor positioning system based on RFID technology | |
| CN101017199A (en) | Container locating method, system and application based on wireless sensor network | |
| CN107769345A (en) | A kind of electric yacht wireless charging device | |
| CN102355749A (en) | Intelligent residential district method on basis of RFID (radio frequency identification) in wireless sensor network | |
| CN107196365A (en) | A kind of multi-load intelligent radio charging device and method | |
| CN201393304Y (en) | Moving target tracking system based on wireless sensor network | |
| CN103702413B (en) | Real-time following and positioning system of indoor camera based on Zigbee network | |
| CN102638887A (en) | Wireless short-distance positioning system | |
| CN208937979U (en) | Intelligent transfer robot control system hardware configuration based on UWB positioning | |
| CN203933958U (en) | One wireless digital family navigation system | |
| CN206075511U (en) | A kind of home environment monitoring system based on Zigbee | |
| CN202995030U (en) | Indoor personnel positioning device | |
| CN102853824B (en) | Positioning system and engineering mechanical equipment for positioning position point on manipulator | |
| CN208705473U (en) | A kind of Internet of Things Web robot and articles from the storeroom positioning system | |
| CN215379248U (en) | Indoor positioning system based on UWB single base station | |
| CN203225891U (en) | Real-time positioning base station equipment and system | |
| CN201654239U (en) | Indoor positioning device based on RFID (Radio Frequency Identification Technology) |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181211 |
|
| RJ01 | Rejection of invention patent application after publication |