CN109240307A - Robot precise positioning system - Google Patents
Robot precise positioning system Download PDFInfo
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- CN109240307A CN109240307A CN201811286446.XA CN201811286446A CN109240307A CN 109240307 A CN109240307 A CN 109240307A CN 201811286446 A CN201811286446 A CN 201811286446A CN 109240307 A CN109240307 A CN 109240307A
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- 238000003032 molecular docking Methods 0.000 claims abstract description 17
- 238000012545 processing Methods 0.000 claims description 10
- 125000004122 cyclic group Chemical group 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 5
- PLXMOAALOJOTIY-FPTXNFDTSA-N Aesculin Natural products OC[C@@H]1[C@@H](O)[C@H](O)[C@@H](O)[C@H](O)[C@H]1Oc2cc3C=CC(=O)Oc3cc2O PLXMOAALOJOTIY-FPTXNFDTSA-N 0.000 claims description 3
- 239000003086 colorant Substances 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 231100000572 poisoning Toxicity 0.000 description 2
- 230000000607 poisoning effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
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- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
-
- 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
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
-
- 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
-
- 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
-
- 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Business, Economics & Management (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Game Theory and Decision Science (AREA)
- Medical Informatics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of robot precise positioning system, including movable machine people, attach indoors and the identification code with absolute coding, the first transmitter for being placed on docking point；The receiver being mounted in robot, for receiving the light signal of first transmitter sending；The quantity of the receiver is three, and respectively the first receiver, second receiver, third receiver are distributed in isosceles triangle；Robot has the storing map with coding corresponding address, is connect by cloud with robot signal, idle robot is moved at scanned identification code address the task that executes according to the position on storing map；After the receiver receives the light signal of first transmitter sending, robot is moved to docking point along light signal.Three-point fix (the first receiver, second receiver, third receiver) runs robot and provides correction-compensation function, improves the error of robot docking, reaches grade precise positioning.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of robot precise positioning systems.
Background technique
Robot (Robot) is the automatic installations for executing work.It can not only receive mankind commander, but also can run
The program of preparatory layout, can also be according to principle program action formulated with artificial intelligence technology.Its task is to assist or take
For the work of human work, such as production industry, construction industry, or dangerous work, machine man-based development is swift and violent at present, very much
Industry is all applied.
In service trades such as dining room, hotels, the operations such as service humanoid robot can be used for delivery, order.Machine at present
Device people positioning uses radar fix, and physics magnetic stripe track or physical track are completed to be accurately positioned, both modes need manually
It is laid with track, cost is high, and track is fixed, and lacks flexibility；If not using rail to position, certain mistake can be generated by positioning
Difference.
Summary of the invention
To overcome disadvantages mentioned above, the purpose of the present invention is to provide a kind of robot precise positioning systems, enable robot
It is enough accurately to reach predetermined location.
In order to reach the goals above, the technical solution adopted by the present invention is that: a kind of robot precise positioning system, including with
Cloud Server is connected, movable machine people, is provided in the robot and matches with the first transmitter at docking point
Receiver, for receiving the light signal of first transmitter sending；The quantity of the receiver is three, and respectively first receives
Device, second receiver, third receiver are distributed in isosceles triangle；The first receiver positioned at isosceles triangle apex is put
It sets in the center of robot, keeps being connected to after docking with the light signal of first transmitter, for determining the shifting of robot
Dynamic direction；The second receiver, third receiver are placed on the two sides of the first receiver, and by setting second receiver,
Spacing between third receiver limits the error range of robot.
First receiver receives automatic aligning light after light, guarantees that robot and docking point are on same straight line, the
Two receivers, third receiver rotate automatically capture optical signal, make optical signal be maintained at second receiver, third receiver it
Between, positioning is completed at this time, and robot will move ahead along opticpath, and systems stay works during moving ahead, and guarantee that robot will not
Deviate.
After the present invention is by positioning initial success, three-point fix (the first receiver, second receiver, third receiver) is right
Robot operation provides correction-compensation function, improves the error of robot docking, reaches grade precise positioning.
Furthermore, it is understood that being provided with identification code in the scope of activities of robot, the identifications such as user's available handsets are attached to
Coding on indoor identification code, the coding on each identification code is independent coordinate information, the coding in robot
The address set on map is corresponding；After user passes through the corresponding identification code of client scan, incoming task instruction, the instruction will lead to
It crosses cloud and is sent to idle robot, which is moved to scanned identification code address according to the position on storing map
Locate execution task.After user is by terminals barcode scannings such as mobile phones, the robot for executing corresponding task can identify on its storing map
Corresponding address, the robot prompt to be moved to designated position according to the map.Above-mentioned identification code can be two dimensional code, text, figure
Case etc..
Furthermore, it is understood that in the activity scene of robot, the UWB of setting two and more than two different locations and height
Label, in the case of especially more floors, robot passes through the pulse signal of UWB label, that is, can recognize the physical location of oneself, prevents
It only gets lost and loses under the similar environment of height, or in the case where system, hardware fault, machine is guaranteed by physical positioning
People does not lose, and guarantees its safety.
Furthermore, it is understood that magnetic stripe sensing device is installed on the robot base, on the ground where near the docking point
It is equipped with cyclic annular magnetic stripe, magnetic stripe sensing device senses after cyclic annular magnetic stripe that robot will be along being laid with cyclic annular magnetic stripe from outer ring to interior
Circle is mobile and calibration, arrival designated position guarantee that robot does not deviate by.
Furthermore, it is understood that being equipped with breath light band at the top of the robot, at bottom and logo；User passes through client certainly
Main that the colors such as monochromatic, double-colored, polychrome is selected to indicate color as breath light, which will be sent to specified services by cloud
Robot；After corresponding machine people receives cloud instruction, breath light band thereon is the chromatic flicker that selects according to guest as referring to
Show.Robot finds the guest for needing to service by location technology, and guest can be colored by lamp in numerous robots
The robot of service oneself is found in difference at a glance.Meanwhile flashing lamp band can also prevent personnel from colliding in a dark environment, increase
The safety of robot operation.
Furthermore, it is understood that being provided with tracking projection device in the robot, can according to need image projection to ground
On face.On the one hand it can increase the interest of robot with projection advertisement content in addition it can project some interactive pictures.
Furthermore, it is understood that the full-view camera being connected with processing unit is provided in the robot, the panoramic shooting
The upper end of robot is arranged in head.By full-view camera observable periphery situation, facilitate robot avoiding barrier.
Furthermore, it is understood that be additionally provided with the wireless communication module being connected with processing unit in the robot, for it is outer
Portion's server is connected.A WLAN, the letter that each robot obtains can be connected between robot and server in this way
Breath summarizes to server, and each robot can realize mutual access through server by wireless communication module, obtains determining for other side
Position information.
Furthermore, it is understood that being provided with gyroscope, digital compass and accelerometer in the robot.Above-mentioned instrument is used for machine
The self poisoning of device people, to preferably determine the position of robot.
Furthermore, it is understood that the processing unit includes embedded STM32 chip and the memory that is attached thereto.Storing map
It is set in advance in memory.
Specific embodiment
The preferred embodiments of the present invention will be described in detail below so that advantages and features of the invention can be easier to by
It will be appreciated by those skilled in the art that so as to make a clearer definition of the protection scope of the present invention.
Embodiment
A kind of robot precise positioning system is proposed in the present embodiment, including is connected with Cloud Server, moveable machine
Device people, user is after client places an order, which can be transferred to the robot of specified services by Cloud Server, by the machine
Device people executes corresponding operation.
In order to overcome the problems, such as that robot localization is accurate inadequate in the prior art, in the present embodiment in the following way
Improved.
The receiver to match with the first transmitter at docking point is provided in the robot, for receiving the first hair
The light signal that emitter issues；The quantity of the receiver is three, and respectively the first receiver, second receiver, third connects
Device is received, is distributed in isosceles triangle；The center of robot is placed on positioned at the first receiver of isosceles triangle apex,
It keeps being connected to after the docking of the light signal of first transmitter, for determining the moving direction of robot；The second receiver,
Third receiver is placed on the two sides of the first receiver, and by the spacing between setting second receiver, third receiver come
Limit the error range of robot.
First receiver receives automatic aligning light after light, guarantees that robot and docking point are on same straight line, the
Two receivers, third receiver rotate automatically capture optical signal, make optical signal be maintained at second receiver, third receiver it
Between, positioning is completed at this time, and robot will move ahead along opticpath, and systems stay works during moving ahead, and guarantee that robot will not
Deviate.Correction-compensation function is provided since three-point fix (the first receiver, second receiver, third receiver) runs robot
Can, the error of robot docking is improved, grade precise positioning is reached.
In actual use, robot has processing unit, which includes for the embedded of data processing
It STM32 chip and is attached thereto, memory for storing data, storing map is previously provided in memory.The machine
It is provided with identifier on device people, can recognize the coding being attached on indoor identification code, the coding on each identification code is only
Vertical, the coding is corresponding with the address on robot built-in map；User passes through on the corresponding identification code of client scan
Coding after, which will be sent to the robot of specified services by cloud, and the robot is according to the position on storing map
It is moved at scanned identification code address.Client only need to not need to be manually entered location information again by terminal device barcode scanning,
By cloud designated robot after barcode scanning, which can obtain location information automatically, indoors under environment, can also accomplish centimetre
The position of grade is accurate.Above-mentioned identification code can be two dimensional code, text, pattern etc..
In the activity scene of robot, the UWB label of setting two and more than two different locations and height, especially
In the case of more floors, robot passes through the pulse signal of UWB label, that is, can recognize the physical location of oneself, prevent in height phase
It gets lost and loses like in the environment of, or in the case where system, hardware fault, guarantee that robot is not lost by physical positioning,
Guarantee its safety.
After robot arrives at corresponding docking point region, cyclic annular magnetic is equipped on the ground where near the docking point
Item.Magnetic stripe sensing device is installed, magnetic stripe sensing device senses after cyclic annular magnetic stripe that robot will be along on the robot base
It is laid with cyclic annular magnetic stripe movement and calibration from outer ring to inner ring, designated position is reached, guarantees that robot does not deviate by.
In order to improve the identification of robot, breath light band is installed at the robot top, bottom and logo；User
The colors such as monochromatic, double-colored, polychrome are independently selected to indicate color as breath light by client, which will be sent by cloud
To the robot of specified services；After corresponding machine people receives cloud instruction, breath light band thereon is the face selected according to guest
Chromatic flicker is as instruction.Robot finds the guest for needing to service by location technology, and guest can lead in numerous robots
Cross the robot that service oneself is found in the colored difference of lamp at a glance.Meanwhile flashing lamp band can also prevent in a dark environment
Personnel's collision, increases the safety of robot operation.
It is provided with tracking projection device in robot in the present embodiment, can according to need image projection to ground
On.On the one hand it can increase the interest of robot with projection advertisement content in addition it can project some interactive pictures.
In order to facilitate the stability of robot in the process of walking, it is provided in the robot and is connected with processing unit
The upper end of robot is arranged in full-view camera, the full-view camera.The quantity of full-view camera can be multiple, distribution bat
Take the photograph multiple orientation of robot.By full-view camera observable periphery situation, facilitate robot avoiding barrier.The machine
Gyroscope, digital compass and accelerometer are provided in device people.Gyroscope confirms the rotation of robot relatively magnetic north-south
Angle, so that it is determined that the direction of robot in the horizontal plane；Digital compass incudes earth's magnetic field to determine robot relative to the arctic
Orientation；Accelerometer is used to incude the mobile speed of robot, convenient for confirming the motion track of robot.Pass through above three
Instrument is used for the self poisoning of robot, to preferably determine the position of robot.
In the present embodiment, the wireless communication module being connected with processing unit is additionally provided in the robot, for it is outer
Portion's server is connected.A WLAN, the letter that each robot obtains can be connected between robot and server in this way
Breath summarizes to server, and each robot can realize mutual access through server by wireless communication module, obtains determining for other side
Position information.
Actual scene: user opens the identification code at client and the barcode scanning room angle Nei Zhuo and logs in after service location is settled down
Corresponding instruction is sent to Cloud Server by client after the completion by client end interface point list, specify corresponding robot into
Row send single processing.Robot runs to picking point picking according to its storing map, and according to the address delivery on identification code.
The technical concepts and features of embodiment of above only to illustrate the invention, its object is to allow be familiar with technique
People understands the contents of the present invention and is implemented, and it is not intended to limit the scope of the present invention, all spiritual according to the present invention
The equivalent change or modification that essence is done, should be covered by the scope of protection of the present invention.
Claims (8)
1. a kind of robot precise positioning system, it is characterised in that: including being connected with processing unit and with Cloud Server, removable
Dynamic robot is provided with the receiver to match with the first transmitter at docking point in the robot, for receiving the
The light signal that one transmitter issues；The quantity of the receiver is three, respectively the first receiver, second receiver, the
Three receivers are distributed in isosceles triangle；The center of robot is placed on positioned at the first receiver of isosceles triangle apex
Position keeps being connected to, for determining the moving direction of robot after docking with the light signal of first transmitter；Described second connects
Receive the two sides that device, third receiver are placed on the first receiver, and by between setting second receiver, third receiver
Away from come the error range that limits robot.
2. robot precise positioning system according to claim 1, it is characterised in that: set in the scope of activities of robot
It is equipped with identification code, the identifications such as user's available handsets are attached to the coding on indoor identification code, the coding on each identification code
It is independent coordinate information, the coding is corresponding with the address on robot built-in map；User passes through client scan phase
After the identification code answered, incoming task instruction, the instruction will be sent to idle robot by cloud, and the robot is built in
Position on map is moved to execution task at scanned identification code address.
3. robot precise positioning system according to claim 2, it is characterised in that: set in the activity scene of robot
The UWB label of two and more than two different locations and height are set, robot is identified certainly by the pulse signal that UWB label issues
Oneself physical location guarantees that robot is not lost by physical positioning.
4. robot precise positioning system according to claim 3, it is characterised in that: install magnetic on the robot base
Sensing device is equipped with cyclic annular magnetic stripe on the ground where near the docking point, and magnetic stripe sensing device senses cyclic annular magnetic stripe
Robot will be moved and be calibrated from outer ring to inner ring along cyclic annular magnetic stripe is laid with afterwards, reach designated position.
5. robot precise positioning system according to any one of claim 1 to 4, it is characterised in that: the robot
Breath light band is installed at top, bottom and logo；User independently selects the colors such as monochromatic, double-colored, polychrome to make by client
Color is indicated for breath light, which will be sent to the robot of specified services by cloud；Corresponding machine people receives cloud and refers to
After order, the chromatic flicker that breath light band thereon is selected according to guest is as instruction.
6. robot precise positioning system according to claim 5, it is characterised in that: be provided with tracking in the robot
Projection device, can according to need will be in image projection to ground.
7. robot precise positioning system according to claim 6, it is characterised in that: be provided with and locate in the robot
The connected full-view camera of unit is managed, the upper end of robot is arranged in the camera.
8. robot precise positioning system according to claim 7, it is characterised in that: be additionally provided in the robot with
The connected wireless communication module of processing unit, for being connected with external server.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2018111894241 | 2018-10-12 | ||
| CN201811189424 | 2018-10-12 |
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| Publication Number | Publication Date |
|---|---|
| CN109240307A true CN109240307A (en) | 2019-01-18 |
| CN109240307B CN109240307B (en) | 2021-07-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811286446.XA Active CN109240307B (en) | 2018-10-12 | 2018-10-31 | Accurate positioning system of robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111885423A (en) * | 2020-07-21 | 2020-11-03 | 上海智勘科技有限公司 | Positioning method and positioning system combining UWB and UTC time stamp synchronization |
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