CN205213046U

CN205213046U - Indoor machine people is positioning system independently based on UWB technique

Info

Publication number: CN205213046U
Application number: CN201521043042.XU
Authority: CN
Inventors: 梁金彬
Original assignee: Guangzhou Morning Control Automation Technology Co Ltd
Current assignee: Guangzhou Morning Control Automation Technology Co Ltd
Priority date: 2015-12-15
Filing date: 2015-12-15
Publication date: 2016-05-04
Anticipated expiration: 2025-12-15

Abstract

The utility model provides an indoor machine people is positioning system independently based on UWB technique, constitute including a plurality of UWB coordinate basic stations and UWB coordinate terminal, UWB coordinate terminal pass through UWB signal measurement go out self with distance between the UWB coordinate basic station through how much operations and location algorithm, calculates current coordinate to send the coordinate to robot, each of indoor machine people is positioning system independently based on UWB technique need not the clock synchronization line between the UWB coordinate basic station, UWB coordinate terminal self just can calculate the robot coordinate, and need not to connect special server and do the processing, indoor machine people is positioning system independently based on UWB technique simple structure, positioning accuracy is high, but wide application in dining room machine, commodity circulation robots etc. Are as the location appurtenance of the indoor navigation of robot.

Description

A kind of Indoor Robot freedom positioning system based on UWB technology

Technical field

The utility model relates to the indoor positioning technologies of mobile robot, refers to a kind of based on UWB(UltraWideband-ultra-wideband communications especially) the Indoor Robot freedom positioning system of technology.

Background technology

Along with popularizing of intellectual technology, mobile robots more many is at present applied to restaurant service, the fields such as logistics distribution.Magnetic stripe location is maximum robot localization method of current dining room robot and logistics distribution robot, its operation principle lays magnetic stripe in the place of robot process, robot gets the south poles information of magnetic stripe by the magnetic core sensor being arranged on chassis, thus generates robot coordinate and navigation information.The Method And Principle of magnetic stripe location is simple, but construction and later maintenance amount large, particularly for the robot that hotel and dining room apply, be attached to ground magnetic stripe and have a strong impact on attractive in appearance.Laser positioning is mainly used in some high-end robots, and its operation principle sticks reflecting strips around the path of robot process, and robot obtains coordinate information by laser sensor scanning reflecting strips.Laser positioning Neng Shi robot reaches millimetre-sized positioning precision, but laser sensor easily 5,60,000 cost be not suitable for the robot being applied to consumer level.

Utility model content

The utility model, mainly for the location technology shortcoming of current Indoor Robot, proposes a kind of new low cost, can realize the navigation system that robot independently locates fast.

The technical solution of the utility model is achieved in that a kind of Indoor Robot freedom positioning system based on UWB technology, comprises some UWB coordinate base stations, and UWB coordinate terminal.

Further, described UWB coordinate base station comprises base station data processing unit, base station UWB RF processing unit, base station height sensor and base station UWB antenna.

Further, described UWB coordinate terminal comprises terminal data processing unit, terminal UWB RF processing unit, terminal height sensor and electronic compass.

Further, the operating frequency of described base station UWB RF processing unit and described terminal UWB RF processing unit is 4.2GHZ.

Further, between described UWB coordinate base station without the need to doing time synchronized.

Further, described UWB coordinate terminal uses TWR (TwoWayRanging-bidirectional ranging) mode, measure the distance between self and described UWB coordinate base station by described terminal UWB RF processing unit, by geometric operation and location algorithm, calculate current coordinate.

Further, described UWB coordinate terminal, by the described base station height sensor of the described terminal height sensor that carries and described UWB coordinate base station, calculates the level height of described UWB coordinate terminal.

Further, described UWB coordinate terminal, by the described electronic compass carried, calculates the course angle of current robot.

Workflow is as follows:

According to the working region of robot, in advance the XY coordinate of described UWB coordinate base station is set;

After described UWB coordinate base station powers on, the height above sea level of self can be got by described base station height sensor;

Described UWB coordinate terminal sends UWB signal by described terminal UWB radio frequency processing module to described UWB coordinate base station;

Answer signal is returned immediately after the UWB signal sent after described UWB coordinate base station receives the coordinate terminal of described UWB;

Described UWB coordinate base station arrives the time of described UWB coordinate base station by UWB signal, calculates the distance of coordinate and described UWB coordinate base station;

Described UWB coordinate terminal gets the height above sea level of self by the described terminal height sensor carried;

Described UWB coordinate terminal is by obtaining the distance that self follows surrounding at least 4 described UWB coordinate base station, and self is with the difference in height of described UWB coordinate base station, calculates the XY axial coordinate of described UWB coordinate base station.

The described Indoor Robot freedom positioning system based on UWB technology of the present utility model, by described UWB coordinate base station, and described UWB coordinate terminal, autonomous location fast can be realized.

Accompanying drawing explanation

In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.

Fig. 1 is described UWB coordinate base station module structured flowchart;

Fig. 2 is described UWB coordinate terminal module structured flowchart;

Fig. 3 is the Indoor Robot freedom positioning system schematic diagram based on UWB technology;

Fig. 4 is that UWB coordinate terminal generates XY coordinate flow chart.

Embodiment

Below in conjunction with the accompanying drawing in the utility model embodiment, be clearly and completely described the technical scheme in the utility model embodiment, obviously, described embodiment is only the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the utility model protection.

Based on an Indoor Robot freedom positioning system for UWB technology, comprise some UWB coordinate base stations, and UWB coordinate terminal.

Further, UWB coordinate base station comprises base station data processing unit, base station UWB RF processing unit, base station height sensor and base station UWB antenna.

Further, UWB coordinate terminal comprises terminal data processing unit, terminal UWB RF processing unit, terminal height sensor and electronic compass.

Further, the operating frequency of base station UWB RF processing unit and terminal UWB RF processing unit is 4.2GHZ.

Further, between UWB coordinate base station without the need to doing time synchronized.

Further, UWB coordinate terminal uses TWR (TwoWayRanging-bidirectional ranging) mode, measure the distance between self and UWB coordinate base station by terminal UWB RF processing unit, by geometric operation and location algorithm, calculate current coordinate.

Further, UWB coordinate terminal, by the base station height sensor of the terminal height sensor that carries and UWB coordinate base station, calculates the level height of UWB coordinate terminal.

Further, the electronic compass of UWB coordinate terminal by carrying, calculates the course angle of current robot.

Concrete workflow is:

As shown in Figure 3, the front coordinate B1 (X1, Y1) according to pre-set 4 UWB coordinate base stations, the zone of action of robot of navigation system work, B2 (X2, Y2), B2 (X2, Y2), B3 (X3, Y3), B4 (X4, Y4), each UWB coordinate base station obtains extra large flat height H 1, H2 by the height sensor of self simultaneously, H3, H4.

After UWB coordinate terminal works, by the mode of TWR (TwoWayRanging), get UWB coordinate terminal with the distance d1 between UWB coordinate base station, d2, d3, d4.Further, UWB coordinate terminal gets extra large flat height H 0 by the terminal height sensor carried.

UWB coordinate terminal passes through UWB coordinate base station coordinates B1 (X1, Y1), B2 (X2, Y2), B2 (X2, Y2), B3 (X3, Y3), B4 (X4, Y4), UWB coordinate base station is to the distance d1 of UWB coordinate terminal room, d2, d3, d4, and the level height H1 of equipment, H2, H3, H4 and H0, build geometric equation group, thus calculate the coordinate (Xi, Yi) of UWB coordinate terminal.

UWB coordinate terminal calculates the current course angle of robot by the electronic compass carried.

UWB coordinate terminal sends the course angle of coordinate information (Xi, Yi) and robot to robot by serial ports or usb bus.

The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all within spirit of the present utility model and principle, any amendment done, equivalent replacement, improvement etc., all should be included within protection range of the present utility model.

Claims

1. based on an Indoor Robot freedom positioning system for UWB technology, it is characterized in that: comprise some UWB coordinate base stations, and UWB coordinate terminal.

2. as requested described in 1 based on the Indoor Robot freedom positioning system of UWB technology, it is characterized in that: described UWB coordinate base station comprises base station data processing unit, base station UWB RF processing unit, base station height sensor and base station UWB antenna.

3. as requested described in 2 based on the Indoor Robot freedom positioning system of UWB technology, it is characterized in that: described UWB coordinate terminal comprises terminal data processing unit, terminal UWB RF processing unit, terminal height sensor and electronic compass.

4. UWB base station and UWB coordinate terminal according to claim 1 and claim 2, is characterized in that: the operating frequency of described base station UWB RF processing unit and described terminal UWB RF processing unit is 4.2GHZ.