A combined indoor positioning method for a two-wheel differential robot
A combined positioning and robotics technology, applied in the field of robotics, can solve the problems of low power consumption, easy to be disturbed by the environment, and general positioning accuracy of wireless positioning technology
Active Publication Date: 2016-03-23
陕西中科启智科技有限公司
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Problems solved by technology
However, ultrasonic positioning technology is low in cost and relatively high in positioning accuracy, but it is susceptible to environmental interference and can only be effective within the line of sight; ultra-wideband positioning technology is more suitable for indoor positioning, but the current implementation cost is quite high. There is no practical significance; radio frequency identification positioning technology is relatively easy to implement, and the positioning accuracy is moderate, but multipath interference has a relatively large impact on it; ZigBee wireless positioning technology has low power consumption, but its positioning is greatly affected by the environment; independent Bluetooth positioning technology positioning It has the characteristics of small size, low power consumption, and signal transmission is not affected by the line of sight, but its positioning accuracy is average
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[0029] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0030] The following are the specific implementation steps:
[0031] (1) The robot moves on the indoor floor in a rectangular area with a length of a meter and a width of b meters, and both a and b are integer multiples of 2, and the vertical distance between the indoor floor and the indoor ceiling is h meters. Take a vertex of the rectangle as the origin O, the long side passing through this vertex is the positive direction of the x-axis, the wide side is the positive direction of the y-axis, and passing through the origin O perpendicular to the ground is the positive direction of the z-axis, and an O-xyz coordinate system is established. Wherein, the vertex can be any one of the four vertices of the rectangle. Install a Bluetooth transmitter of the same model at the point (2i, 2j, h) in the O-xyz coordinate system (here i=0,1,2...a / 2; j=0,1,2...b / 2 ...
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The invention provides an indoor combined positioning method for a double-wheel differential motion robot. According to the method, the current position coordinates of the robot are obtained according to a signal intensity indication value of a Bluetooth receiver, a predication horizontal coordinate and a predication longitudinal coordinate of the robot are obtained through a predication formula, a mutual filter algorithm is used for fusing calculation results of the predication coordinates and the current coordinates, so that the posture of the robot at the next moment is obtained, and accordingly the double-wheel differential motion robot is positioned in a combined mode. Because the indoor combined positioning method for the double-wheel differential motion robot based on the combination of a Bluetooth technology and a dead reckoning technology, the method has the advantages of being low in power consumption, small in size, high in positioning precision, low in manufacturing cost and the like, and the defects that in the prior art, positioning precision is low, cost is high, and interference is prone to occur can be effectively overcome.
Description
technical field [0001] The invention relates to the field of robots, in particular to combined positioning of robots. Background technique [0002] With the rise of robotics and computer control technology, increasingly intelligent mobile service robots are used more and more widely, and robots have begun to penetrate from the industrial field to military, medical, and home assistants. Real-time positioning plays a vital role in the working process of mobile service robots. Reliable and high-precision positioning technology is one of the key technologies of mobile service robots. Wheeled service robots have the characteristics of simple control, sensitive response, and fast movement speed, and the speed of movement is easy to control, so they are widely used in mobile service robots. [0003] The current indoor positioning technology mainly consists of ultrasonic positioning technology, ultra-wideband positioning technology, radio frequency identification positioning techno...
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IPC IPC(8): G01S5/08G01S11/06
CPCG01S5/0257G01S11/06
Inventor 史豪斌宋玉龙刘洋洋施强李志欣
Owner 陕西中科启智科技有限公司