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Home service robot oriented combined positioning system and method

A robot system and joint positioning technology, applied in signal transmission systems, instruments, navigation and other directions, can solve problems such as inability to improve positioning accuracy, complex control algorithm process, and large amount of calculation.

Inactive Publication Date: 2017-10-20
SHANDONG UNIV
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Problems solved by technology

However, the traditional wireless positioning method has various deficiencies such as low control accuracy, complex control algorithm process, and large amount of calculation. For example, the Fang algorithm uses the TDOA value between known nodes and unknown nodes to establish a hyperbolic equation, and then performs a Linearization approximation obtains the position estimation of unknown nodes, which cannot improve the positioning accuracy by increasing the number of reference points, and can only use fixed TDOA measurement values ​​for positioning, etc.

Method used

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  • Home service robot oriented combined positioning system and method
  • Home service robot oriented combined positioning system and method
  • Home service robot oriented combined positioning system and method

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Embodiment Construction

[0035] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0036] It should be pointed out that the following detailed description is exemplary and intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0037] It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combinatio...

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Abstract

The invention discloses a home service robot oriented combined positioning system and method. The system comprises a positioning node system and a robot system, the positioning node system node includes a tag node and a plurality of anchor nodes, the tag node is arranged on the robot body, and follows the robot body to move, the anchor nodes record TOA values from the anchor nodes to tag node, and transmit the data back to the tag node, and the robot system includes an upper processing system and a lower control system that are disposed on the robot body, the upper processing system comprises a processor configured for using Fang algorithm and Taylor series expansion method for combined positioning, determining the positions of the tag node and the anchor nodes to achieve robot positioning, and controlling corresponding movement of the robot body, thus realizing absolute positioning of the robot.

Description

technical field [0001] The invention relates to a joint positioning system and method for home service robots. Background technique [0002] With people's urgent demand for precise wireless positioning, its technology is developing more and more rapidly, and its application fields have become broader, such as: the precise positioning of rescued people in fire scenes, the positioning of goods in logistics warehouses, and service robots in home environments. positioning etc. At present, the wireless positioning methods widely used in practical engineering mainly include: Bluetooth wireless positioning method, Wi-Fi wireless positioning method, ZigBee wireless positioning method and so on. With the development of wireless communication technology, available spectrum resources are increasingly scarce. Therefore, it is urgent to propose a communication technology that does not interfere with other communication spectrums, and Ultra Wide Band (UWB) positioning technology has emer...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G08C17/02
CPCG01C21/206G08C17/02
Inventor 周风余李富民尹磊万方赵阳田天刘贤锴
Owner SHANDONG UNIV
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