Pedestrian following system and method based on UWB and laser radar hybrid positioning

A laser radar and hybrid positioning technology, applied in positioning, control/adjustment system, radio wave measurement system, etc., can solve the problems of unstable positioning, large positioning error, and inability to perform more accurate positioning and following tasks, and achieve stability Strong, precise effects

Active Publication Date: 2018-03-06
宁波科森智能装备有限责任公司
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Problems solved by technology

Ultrasonic positioning is unstable due to the diffraction phenomenon of ultrasonic waves, and more accurate positioning and following tasks cannot be performed; Bluetooth positioning relies on Bluetooth signals for triangular positioning, and the positioning error of this method is large up to the meter level, and accurate positioning and following tasks cannot be performed. ; while ultra-wideband radio frequency signal (UWB) positioning can reach 10cm level at present, and the cost is moderate, it has become the application and research hotspot in the field of robot following

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  • Pedestrian following system and method based on UWB and laser radar hybrid positioning
  • Pedestrian following system and method based on UWB and laser radar hybrid positioning
  • Pedestrian following system and method based on UWB and laser radar hybrid positioning

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Embodiment Construction

[0053] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the implementation manners in the present invention, all other implementation manners obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0054] Such as figure 1 As shown, the UWB and laser radar hybrid positioning pedestrian following system of the present invention includes a laser radar 1 , at least three UWB base stations 2 , a UWB tag 3 , a data processing device 4 and a robot motion control device 5 .

[0055] The UWB tag 3 is placed on the target to receive the UWB signal sent from the UWB base station 2;

[0056] UWB base station 2 sends UWB signals,...

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Abstract

The invention provides a pedestrian following system and method based on UWB and laser radar hybrid positioning. The method is characterized in that by carrying out initial positioning and identification on a pedestrian through UWB, and then, carrying out accurate positioning and identification on the pedestrian through laser radar, effective obstacle avoidance is achieved, and accurate tracking and positioning of the pedestrian under a complex environment are met; obstacle avoidance is realized through a dynamic window method, so that precision is higher; and movement of a robot is subjectedto filtering processing through Kalman filtering, so that stability is higher.

Description

technical field [0001] The invention relates to a robot following system, in particular to a pedestrian following system and method based on mixed positioning of UWB and laser radar. Background technique [0002] Robot following technology means that the robot keeps a certain distance and speed to follow pedestrians, and assists pedestrians to complete relevant social production activities. Follower robots have broad application prospects in service robots, warehousing and fast-moving consumer industries, etc. In the warehouse sorting system, following the robot to follow the pedestrian to the shelf picking area to sort the order goods, this not only greatly reduces the labor intensity of people, but also greatly improves the efficiency of the entire sorting task; in the field of service robots, Following technology can help personalize service similar to welcome robots. [0003] At present, the follow-up technology mainly adopts ultrasonic positioning follow, Bluetooth po...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S5/10G01S5/02G01S5/00G01S17/66G01S17/87G01S17/93G05D27/02
Inventor 辛亚运苟利军
Owner 宁波科森智能装备有限责任公司
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