Robot following system and method based on UWB

A robot and base station technology, applied in the field of robots, can solve problems such as large distances and difficulty in all-round tracking, and achieve the effects of simple shape and size judgment, improved stability and accuracy, and simple trajectory prediction

Pending Publication Date: 2021-08-20
上海新纪元机器人有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Bluetooth belongs to the 2.4G wave band that is more occupied. In this band, there are common wireless devices such as mobile phone signals, WiFi, wireless mice, etc., so Bluetooth is good for communication. The time of the time is interfered and the delay causes the measured distance to be too large
The principles of ultrasonic and laser modules are basically similar, and they can detect the direction of movement of people, but if it is difficult to follow a single target in a crowded place
[0004] In addition, although UWB technology is also used in the prior art to achieve follow-up, two or three UWB base stations are generally used, which makes it difficult to achieve stable and all-round follow-up

Method used

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  • Robot following system and method based on UWB
  • Robot following system and method based on UWB
  • Robot following system and method based on UWB

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Experimental program
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Effect test

Embodiment 1

[0044] This embodiment discloses a UWB-based robot following system, such as figure 1 As shown, the following system includes: four UWB base stations (31, 32, 33, 34) set on the robot, a control module, and a UWB tag (set on the following target, not shown in the figure).

[0045] Among them, the four UWB base stations are in one-to-one correspondence with the four wheels of the robot, that is, a UWB base station is set above each wheel. Among the four UWB base stations, UWB base station 31 corresponds to the left front wheel of the robot. The UWB base station 34 corresponds to the right front wheel of the robot. The UWB base station 32 corresponds to the left rear wheel of the robot. The UWB base station 32 corresponds to the right rear wheel of the robot. Moreover, the UWB base station 31 and the UWB base station 33 belong to the same type of base station, and the UWB base station 32 and the UWB base station 34 belong to another type of base station. Based on the Ackerma...

Embodiment 2

[0051] figure 2 It is a schematic structural diagram of another UWB-based robot following system according to an embodiment of the present invention. In this embodiment, on the basis of the first embodiment above, the following system further includes an obstacle avoidance system, and the obstacle avoidance system includes: an ultrasonic obstacle avoidance system and / or a 3D lidar obstacle avoidance system. The server receives the data of lidar and ultrasonic to judge the obstacle situation around the vehicle, and make timely obstacle avoidance, obstacle crossing and emergency stop processing.

[0052] The ultrasonic obstacle avoidance system consists of multiple ultrasonic sensors around the car body. These ultrasonic sensors are evenly distributed around the car body. Specifically, for example, the ultrasonic obstacle avoidance system consists of 12 ultrasonic sensors around the car body, and the ultrasonic installation positions are as follows: figure 2 Shown in 41 and...

Embodiment 3

[0056] This embodiment is based on any of the above-mentioned embodiments, such as image 3 As shown, the system includes a mobile platform, UWB following system, ultrasonic obstacle avoidance system and 3D lidar obstacle avoidance system.

[0057] image 3 It is a structural schematic diagram of another UWB-based robot following system according to the embodiment of the present invention. On the basis of the above-mentioned embodiments, the following system includes a control module: a UWB controller and a server. The UWB controller and the server are connected through a switch. The UWB base station, UWB controller and service are connected through a switch to realize data interaction, and the communication protocol used is UDP communication. The server is responsible for receiving UWB positioning information, and controlling the speed of the vehicle through related control algorithms to achieve the goal of intelligent following.

[0058] In this embodiment, the robot (mo...

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PUM

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Abstract

The embodiment of the invention provides a UWB-based robot following system and a method thereof. The system comprises four UWB base stations, a control module and a UWB tag, wherein the four UWB base stations are in one-to-one correspondence with four wheels of the robot; the UWB tag is arranged on the following target and is used for communicating with the UWB base station; after the following mode of the robot is obtained, the control module determines a target UWB base station communicating with the UWB tag in combination with the corresponding relationship between each UWB base station and each wheel; the target UWB base station obtains distance data with the UWB tag and transmits the distance data to the control module; the control module obtains the angular velocity and the linear velocity tracked by the robot according to the distance data and the position relation of the UWB base stations, and controls the robot to follow the target. According to the technical scheme of the embodiment of the invention, by adopting a structural mode of four UWB base stations, the following stability and precision are improved, and all-directional stable following is realized.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a UWB-based robot following system and method thereof. Background technique [0002] With the development of industry and science and technology, the research and development of mobile robots are very rapid, and they gradually enter people's daily life. At present, a typical technology of service robots is robot tracking, which can identify specific targets and follow their movements, and has certain human-computer interaction functions. [0003] Existing positioning and following technologies mainly include laser guidance, ultrasonic guidance, GPS positioning, and Bluetooth guidance. The limitation of GPS is that it is only suitable for outdoor use, and outdoor high-precision positioning also has certain errors. Bluetooth belongs to the 2.4G wave band that is more occupied. In this band, there are common wireless devices such as mobile phone signals, WiFi, wireless mice, etc., ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0236G05D1/024G05D1/0255G05D1/0221G05D1/0276
Inventor 张晨博
Owner 上海新纪元机器人有限公司
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