Multifunctional obstacle crossing trolley integrating UWB and WiFi

Abstract

The invention discloses a UWB and WiFi integrated multifunctional obstacle crossing trolley which comprises an embedded platform, a front driving wheel is installed on the front side of the bottom of the embedded platform, a rear driving wheel is installed on the rear side of the bottom of the embedded platform, and a first universal wheel, a second universal wheel, a third universal wheel and a fourth universal wheel are installed at the bottom of the embedded platform. A first searchlight, a camera and a second searchlight are installed on the front side face of the embedded platform, a WIFI antenna, a first UWB antenna and a second UWB antenna are installed on the rear side face of the embedded platform, and a third UWB antenna, a fourth UWB antenna and a fifth UWB antenna are installed on the upper surface of the embedded platform. UWB (ultra wide band) antennas with high performance and high gain are adopted, so that the penetrating power of signals is improved, the attenuation rate is reduced, and the precision is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of non-visual positioning, and in particular to a multifunctional obstacle-crossing vehicle integrating UWB and WiFi. Background Art

[0002] During the geological survey, the investigation of some small caves has become a difficult point. Some caves are small and not suitable for human observation, so smart devices are needed to enter the cave for investigation. Most traditional devices can only rely on their own cameras to upload real-time images to the main control end, and do not have positioning capabilities. Therefore, the main control end cannot depict the basic shape and direction of the cave. Inside the cave, affected by the rocks, GPS cannot effectively provide the location of the device. With the development of communication technology, UWB technology has become more and more mature, with the advantages of low cost, low power consumption and strong penetration. A single UWB positioning tag cannot complete positioning. Arranging UWB positioning tags in a distributed array can better receive signals from all directions, thereby achieving positioning. Summary of the invention

[0003] The purpose of the present invention is to provide a multifunctional obstacle-crossing vehicle integrating UWB and WiFi to solve the problems raised in the above-mentioned background technology.

[0004] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a multifunctional obstacle-crossing vehicle integrating UWB and WiFi, comprising an embedded platform, a front driving wheel is installed on the front side of the bottom of the embedded platform, a rear driving wheel is installed on the rear side of the bottom of the embedded platform, a first universal wheel, a second universal wheel, a third universal wheel and a fourth universal wheel are respectively installed on the bottom of the embedded platform, a first searchlight, a camera and a second searchlight are respectively installed on the front side of the embedded platform, a WIFI antenna, a first UWB antenna and a second UWB antenna are installed on the rear side of the embedded platform, and a third UWB antenna, a fourth UWB antenna and a fifth UWB antenna are respectively installed on the upper surface of the embedded platform; the standard synchronous clock of the WIFI antenna is connected to the positioning tag through a USB serial port to realize clock synchronization of the distributed positioning tag.

[0005] Preferably, the present application provides a multifunctional obstacle-crossing vehicle integrating UWB and WiFi, wherein a USB serial port and a Type-C charging port are also installed on one side of the embedded platform, and a two-degree-of-freedom gyroscope and a positioning tag are connected to the embedded platform via the USB serial port.

[0006] Preferably, the present application provides a multifunctional obstacle-crossing vehicle integrating UWB and WiFi, which further includes a front power-assist support rod system and a rear power-assist support rod system, wherein the front power-assist support rod system is installed on the front side of the bottom of the embedded platform, and the rear power-assist support rod system is installed on the rear side of the bottom of the embedded platform.

[0007] Preferably, the present application provides a multifunctional obstacle-crossing vehicle that integrates UWB and WiFi, wherein the front power-assist support rod system and the rear power-assist support rod system have completely identical structures, including a fixed pulley, a baffle, a directional wheel and a stepper motor with gears, the directional wheel is installed at the bottom of two cross-arranged support rods, a baffle is provided at the top of the support rod, a pulley is also provided at the top of the support rod, a fixed pulley is provided on the inner side of the pulley, and a stepper motor with gears is installed above the fixed pulley.

[0008] Preferably, the present application provides a multifunctional obstacle-crossing vehicle integrating UWB and WiFi, wherein the two-degree-of-freedom gyroscope measures the horizontal deflection angle α and the pitch deflection angle β of the mold, α∈[0,2π), β∈[0,π];

[0009] Let the coordinates of the car's position be (x, y, z); construct a coordinate system with the antenna as the origin. According to the geometric shape of the positioning tag distribution, the relative coordinate value of the positioning tag in the coordinate system can be known; according to the horizontal deflection angle and the pitch deflection angle, the actual coordinate value of the positioning tag can be obtained by using the coordinate system conversion principle, that is:

[0010] in, Respectively represent the actual coordinate values ​​of the fifth UWB antenna, the fourth UWB antenna, the second UWB antenna, and the first UWB antenna;

[0011] The UWB antenna records the timestamp when receiving the positioning base station signal with the same tag, and then constructs a set of equations, which can be obtained by the least squares method:

[0012] θ LS =arg min(Aθ-B) T (Aθ-B)

[0013] in:

[0014]

[0015] t0, t1, t2, t3, and t4 respectively represent the timestamps corresponding to the signals received by the third UWB antenna, the fifth UWB antenna, the fourth UWB antenna, the second UWB antenna, and the first UWB antenna of the positioning tag. Then, the position of the car is:

[0016]

[0017] Preferably, the present application provides a multifunctional obstacle-crossing vehicle integrating UWB and WiFi, wherein the method of using the vehicle comprises the following steps:

[0018] A. When the trolley is blocked from moving forward / backward, the front / rear power support rod system receives a signal, the stepper motor rotates forward, and the meshing transmission drives the reel at the rear of the adjacent gear to reel in the wire, so that the top of the support rod can move towards each other;

[0019] B. The fixed pulley can not only reduce the wear of the traction line, but also ensure that the top of the support rod is on the same horizontal plane as much as possible. The baffle restricts the wheels on the top of the support rod to be on the same horizontal plane;

[0020] C. In the initial state, the directional wheel is perpendicular to the direction of movement to prevent the directional wheel 23 from rubbing against the ground and causing damage to the wheel during the power-assisted support rod system;

[0021] D. When the power support rod system is deployed, the directional wheels rotate 90° parallel to the direction of movement;

[0022] E. When the trolley crosses the obstacle, the stepper motor rotates in the reverse direction, and the meshing transmission drives the reel at the rear of the adjacent gear to release the line. Under the joint action of the two springs, the top of the support rod can move in the reverse direction and finally return to the original position;

[0023] F. When the car encounters a steep slope when moving forward / backward, the rear / front power-assist support rod system extends, and the overall center of gravity of the car moves forward / backward, which can also play a power-assisting role.

[0024] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention has a simple structure and is easy to assemble; the UWB antenna is a high-performance, high-gain antenna, which improves the signal penetration ability, reduces the attenuation rate, and thus improves the accuracy; the positioning base station and the positioning tag in the present invention are simplex communication, and there will be no signal interference when multiple modules are used simultaneously. The present invention adds a power support rod system, so that when the trolley encounters rocks, steep slopes, etc., it can still move smoothly. The present invention is applicable to a variety of complex mountain environments and is also of great significance to the intelligent development of geological exploration. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the structure of the present invention;

[0026] Figure 2 Another structural schematic diagram of the present invention;

[0027] Figure 3 It is a bottom view of the present invention;

[0028] Figure 4 This is a schematic diagram of the structure of the power-assisting support rod system of the present invention;

[0029] Figure 5 It is a schematic diagram of the horizontal deflection angle α and the pitch deflection angle β of the present invention;

[0030] Figure 6Schematic diagram of coordinates of the position of the trolley of the present invention;

[0031] Figure 7 It is the work flow chart of the present invention;

[0032] In the figure: 1-front drive wheel, 2-universal wheel, 3-universal wheel, 4-switch, 5-WIFI antenna, 6-UWB antenna, 7-UWB antenna, 8-UWB antenna, 9-searchlight, 10-camera, 11-searchlight, 12-universal wheel, 13-universal wheel, 14-Type-C charging port, 15-UWB antenna, 16-UWB antenna, 17-rear drive wheel, 18-USB communication serial port, 19-front power support rod system, 20-rear power support rod system, 21 fixed pulley, 22-baffle, 23-directional wheel, 24 stepping motor with gear. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] It should be noted that when an element is referred to as being "fixed on" or "set on" another element, it can be directly on the other element or indirectly set on the other element; when an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0035] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0036] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, "multiple" and "several" mean two or more, unless otherwise clearly and specifically defined.

[0037] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions that can be implemented in this application, so they have no substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size should still fall within the scope of the technical content disclosed in this application without affecting the effects that can be produced by this application and the purposes that can be achieved. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of narration, and are not used to limit the scope of the implementation of this application. The change or adjustment of their relative relationship should also be regarded as the scope of the implementation of this application without substantial change in the technical content.

[0038] See also Figure 1-7 The present invention provides a technical solution: a multifunctional obstacle-crossing vehicle integrating UWB and WiFi, comprising an embedded platform, a front driving wheel 1 is installed on the front side of the bottom of the embedded platform, a rear driving wheel 17 is installed on the rear side of the bottom of the embedded platform, a first universal wheel 2, a second universal wheel 3, a third universal wheel 12 and a fourth universal wheel 13 are installed on the bottom of the embedded platform, a first searchlight 9, a camera 10 and a second searchlight 11 are installed on the front side of the embedded platform, and the camera can provide real-time high-definition image information. A WIFI antenna 5, a first UWB antenna 15 and a second UWB antenna 16 are installed on the rear side of the embedded platform. The WIFI antenna can receive the timestamp sent by the master control end in real time, thereby realizing the clock synchronization of the distributed tags, and can also send the positioning results and real-time image information to the master control end. The third UWB antenna 6, the fourth UWB antenna 7 and the fifth UWB antenna 8 are installed on the upper surface of the embedded platform; the standard synchronization clock of the WIFI antenna 5 is connected to the positioning tag through the USB serial port to realize the clock synchronization of the distributed positioning tag; the USB serial port 18 and the Type-C charging port 14 are also installed on one side of the embedded platform, and the two-degree-of-freedom gyroscope and the positioning tag are connected to the embedded platform through the USB serial port. The main control end will be used as the zero-point coordinate position, with due north as the azimuth starting line, the clockwise direction as the azimuth positive direction, and the vertical ground upward as the elevation starting line to construct a three-dimensional polar coordinate system. The positioning base station of the main control end periodically broadcasts signals to the outside, and each signal sent carries a different tag.

[0039] The present invention also includes a front power-assist support rod system 19 and a rear power-assist support rod system 20. The front power-assist support rod system 19 is installed on the front side of the bottom of the embedded platform, and the rear power-assist support rod system 20 is installed on the rear side of the bottom of the embedded platform. The front power-assist support rod system 19 and the rear power-assist support rod system 20 have completely identical structures, including a fixed pulley 21, a baffle 22, a directional wheel 23 and a stepper motor with a gear 24. The directional wheel 23 is installed at the bottom of two cross-arranged support rods, a baffle 22 is arranged at the top of the support rod, a pulley is also arranged at the top of the support rod, a fixed pulley 21 is arranged on the inner side of the pulley, and a stepper motor with a gear 24 is installed above the fixed pulley 21.

[0040] In the present invention, a two-degree-of-freedom gyroscope measures the horizontal deflection angle α and the pitch deflection angle β of the mold, α∈[0,2π), β∈[0,π];

[0041] Let the coordinates of the car's position be (x, y, z); construct a coordinate system with antenna 6 as the origin. According to the geometric shape of the positioning tag distribution, the relative coordinate value of the positioning tag in the coordinate system can be known; according to the horizontal deflection angle and the pitch deflection angle, the actual coordinate value of the positioning tag can be obtained by using the coordinate system conversion principle, that is:

[0042] in, Respectively represent the actual coordinate values ​​of the fifth UWB antenna 8, the fourth UWB antenna 7, the second UWB antenna 16, and the first UWB antenna 15;

[0043] The UWB antenna records the timestamp when receiving the positioning base station signal with the same tag, and then constructs a set of equations, which can be obtained by the least squares method:

[0044] θ LS =arg min(Aθ-B) T (Aθ-B)

[0045] in:

[0046]

[0047] t0, t1, t0, t3, and t4 respectively represent the timestamps corresponding to the signals received by the third UWB antenna 6, the fifth UWB antenna 8, the fourth UWB antenna 7, the second UWB antenna 16, and the first UWB antenna 15 of the positioning tag. Then, the position of the car is:

[0048]

[0049] Working principle: The method of using the present invention comprises the following steps:

[0050] A. When the vehicle is blocked from moving forward / backward, the front / rear power support rod system receives a signal, the stepper motor 24 rotates forward, and the meshing transmission drives the wire reel at the rear of the adjacent gear to reel in the wire, so that the tops of the support rods can move toward each other;

[0051] B. The fixed pulley 21 can not only reduce the wear of the traction line, but also ensure that the top of the support rod is on the same horizontal plane as much as possible. The baffle 22 limits the wheels on the top of the support rod to the same horizontal plane;

[0052] C. In the initial state, the directional wheel 23 is perpendicular to the direction of movement to prevent the directional wheel 23 from rubbing against the ground and causing damage to the wheel during the power-assist support rod system;

[0053] D. When the power support rod system is deployed, the directional wheel 23 rotates 90° parallel to the direction of movement;

[0054] E. When the trolley crosses the obstacle, the stepper motor 24 rotates in the reverse direction, and the meshing transmission drives the reel at the rear of the adjacent gear to release the line. Under the joint action of the two springs, the top of the support rod can move in the reverse direction and finally return to the original position;

[0055] F. When the car encounters a steep slope when moving forward / backward, the rear / front power-assist support rod system extends, and the overall center of gravity of the car moves forward / backward, which can also play a power-assisting role.

[0056] In summary, the present invention has a simple structure and is easy to assemble; the UWB antenna used is a high-performance, high-gain antenna, which improves the signal's penetration ability, reduces the attenuation rate, and thus improves the accuracy; the positioning base station and the positioning tag in the present invention are simplex communication, and there will be no signal interference when multiple modules are used simultaneously. The present invention adds a power support rod system, so that when the car encounters rocks, steep slopes, etc., it can still move smoothly. The present invention is applicable to a variety of complex mountain environments, and is also of great significance to the intelligent development of geological exploration.

[0057] The circuits, electronic components and modules involved are all prior art and can be fully implemented by those skilled in the art. Needless to say, the content protected by the present invention does not involve improvements to software and methods.

[0058] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. A multifunctional obstacle-crossing vehicle integrating UWB and WiFi, including an embedded platform, characterized in that: The front driving wheel (1) is installed on the front side of the bottom of the embedded platform, the rear driving wheel (17) is installed on the rear side of the bottom of the embedded platform, the first universal wheel (2), the second universal wheel (3), the third universal wheel (12) and the fourth universal wheel (13) are installed on the bottom of the embedded platform respectively, the first searchlight (9), the camera (10) and the second searchlight (11) are installed on the front side of the embedded platform respectively, the WIFI antenna (5), the first UWB antenna (15) and the second UWB antenna (16) are installed on the rear side of the embedded platform, and the third UWB antenna (6), the fourth UWB antenna (7) and the fifth UWB antenna (8) are installed on the upper surface of the embedded platform respectively; the standard synchronous clock of the WIFI antenna (5) is connected to the positioning tag through a USB serial port to realize the clock synchronization of the distributed positioning tag.

2. According to claim 1, a multifunctional obstacle-crossing vehicle integrating UWB and WiFi is characterized in that: A USB serial port (18) and a Type-C charging port (14) are also installed on one side of the embedded platform, and the two-degree-of-freedom gyroscope and the positioning tag are connected to the embedded platform via the USB serial port.

3. The multifunctional obstacle-crossing vehicle integrating UWB and WiFi according to claim 1 is characterized in that: It also includes a front power-assist support rod system (19) and a rear power-assist support rod system (20), wherein the front power-assist support rod system (19) is installed on the front side of the bottom of the embedded platform, and the rear power-assist support rod system 20 is installed on the rear side of the bottom of the embedded platform.

4. The multifunctional obstacle-crossing vehicle integrating UWB and WiFi according to claim 3 is characterized in that: The front power-assist support rod system (19) and the rear power-assist support rod system (20) are completely identical in structure, and include a fixed pulley (21), a baffle (22), a directional wheel (23) and a stepper motor with a gear (24); the directional wheel (23) is mounted at the bottom of two cross-arranged support rods; a baffle (22) is arranged at the top of the support rod; a pulley is also arranged at the top of the support rod; a fixed pulley (21) is arranged inside the pulley; and a stepper motor with a gear (24) is mounted above the fixed pulley (21).

5. The multifunctional obstacle-crossing vehicle integrating UWB and WiFi according to claim 1 is characterized in that: The two-degree-of-freedom gyroscope measures the horizontal deflection angle α and the pitch deflection angle β of the mold, α∈[0,2π), β∈[0,π]; Let the coordinates of the car's position be (x, y, z); construct a coordinate system with the antenna as the origin. According to the geometric shape of the positioning tag distribution, the relative coordinate value of the positioning tag in the coordinate system can be known; according to the horizontal deflection angle and the pitch deflection angle, the actual coordinate value of the positioning tag can be obtained by using the coordinate system conversion principle, that is: in, Respectively represent the actual coordinate values ​​of the fifth UWB antenna, the fourth UWB antenna, the second UWB antenna, and the first UWB antenna; The UWB antenna records the timestamp when receiving the positioning base station signal with the same tag, and then constructs a set of equations, which can be obtained by the least squares method: i LS =arg min(Aθ-B) T (A-B) in: t0, t1, t2, t3, and t4 represent the timestamps corresponding to the signals received by the third UWB antenna, the fifth UWB antenna, the fourth UWB antenna, the second UWB antenna, and the first UWB antenna of the positioning tag, respectively. Thus, the position of the car is:

6. A method for using a multifunctional obstacle-crossing vehicle integrating UWB and WiFi as described in claim 1, characterized in that: The method of use includes the following steps: A. When the vehicle is blocked from moving forward / backward, the front / rear power support rod system receives a signal, the stepper motor (24) rotates forward, and the meshing transmission drives the wire reel at the rear of the adjacent gear to reel in the wire, so that the tops of the support rods can move toward each other; B. The fixed pulley (21) can not only reduce the wear of the traction line, but also ensure that the top of the support rod is on the same horizontal plane as much as possible. The baffle (22) limits the wheels on the top of the support rod to the same horizontal plane; C. In the initial state, the directional wheel (23) is perpendicular to the direction of movement, so as to prevent the directional wheel (23) from being damaged by friction with the ground during the process of assisting the support rod system; D. When the power support rod system is deployed, the directional wheel (23) rotates 90° to be parallel to the direction of movement; E. When the trolley crosses the obstacle, the stepping motor (24) rotates in the reverse direction, and the meshing transmission drives the reel at the rear of the adjacent gear to release the line. Under the joint action of the two springs, the top of the support rod can move in the reverse direction and finally return to the original position; F. When the car encounters a steep slope when moving forward / backward, the rear / front power-assist support rod system extends, and the overall center of gravity of the car moves forward / backward, which can also play a power-assisting role.

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