Water surface robot positioning and orienting system based on wireless communication

Abstract

The utility model relates to a water surface robot positioning and orienting system based on wireless communication. The water surface robot positioning and orienting system comprises a first communication positioning terminal worn on a user and a second communication positioning terminal arranged on a water surface robot, the first communication positioning terminal comprises a first processor module, a first satellite positioning module and a first wireless communication module. The first satellite positioning module and the first wireless communication module are electrically connected with the first processor module. The second communication positioning terminal comprises a second processor module, a second satellite positioning module and a second wireless communication module. The second satellite positioning module and the second wireless communication module are electrically connected with the second processor module. And when the second communication positioning terminal enters the wireless signal coverage range of the first communication positioning terminal, wireless communication connection is established. The positioning device can automatically position the position of a person to be rescued, is high in positioning accuracy, and facilitates rescue work of the water surface robot.

Description

Technical Field

[0001] The utility model relates to the technical field of positioning, in particular to a positioning and orientation system for a water surface robot based on wireless communication. Background Art

[0002] Existing surface robots generally use manual remote control, which requires rescuers to observe the location of the target person to be rescued, and then manually remotely control the surface robot to approach the target person. The disadvantages of this method are:

[0003] When the ambient light is dim or the target person is in the water, rescuers often cannot accurately observe the location of the person to be rescued. Utility Model Content

[0004] Therefore, in response to the above problems, the utility model proposes a surface robot positioning and orientation system based on wireless communication, which can automatically locate the position of the person to be rescued with high positioning accuracy, making it easier for the surface robot to carry out rescue work.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A wireless communication-based water surface robot positioning and orientation system, comprising a first communication and positioning terminal worn by a user and a second communication and positioning terminal arranged on the water surface robot;

[0007] The first communication and positioning terminal comprises a first processor module, a first satellite positioning module and a first wireless communication module, wherein the first satellite positioning module and the first wireless communication module are electrically connected to the first processor module respectively;

[0008] The second communication positioning terminal includes a second processor module, a second satellite positioning module and a second wireless communication module, and the second satellite positioning module and the second wireless communication module are electrically connected to the second processor module respectively;

[0009] The first satellite positioning module and the second satellite positioning module respectively establish wireless communication connections with satellites;

[0010] When the second communication and positioning terminal enters the wireless signal coverage of the first communication and positioning terminal, the first wireless communication module establishes a wireless communication connection with the second wireless communication module.

[0011] Furthermore, the antenna radiation angle of the first wireless communication module is less than 180°.

[0012] Furthermore, the antenna radiation angle of the second wireless communication module is less than 180°.

[0013] Furthermore, the first wireless communication module and the second wireless communication module adopt any one of HF radio frequency module, VHF radio frequency module, or UHF radio frequency module.

[0014] Furthermore, the first satellite positioning module and the second satellite positioning module adopt Beidou satellite positioning module and / or GPS satellite positioning module.

[0015] By adopting the above technical solution, the beneficial effects of the utility model are:

[0016] The surface robot positioning and orientation system based on wireless communication realizes accurate orientation and orientation of the surface robot for the user by setting a first communication positioning terminal worn on the user and a second communication positioning terminal set on the surface robot. Specifically, when carrying out water rescue, the surface robot automatically establishes a wireless communication connection when approaching the user, obtains the satellite positioning information (i.e., longitude and latitude information) of the first communication positioning terminal and the second communication positioning terminal, and sends the satellite positioning information of the first communication positioning terminal to the second communication positioning terminal, and the second communication positioning terminal determines the approximate direction of the first communication positioning terminal, and then the second communication positioning terminal sends information to the surface robot to control the surface robot to move toward the user. Due to the large satellite positioning error (generally more than several meters); in this process, the second communication positioning terminal determines the strength of the wireless signal connection with the first communication positioning terminal, and drives the surface robot to rotate, so that the wireless signal connection established between the first communication positioning terminal and the second communication positioning terminal remains the strongest or close to the strongest, to adjust the direction of the surface robot, so that the surface robot moves more accurately toward the user, and can also determine the distance between the surface robot and the user by the strength of the wireless signal, to achieve ranging tracking, adjust the speed of the surface robot, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic diagram of a second communication and positioning terminal moving into a signal coverage area of ​​a first communication and positioning terminal;

[0018] Figure 2 The second communication and positioning terminal rotates to adjust the strength of the wireless signal connection with the first communication and positioning terminal;

[0019] Figure 3 It is a circuit connection block diagram of the utility model. DETAILED DESCRIPTION

[0020] The utility model is now further described in conjunction with the accompanying drawings and specific implementation methods.

[0021] refer to Figure 1 , Figure 2 and Figure 3, this embodiment provides a surface robot positioning and orientation system based on wireless communication, including a first communication positioning terminal 1 worn on the user and a second communication positioning terminal 2 arranged on the surface robot. In the specific implementation, the first communication positioning terminal 1 can be worn on the wrist of the human body, or a swimming cap, or swimming goggles, or other personal clothing; and because the wireless signal will attenuate underwater, it is better to make the first communication positioning terminal 1 exposed above the water surface when in use; for example, worn on the wrist. In this way, when asking for help, it can be exposed to the water surface with the wrist. Similarly, the second communication positioning terminal 2 is arranged on the surface robot and is located above the water surface. The surface robot is an existing device in the field and will not be described in detail here.

[0022] The first communication and positioning terminal 1 includes a first processor module 11, a first wireless communication module 12, and a first satellite positioning module 13. In a specific implementation, the first processor module 11, the first wireless communication module 12, and the first satellite positioning module 13 are integrated on a circuit board (not shown in the figure), and a power module should also be provided on the circuit board to supply power to the first communication and positioning terminal 1, and the circuit board should be waterproof packaged, which will not be described in detail here.

[0023] The first wireless communication module 12 may be any one of an HF radio frequency module, a VHF radio frequency module, or a UHF radio frequency module, and the antenna radiation angle of the first wireless communication module 12 is set to be less than 180°.

[0024] The first satellite positioning module 13 adopts a Beidou satellite positioning module and / or a GPS satellite positioning module.

[0025] The first wireless communication module 12 and the first satellite positioning module 13 are electrically connected to the first processor module 11 respectively. The first satellite positioning module 13 is connected to the satellite to obtain the satellite positioning information of the first communication positioning terminal 1 and send it to the first processor module 11, and the satellite positioning information (i.e., longitude and latitude information) of the first communication positioning terminal 1 is sent to the second communication positioning terminal 2 through the first wireless communication module 12.

[0026] The second communication and positioning terminal 2 includes a second processor module 21, a second wireless communication module 22, and a second satellite positioning module 23. In a specific implementation, the second processor module 21, the second wireless communication module 22, and the second satellite positioning module 23 are integrated on a circuit board (not shown in the figure), and a power module should also be provided on the circuit board to supply power to the second communication and positioning terminal 2, and the circuit board should be waterproofly packaged, which will not be described in detail here.

[0027] The second wireless communication module 22 may be any one of an HF radio frequency module, a VHF radio frequency module, or a UHF radio frequency module, and the antenna radiation angle of the second wireless communication module 22 is set to be less than 180°.

[0028] The second satellite positioning module 23 adopts a Beidou satellite positioning module and / or a GPS satellite positioning module.

[0029] The second wireless communication module 22 and the second satellite positioning module 23 are electrically connected to the second processor module 21. The second satellite positioning module 23 is connected to the satellite to obtain the satellite positioning information of the second communication positioning terminal 2 and send it to the second processor module 21. The second processor module 21 determines the approximate position of the first communication positioning terminal 1 according to the satellite positioning information of the first communication positioning terminal 1 and the satellite positioning information of the second communication positioning terminal 2.

[0030] The second processor module 21 of the second communication and positioning terminal 2 is electrically connected to the controller of the surface robot (not shown in the figure), or the second wireless communication module 22 of the second communication and positioning terminal 2 is wirelessly connected to the surface robot. The second communication and positioning terminal 2 sends commands to the surface robot to control the surface robot to move forward and backward or rotate.

[0031] Specific:

[0032] When carrying out water rescue, the surface robot moves until the second communication and positioning terminal 2 enters the wireless signal coverage range of the first communication and positioning terminal 1, and then the first wireless communication module 12 establishes a wireless communication connection with the second wireless communication module 12. The satellite positioning information (i.e., longitude and latitude information) of the first communication and positioning terminal 1 and the second communication and positioning terminal 2 is obtained, and the satellite positioning information of the first communication and positioning terminal 1 is sent to the second communication and positioning terminal 2, and the second communication and positioning terminal 2 determines the approximate direction of the first communication and positioning terminal 1, and then the second communication and positioning terminal 2 sends information to the surface robot to control the surface robot to move toward the user. Since the satellite positioning error is relatively large (generally the error is more than several meters); in this process, the second communication and positioning terminal 2 detects the strength of the wireless signal connection with the first communication and positioning terminal 1 (the technology for detecting the strength of the wireless signal is an existing technology in the field and will not be described in detail here), and drives the surface robot to rotate, so that the wireless signal connection established between the first communication and positioning terminal 1 and the second communication and positioning terminal 2 remains the strongest or close to the strongest, so as to adjust the direction of movement of the surface robot, so that the surface robot moves toward the user more accurately.

[0033] It can also determine the distance between the water surface robot and the user through the strength of the wireless signal, achieve ranging tracking, and adjust the speed of the water surface robot.

[0034] The wireless communication-based water surface robot positioning and orientation system can automatically locate the position of the person to be rescued with high positioning accuracy, making it easier for the water surface robot to carry out rescue work.

[0035] Although the present invention has been specifically demonstrated and described in conjunction with the preferred embodiments, those skilled in the art should understand that various changes may be made to the present invention in form and detail without departing from the spirit and scope of the present invention as defined in the appended claims, all of which are within the scope of protection of the present invention.

Claims

1. A surface robot positioning and orientation system based on wireless communication, characterized in that: It includes a first communication and positioning terminal worn by a user and a second communication and positioning terminal arranged on a surface robot; The first communication and positioning terminal comprises a first processor module, a first satellite positioning module and a first wireless communication module, wherein the first satellite positioning module and the first wireless communication module are electrically connected to the first processor module respectively; The second communication positioning terminal includes a second processor module, a second satellite positioning module and a second wireless communication module, and the second satellite positioning module and the second wireless communication module are electrically connected to the second processor module respectively; The first satellite positioning module and the second satellite positioning module respectively establish wireless communication connections with satellites; When the second communication and positioning terminal enters the wireless signal coverage of the first communication and positioning terminal, the first wireless communication module establishes a wireless communication connection with the second wireless communication module.

2. A surface robot positioning and orientation system based on wireless communication according to claim 1, characterized in that: The antenna radiation angle of the first wireless communication module is less than 180°.

3. A surface robot positioning and orientation system based on wireless communication according to claim 1 or 2, characterized in that: The antenna radiation angle of the second wireless communication module is less than 180°.

4. The wireless communication-based underwater robot positioning and orientation system according to claim 1, characterized in that: The first wireless communication module and the second wireless communication module adopt any one of an HF radio frequency module, a VHF radio frequency module, or a UHF radio frequency module.

5. The surface robot positioning and orientation system based on wireless communication according to claim 1, characterized in that: The first satellite positioning module and the second satellite positioning module adopt a Beidou satellite positioning module and / or a GPS satellite positioning module.

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