UWB-based indoor mobile robot navigation and positioning system

Abstract

The invention discloses a UWB-based indoor mobile robot positioning and navigation system, including a device layer, an intermediate layer and an application layer; the device layer completes the construction of a system hardware platform, including a base station, a label, a mobile robot and a Wifi communication module, Among them, the base station and the tag realize the positioning function, and the Wifi module and the communication base station in the base station are used to connect the device layer and the middle layer to realize the upload and release of information; the middle layer includes a database, data analysis software and a server to complete data storage and forwarding, analysis and processing and remote access control functions; the application layer mainly provides a friendly remote client software interface to realize online update of mobile robot status information, completion of mobile robot path planning and generation of other related reports. The invention uses UWB technology to realize the positioning and navigation of the indoor mobile robot, and has the advantages of strong anti-interference ability and low power consumption. For other positioning technologies, using UWB signals for indoor positioning can obtain higher positioning accuracy and stability.

Description

technical field [0001] The invention belongs to the field of indoor robot communication technology and control technology, in particular to a UWB-based indoor mobile robot positioning and navigation system. Background technique [0002] With the further development of the social economy and the further improvement of the level of industrial automation, the service of mobile robots has penetrated into all aspects of social production. [0003] At present, indoor mobile robots mainly rely on AGV cars to realize. There are two main ways of AGV path control: track guidance and vision guidance. Track guidance needs to lay tracks on the job site to guide the trolley. The disadvantages of this path control method are: (1) The laying of the track makes the path of the AGV trolley in the industrial job site less flexible, and the change of the processing technology requires the user to change the laid track; (2) For the complex path or cross path of multiple mobile robots, the way ...

AI Technical Summary

Problems solved by technology

Track guidance needs to lay tracks on the job site to guide the trolley. The disadvantages of this path control method are: (1) The laying of the track makes the path of the AGV trolley in the industrial job site less flexible, and the change of the processing technology requires the user to change the laid track; (2) For the complex path or cross path of multiple mobile robots, the way of laying the track cannot guide the AGV car

The visual guidance method is to use the positioning principle based on the image background to guide the car to move forward. There are deficiencies: (1) The position accuracy error is large; (2) The change of the working environment requires rearranging the image background

At present, there are many wireless positioning technologies, including Wifi, RFID, ultrasonic and Bluetooth, etc. The characteristics of various positioning technologies are shown in Table 1. However, there is a common problem in their positioning implementation-the positioning accuracy is at the meter level, which is precisely this problem The existence of wireless location technology limits the application of wireless positioning technology in indoor environment

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