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UWB-based autonomous following robot positioning method and system

A tracking robot and positioning system technology, applied in the field of autonomous tracking robot positioning system, can solve the problems of GPS signal fading, low transmission data rate, low positioning accuracy, etc., and achieve the effects of low power consumption, simple hardware implementation, and convenient operation.

Inactive Publication Date: 2016-08-03
UNIV OF SHANGHAI FOR SCI & TECH
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Problems solved by technology

However, the GPS signal fades seriously after being blocked by buildings, and the multipath interference is serious, so it is not suitable for indoor positioning; other similar positioning technologies of UWB, such as the ultrasonic positioning system, although the positioning accuracy is high, are suitable for indoor positioning, but the ultrasonic is affected by many Path effect and non-line-of-sight propagation have a great impact, and at the same time require a large amount of investment in underlying hardware facilities, the cost is too high
When using a network composed of Bluetooth, RFID and infrared technology for positioning, the transmission data rate is low, so the transmission distance is short and the positioning accuracy is relatively low

Method used

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  • UWB-based autonomous following robot positioning method and system
  • UWB-based autonomous following robot positioning method and system
  • UWB-based autonomous following robot positioning method and system

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Embodiment Construction

[0020] Below in conjunction with accompanying drawing the further description of the present invention.

[0021] Please refer to figure 1 , a UWB-based autonomous follower robot positioning system of the present invention, UWB (UltraWideband) is a carrier-free communication technology. The system includes: a mobile robot 1, a UWB base station 3, a specific target 4, and a UWB positioning tag 5; the specific target 4 is a person or object that can move freely; there are three described UWB base stations 3; The positioning tag 5 is worn on a freely moving person or object, and is a wearable device, such as being worn on a person's wrist, around a waist or around a neck, and the like. At least three UWB base stations 3 are fixed on the mobile robot 1, an equilateral triangle 2 formed by the three UWB base stations 3, and a UWB positioning tag 5 is placed on the freely moving person or object; the UWB base station 3 sends a UWB signal ; The UWB positioning tag 5 receives the UWB...

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Abstract

The invention relates to a UWB-based autonomous following robot positioning method and system. A specific target is a freely-moving person or object; at least three UWB base stations of which the positions are in a triangular form are fixed on a mobile robot; a UWB positioning label is arranged on the freely-moving person or object; the base stations send UWB signals; the label receives the UWB signals sent from the base stations; the label is time synchronization with the base stations, a TOA algorithm is utilized to obtain the distance between the label and the base stations, and then, geometric operation is utilized to obtain the coordinates of the label, and the position and movement information of the freely-moving person or object relative to the mobile robot can be determined, and the mobile robot can follow the person or object. According to the method and system of the invention, the UWB wireless positioning technology is utilized to realize autonomous following robot positioning, and narrow-band pulses are adopted to realize communication with carrier waves not required; and therefore, the method and system have the advantages of high transmission power, small power consumption, strong anti-interference ability and penetration ability as well as improved positioning precision and accuracy. With the method and system adopted, the following of the specific target can be realized.

Description

technical field [0001] The invention relates to an autonomous following robot positioning system in the field of mobile robot positioning, in particular to a relative positioning technology and a robot following method. 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. One of the technical difficulties of autonomously following the robot is the relative positioning between the robot and the target. Through the relative position information of the robot and a specific target, plan its own movement. [0003] Existing positioning technologies include GPS, ultrasonic positioning technology, Bluetooth technology, infrared technology, radio frequen...

Claims

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Application Information

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IPC IPC(8): H04W64/00H04W4/02H04W4/04H04W4/00G05D1/03G01S5/02
CPCG01S5/02G05D1/03H04W4/02H04W4/025H04W4/04H04W4/80H04W64/00H04W64/006Y02D30/70
Inventor 方晨晨邵翔王永雄饶林
Owner UNIV OF SHANGHAI FOR SCI & TECH
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