CN103472844A - Mobile platform positioning system based on electronic tag automatic correcting - Google Patents

A mobile platform positioning system based on electronic tag automatic correcting comprises a power supply management module which provides a stable power supply, a microcontroller, a human-computer interface module, a walking driving module, an obstacle detecting module, an electronic gyroscope for location detecting, a task execution module for executing special tasks, electronic tags and an electronic tag identification module for identifying the electronic tags. The walking driving module controls the rotating direction and the rotating speed of a left driving motor and a right driving motor. A left coder is arranged on the left driving motor. A right coder is arranged on the right driving motor. The left coder and the right coder form a double-coder positioning module. The electronic lags are arranged in a working environment. The number of the electronic lags is at least two. The electronic lags are provided with position data. The electronic lag identification module is connected with the microcontroller which has an automatic correcting positioning algorithm, and the automatic correcting positioning algorithm can correct the position data of a mobile platform.

Based on the self-tuning mobile platform positioning system of electronic tag

Technical field

The present invention relates to a kind ofly based on the self-tuning mobile platform positioning system of electronic tag, belong to the mobile robot technology field.

Background technology

The self-align problem of mobile platform is a technical barrier always, also do not properly settled up till now, so the development of service type robot seriously lags behind the development of industrial robot.Traditional localization method mainly adopts inertial navigation method, such as scrambler location, acceleration transducer etc., although technology maturation, and have advantages of with low cost, but the cumulative errors that can't eliminate, As time goes on, error can be increasing, and final data can't be used.The scientific worker is constantly attempting new method and is addressing this problem.Such as, the localization method based on image recognition, along with the development of computer technology and imaging technique, progressively grow up and obtain certain success.But this method easily is subject to the impact of ambient light and environmental change, locate failure easily occurs.Just being based on laser radar carries out the environment range finding in addition, and then environmental modeling, be map of paint environment, then based on this map, carry out self-align, the calculated amount of the method is very large, and also very high to storage capacity requirement, and can not solve the occlusion issue of personnel or furniture facility.

Summary of the invention

The present invention is in order to overcome the deficiency of existing mobile platform method for self-locating, provide a kind of based on the self-tuning mobile platform positioning system of electronic tag, Dual-encoder locating module, electronic gyroscope, electronic tag and electronic label identification module are set, the positional information of utilizing electronic tag to provide is proofreaied and correct traditional locator meams, to reach the purpose that improves positioning precision.

The technical solution adopted for the present invention to solve the technical problems is:

Based on the self-tuning mobile platform positioning system of electronic tag, comprise the power management module that stabilized power source is provided, the micro controller focused on, carry out the human-computer interface module of state demonstration and interface operation, the walking driver module moved freely, carry out the detection of obstacles module of detection of obstacles, described walking driver module is controlled sense of rotation and the rotational speed of left drive motor and right drive motor, left scrambler is installed on described left drive motor, right scrambler is installed on described right drive motor, described left scrambler and right scrambler form the Dual-encoder locating module, carry out the electronic gyroscope of the measurement of bearing of described mobile platform, carry out the task execution module of particular task, described human-computer interface module, the walking driver module, the detection of obstacles module, the Dual-encoder locating module, electronic gyroscope is connected with described micro controller with task execution module, also comprise the electronic tag be arranged in working environment, at least two of described electronic tag settings, described electronic tag setting position data, carry out the electronic label identification module of electronic label identification, described electronic label identification module is connected with described micro controller, and described micro controller arranges the self-correcting location algorithm, and described self-correcting location algorithm comprises the following steps:

(1), described mobile platform in the process of walking, calculate the orientation θ of self by described electronic gyroscope, described Dual-encoder locating module calculates the position (x, y) of self;

(2), when described mobile platform by described electronic label identification Module recognition to described electronic tag, and read the position data of described electronic tag, obtain the position (x ', y ') of described electronic tag;

(3), calculate the angular deflection θ=arctan (y '/x ') of described mobile platform-arctan (y/x), then carry out directional correction θ=θ+θ=θ+arctan (y '/x ')-arctan (y/x);

(4), carry out position correction x=x ', y=y ', return to step (1).

Described electronic tag arranges unique cognizance code, the position data that described micro controller setting is corresponding with described cognizance code.

Beneficial effect of the present invention is mainly manifested in: 1, can carry out the calculating in position and orientation based on Dual-encoder locating module and electronic gyroscope; 2, can position the correction of data based on electronic tag and electronic label identification module, reduce positioning error; 3, algorithm is simple, and calculated amount is little.

The accompanying drawing explanation

Fig. 1 is based on the system chart of the self-tuning mobile platform positioning system of electronic tag;

Fig. 2 is the process flow diagram of self-correcting location algorithm.

Embodiment

Below in conjunction with accompanying drawing, the invention will be further described.

Described detection of obstacles module 5 is responsible for the barrier situation of testing environment, for the path planning of described mobile platform with keep away barrier.Described detection of obstacles module 5 is connected with described micro controller 1, by described micro controller 1, is controlled.Can adopt ultrasonic sensor to form supersonic barrier detection apparatus, also can adopt infrared distance sensor to form infrared barrier detection apparatus, or adopt two kinds of sensors to be combined.

Also comprise the electronic tag be arranged in working environment, described electronic tag setting position data, i.e. locative x coordinate, y coordinate.Also can unique cognizance code be set described electronic tag, and leave position data in described micro controller 1 inside, and be mapped with described cognizance code.At least two of described electronic tag settings, and described electronic tag is more, the frequency of gps correction data is just higher, and effect is also better, but therefore the cost also increased needs according to being the quantity that practical application determines to adopt electronic tag.

(3), calculate the angular deflection θ=arctan (y '/x ') of described mobile platform-arctan (y/x), then carry out directional correction θ=θ+θ=θ+arctan (y '/x ')-arctan (y/x);

(4), carry out position correction x=x ', y=y ', return to step (1).

Circulation by described self-correcting location algorithm is carried out, and just can be proofreaied and correct the locator data of described mobile platform aperiodically, thereby improve positioning precision.