CN205540278U - Robot is from positioner based on WSN - Google Patents

Abstract

The utility model discloses a robot is from positioner based on WSN, it includes the host computer, the host computer is connected with the coordinator, and the coordinator passes through WSN wireless communication network with the beacon node to be connected, the beacon node has at least threely, connects through WSN wireless communication network between the beacon node, and the position node that awaits measuring is fixed in the robot and through WSN wireless communication network and beacon nodal connection, the problem of the GPS equipment power consumption that prior art's robot location adopted the GPS location to exist is big, with high costs, unable normal use in the signal easily receives the environment that shelters from, and adopt the road sign location to have limited the waiting technique of using is solved.

Description

A WSN-based robot self-positioning device

technical field

The utility model relates to robot control technology, in particular to a WSN-based robot self-positioning device.

Background technique

Mobile robot is an important branch in the field of robot research and has very broad application prospects. Mobile robot is a comprehensive system that integrates multiple functions such as environment perception, dynamic planning and decision-making, behavior control and execution. Autonomous navigation technology is the core of mobile robot research. Relevant scholars attribute the autonomous navigation problem of mobile robots to three sub-problems of "where am I", "where am I going" and "how do I get there", namely robot positioning, target recognition and motion planning. The first problem that a mobile robot must solve when performing tasks is to determine its exact position in the working environment. Therefore, autonomous positioning is the foundation and key of mobile robot autonomous navigation technology. Traditional mobile robot self-positioning includes GPS positioning, road sign positioning, etc. GPS positioning is to integrate GPS positioning system in the robot province, but GPS equipment has high power consumption and high cost, and cannot be used normally in environments where signals are easily blocked, especially in In indoor scenes. In addition, the positioning accuracy of ordinary civilian GPS is not high, and the positioning accuracy under normal working conditions is about 10 meters. Road sign positioning requires manual setting of signs, which is actually a kind of artificial processing of the surrounding environment, so its application is limited.

Contents of the invention

The technical problem to be solved by the utility model is to provide a WSN-based robot self-positioning device to solve the problem that the prior art robot positioning adopts GPS positioning. It cannot be used normally, and there are technical problems such as limited application of road sign positioning.

Technical scheme of the utility model:

A WSN-based robot self-positioning device, which includes a host computer, the host computer is connected to a coordinator, and the coordinator is connected to a beacon node through a WSN wireless communication network. There are at least three beacon nodes, and the beacon nodes are connected to each other. Connected through the WSN wireless communication network, the position node to be measured is fixed on the robot and connected with the beacon node through the WSN wireless communication network.

The beacon nodes are placed in a triangular form.

The coordinator includes a first processor module, a first radio frequency module, a first power management module and an external interface unit, and the first processor module is respectively connected to the first radio frequency module, the first power management module and the external interface unit through data lines.

The beacon node includes a second processor module, a second radio frequency module and a second power management module, and the second processor module is respectively connected to the second radio frequency module and the second power management module through data lines.

The location node to be measured includes a third processor module, a sensor module, a third radio frequency module and a third power management module, and the third processor module is respectively connected to the sensor module, the third radio frequency module and the third power management module through data lines.

The beneficial effects of the utility model:

The utility model utilizes the WSN sensor network to realize the self-positioning of the indoor robot. Compared with the existing indoor robot self-positioning scheme, the utility model has the advantages of high precision, strong applicability, low cost, and simple construction; Advanced robot positioning adopts GPS positioning. GPS equipment has high power consumption and high cost. It cannot be used normally in an environment where the signal is easily blocked, and there are technical problems such as limited application of road sign positioning.

Description of drawings

Fig. 1 is the structural representation of the utility model.

detailed description

A WSN-based robot self-positioning device, which includes a host computer, the host computer is connected to a coordinator, and the coordinator is connected to a beacon node through a WSN wireless communication network. There are at least three beacon nodes, and the beacon nodes are connected to each other. Connected through the WSN wireless communication network, the position node to be measured is fixed on the robot and connected with the beacon node through the WSN wireless communication network.

The beacon nodes are placed in a triangular form.

The coordinator includes a first processor module, a first radio frequency module, a first power management module and an external interface unit, and the first processor module is respectively connected to the first radio frequency module, the first power management module and the external interface unit through data lines.

The beacon node includes a second processor module, a second radio frequency module and a second power management module, and the second processor module is respectively connected to the second radio frequency module and the second power management module through data lines.

The location node to be measured includes a third processor module, a sensor module, a third radio frequency module and a third power management module, and the third processor module is respectively connected to the sensor module, the third radio frequency module and the third power management module through data lines.

The position node to be measured receives the WSN wireless signal from the beacon node, and the third processor module obtains the relative distance between the position node to be measured and the beacon node through RSSI positioning or triangulation positioning of the prior art according to the received signal strength of different nodes. Location, the specific location information of the node to be tested has never been determined.

Claims (5)

1. A WSN-based robot self-positioning device, which includes a host computer, is characterized in that: the host computer is connected with a coordinator, and the coordinator and a beacon node are connected by a WSN wireless communication network, and the beacon node has at least three , the beacon nodes are connected through the WSN wireless communication network, and the position node to be measured is fixed on the robot and connected with the beacon node through the WSN wireless communication network. 2. A WSN-based robot self-positioning device according to claim 1, characterized in that: said beacon nodes are placed in a triangular form. 3. A kind of robot self-positioning device based on WSN according to claim 1, it is characterized in that: the coordinator comprises a first processor module, a first radio frequency module, a first power management module and an external interface unit, the first processing The controller module is respectively connected with the first radio frequency module, the first power management module and the external interface unit through data lines. 4. A kind of robot self-positioning device based on WSN according to claim 1, is characterized in that: the beacon node comprises a second processor module, a second radio frequency module and a second power management module, and the second processor module passes The data lines are respectively connected to the second radio frequency module and the second power management module. 5. A kind of robot self-positioning device based on WSN according to claim 1, is characterized in that: the position node to be measured comprises the 3rd processor module, sensor module, the 3rd radio frequency module and the 3rd power management module, the 3rd The processor module is respectively connected to the sensor module, the third radio frequency module and the third power management module through data lines.