CN206710590U - A kind of indoor service robot positioning system based on iBeacon - Google Patents

Abstract

It the utility model is related to a kind of indoor service robot positioning system based on iBeacon, including iBeacon base stations, indoor service robot, host computer server, wireless module.The iBeacon base stations are communicated based on BLE technologies with service robot, the master controller of service robot is furnished with bluetooth module, host computer server includes location algorithm module, task management module and display module, and service robot and host computer server carry out information transfer by wireless module.During present invention work, iBeacon base stations send id information to surrounding, and service robot receives the information of iBeacon Base Transmitters, and it is sent to host computer server, the position of service robot is calculated by host computer server, and location information is returned into service robot, realizes the positioning of robot.The utility model has the advantages of stability of a system is good, cost is low, deployment is easy, positioning precision is high.

Description

An iBeacon-based indoor service robot positioning system

technical field

The utility model patent relates to the field of an indoor service robot positioning system, in particular to an iBeacon-based indoor service robot positioning system.

Background technique

Intelligent service robot is a comprehensive system integrating environmental perception, dynamic decision-making and planning, behavior control and execution. With the continuous improvement of robot performance, the application range of service robots has been greatly expanded, and has been widely used in industry, agriculture, medical treatment, service and other industries. Among them, the autonomous positioning of indoor service robots is one of the key issues in robotics. Sensors such as sonic sensors, infrared sensors, and laser sensors are usually used to estimate the moving distance and orientation of the robot. The long-term use of these sensors will lead to error accumulation, which will reduce the positioning accuracy, and have higher requirements for the use environment. iBeacon Bluetooth indoor positioning system, using BLE technology, has very low power consumption, the effective transmission distance can reach 60-100m, its accuracy range can reach centimeter level, and the layout is convenient and simple.

Utility model content

Aiming at the deficiencies and defects of the above-mentioned prior art, the utility model provides an indoor service robot positioning system based on iBeacon indoor positioning technology. This system applies iBeacon technology to the indoor positioning system of intelligent service robots to improve the positioning accuracy of service robots.

In order to achieve the above object, the technical scheme of the utility model is as follows:

An iBeacon-based indoor service robot positioning system includes an iBeacon base station, an indoor service robot, a host computer server, and a wireless module. It is characterized in that the iBeacon base station sends its unique ID information to the surrounding based on BLE technology, and the indoor service robot The main controller module of the robot is equipped with a Bluetooth module to receive the information transmitted by the iBeacon base station. The host computer server includes a positioning algorithm module, a task management module and a display module, and transmits information with the indoor service robot wirelessly.

The specific working principle of the utility model is that each iBeacon base station sends its unique location information to the surrounding based on BLE technology; the indoor service robot receives the information transmitted by the iBeacon base station during the movement process, and transmits it to the host computer server through wireless means; The positioning algorithm module of the upper computer server calculates the position coordinates of the service robot, and returns it to the main controller of the service robot through wireless means, and at the same time displays the real-time position of the robot on the display module, and the task management module sends different task; the main controller of the indoor service robot receives the position coordinates of the robot, determines its own real-time position, and compares it with the predetermined trajectory coordinates, and then corrects the position of the robot through the control algorithm module, and then controls the movement direction of the robot, so that The robot runs according to the predetermined trajectory, and at the same time performs the control tasks of the specific location, such as audio guide and other service functions.

An iBeacon-based indoor service robot positioning system has the beneficial effects of: through the realization of the utility model, the positioning system of the service robot is simple to deploy and easy to implement, and the system has low power consumption, low cost, and high positioning accuracy.

Description of drawings

Fig. 1 is the structural representation of the utility model

Fig. 2 is the schematic diagram of circuit connection of the utility model

detailed description

Provide the embodiment of the utility model below, and in conjunction with accompanying drawing, the utility model is further described. It should be understood that the utility model is not limited to a specific implementation manner, and the embodiments of the utility model are only to introduce the specific implementation manner.

As shown in FIG. 1 , an iBeacon-based indoor service robot positioning system includes an iBeacon base station 1 , an indoor service robot 2 , and a host computer server 3 . The iBeacon base station 1 communicates with the indoor service robot 2 based on BLE technology; the indoor service robot 2 includes a Bluetooth module 6 and a main controller module 7, and is connected with a wireless module A4; the upper computer server 3 includes a positioning algorithm module 8, a task management module 9 and The display module 10 is connected with the wireless module B5, and performs information transmission with the indoor service robot 2 through the wireless module.

In this embodiment, there are three iBeacon base stations 1 in total, and the number of iBeacon base stations is determined according to the specific environment and positioning accuracy requirements. In particular, the hardware of the iBeacon base station is developed and designed with the CC2541 Bluetooth chip, programmed in C language, and used as the transmitter of the Bluetooth signal; 4 frame data of the iBeacon base station are configured, and the UUID is set to the same identifier, indicating the positioning function; the Major setting Set as three different identifiers to distinguish different iBeacon base stations; Minor sets the coordinate information of each base station; Measured Power sets the RSSI signal value when the distance between the base station and the mobile terminal is 1m. When working, the iBeacon base station sends its unique data to the surrounding.

In this embodiment, the main controller of the exhibition hall guide service robot 2 adopts TMS320F28377D main processor 12 to develop and design, and externally connects CC2541 bluetooth module 11 to receive the information of iBeacon base station; the main controller is connected with wireless client 13 through RS232 serial port, and Communicate with the upper computer server through wireless.

In this embodiment, the upper computer server 3 designs the upper computer management system based on the distributed framework, and programs the positioning algorithm module, the display module and the task management module on the VS2013 platform. The positioning algorithm module calculates the position of the service robot, displays it on the display module, and sends it to the service robot at the same time; the task management module sends the voice task at the specific location according to the position of the service robot to realize the robot guidance service in the indoor exhibition hall.

The embodiment of the utility model is just to introduce its specific implementation mode, not to limit its protection scope. The scope of the invention is defined by its claims.

Claims (3)

1. a kind of indoor service robot positioning system based on iBeacon, including iBeacon base stations, indoor service robot, Host computer server, wireless module, it is characterized in that, the iBeacon base stations send its distinctive ID based on BLE technologies to surrounding Information, the master controller of the indoor service robot are furnished with bluetooth module, receive the information of iBeacon Base Transmitters, described Host computer server includes location algorithm module, task management module and display module, passes through with indoor service robot wireless Module transfer information.

2. a kind of indoor service robot positioning system based on iBeacon according to claim 1, it is characterized in that, by The information of each base station of the location algorithm module of host computer server to receiving is handled, and service robot is determined Position.

3. a kind of indoor service robot positioning system based on iBeacon according to claim 1 or 2, it is characterized in that, Indoor service robot is service humanoid robot, can be meal delivery robot, robot of accompanying and attending to, domestic robot, exhibition room guide to visitors One kind in robot, sight spot guide to visitors robot, bank service robot.