阅读说明：本技术 基于gps与超声波的室外机器人定位系统及方法 (Outdoor robot positioning system and method based on GPS and ultrasonic wave ) 是由 车洪磊 史聪灵 王文伟 胡鹄 吕敬民 张兴凯 胥旋 李建 赵晨 伍彬彬 于 2019-09-02 设计创作，主要内容包括：本发明涉及一种基于GPS与超声波的室外机器人定位系统及方法,属于室外机器人定位技术领域。所述室外机器人定位系统,包括GPS定位系统、超声波定位系统和机器人导航系统；所述机器人导航系统安装在机器人本体上,包括GPS天线、GPS处理模块、超声波发射模块、超声波定位处理模块和和综合定位芯片。本发明采用GPS与超声波进行复合的算法,可以进一步提高室外定位精度,精度优于0.1米；同时可以有效扩大超声波定位的覆盖范围,解决超声波阵列定位的多值性问题。(The present invention relates to a kind of outdoor robot positioning system based on GPS and ultrasonic wave and methods, belong to outdoor robot field of locating technology.The outdoor robot positioning system, including GPS positioning system, ultrasonic positioning system and Algorithms of Robots Navigation System；The Algorithms of Robots Navigation System is mounted on robot body, including GPS antenna, GPS processing module, ultrasonic wave transmitting module, ultrasonic wave localization process module and and comprehensive positioning chip.The present invention carries out compound algorithm using GPS and ultrasonic wave, can be further improved outdoor positioning accuracy, and precision is better than 0.1 meter；The coverage area of ultrasonic wave positioning can effectively be expanded simultaneously, solve the ambiguity of ultrasonic array positioning.)

1. a kind of outdoor robot positioning system based on GPS and ultrasonic wave, which is characterized in that including GPS positioning system, ultrasound Wave positioning system and Algorithms of Robots Navigation System；The ultrasonic positioning system includes that several that be fixedly mounted in localization region are super Acoustic receiver module；The Algorithms of Robots Navigation System is mounted on robot body, including GPS antenna, GPS processing module, super Sound wave transmitting module, ultrasonic wave localization process module and comprehensive positioning chip；

GPS is handled mould by serial ports for receiving the received GPS signal of processing GPS antenna institute by the GPS processing module Treated that GPS positioning data are transferred to comprehensive positioning chip for block；

The ultrasonic wave localization process module is used to provide trigger signal by serial ports to the ultrasonic wave transmitting module and record Time, while the ultrasonic wave localization process module also wirelessly issues trigger signal to ultrasonic wave receiving module；In Ultrasonic wave receiving module starts timing after receiving trigger signal, the ultrasound transmitted until receiving ultrasonic wave transmitting module Stop timing when wave signal, the ultrasonic wave receiving module is passed by radio frequency signal to the ultrasonic wave localization process module Its defeated time difference and ultrasonic wave receiving module coding；

The comprehensive positioning chip is used for the GPS positioning data of GPS processing module and the signal of ultrasonic wave localization process module Integrated treatment is carried out, the GPS processing module and ultrasonic wave localization process module pass through serial ports and the comprehensive locating core respectively Piece connection；After match time, the GPS positioning data of robot are submitted to the ultrasonic wave and positioned by the comprehensive positioning chip Processing module, the ultrasonic wave localization process module carry out computation of table lookup according to the GPS positioning data and carry out location data Exact value calculate.

2. the outdoor robot positioning system according to claim 1 based on GPS and ultrasonic wave, which is characterized in that described Ultrasonic wave transmitting module includes sequentially connected first singlechip, ultrasonic wave launch driving circuit, ultrasonic transmitter and first Radio-frequency communication module；The ultrasonic wave receiving module includes sequentially connected second radio-frequency communication module, ultrasonic receiver, letter Number modulation circuit and second singlechip, the signal modulation circuit is for signal processing and amplification, the first radio-frequency communication mould Block and the second radio-frequency communication module are used to generation time benchmark and realize the communication between ultrasonic wave receiving module and robot.

3. the outdoor robot positioning system according to claim 1 based on GPS and ultrasonic wave, which is characterized in that described Ultrasonic wave transmitting module monnolithic case is rotary table or cone, has been evenly arranged several along the rotary table or conical outer wall one week Ultrasonic transmitter is also disposed with a ultrasonic transmitter in the rotary table or conical top.

4. the outdoor robot positioning system according to claim 1 based on GPS and ultrasonic wave, which is characterized in that described Further include temperature sensor in ultrasonic wave transmitting module, is used for real-time measurement outdoor temperature, and the outdoor temperature measured is transmitted To first singlechip.

5. the outdoor robot positioning system according to claim 1 based on GPS and ultrasonic wave, which is characterized in that described Ultrasonic transmitter and ultrasonic receiver are all made of piezoelectric-type ultrasonic wave sensor, and the piezoelectric-type ultrasonic wave sensor is by two A piezoelectric chip and a sounding board composition.

6. the outdoor robot positioning system according to claim 1 based on GPS and ultrasonic wave, which is characterized in that described Robot uses caterpillar type robot.

7. a kind of outdoor robot localization method based on GPS and ultrasonic wave, which comprises the following steps:

Step 1, GPS signal is obtained by the GPS antenna of robot, robot is obtained by the GPS processing module of robot load GPS positioning data；

Step 2, ultrasonic wave is emitted by the ultrasonic wave transmitting module of robot load, while the first radio-frequency communication module is to ultrasonic wave Receiving module launch time reference signal；

Step 3, the ultrasonic wave receiving module positioned at localization region receives the time reference signal, by the second radio-frequency communication mould BOB(beginning of block) starts timer；The ultrasonic wave receiving module simultaneously etc. the ultrasonic signal to be received launched, calculate excess of export The flight time of sound wave, by between the time-of-flight measuring robot and ultrasonic wave receiving module position of ultrasonic wave away from From；

Step 4, the ultrasonic wave localization process module of robot load is received by each ultrasonic wave receiving module wireless backhaul Range information calculates the position coordinates of robot；

Step 5, if calculated robot location's coordinate is unique solution, use the position coordinates for the positioning knot of robot Fruit；If there are more solutions in calculated robot location's coordinate, by the calculated multiple position coordinates of robot of institute respectively with step 1 In GPS positioning data be compared, take difference smaller be robot positioning result.

Technical field

The present invention relates to a kind of outdoor robot positioning system based on GPS and ultrasonic wave and methods, belong to outdoor machine People's field of locating technology.

Background technique

In the power system, periodical inspection task is arranged, copy reading and high voltage electric equipment are carried out to substation's facility instrument Convention inspection is a vital task.Currently, substation inspection work is still a very large order.Traditional substation The mode of manual inspection still used by most domestic substation, but the factors of tour personnel will have a direct impact on inspection Reliability, such as working experience, professional ability, sense of responsibility and the mental status of patrol officer etc.；From efficiency, especially It is the substation inspection slightly remote to area, the manpower and time cost wasted on the way also can not be ignored；Furthermore it is related to safety Property, since high-tension apparatus is very more, patrol officer shuttles in substation, and also very tool is big for its potential risk；Simultaneously from management From the point of view of scheduling, when substation's catastrophic failure, for the substation that by-place few man on duty is even unattended, problem reaction Ability it is weak, emergency capability is poor, and the difficulty of remote command and scheduling is also very big.Therefore, from the reliability of substation inspection, height Effect property, safety and handling consideration, crusing robot replace staff to carry out automatic detecting to a certain degree to substation It is upper to become a kind of development trend, and accurate positionin is the primary condition of the reliable inspection of robot.

The positioning function of mobile robot is a most important Xiang Gongneng in the multiple fields of its navigation, and completes machine The most basic link of people's navigation task.The accuracy and reliability of positioning directly determines that can mobile robot be correctly completed and leads Boat function.Positioning robot's sensors are divided into internal sensor and external sensor.External sensor needs to acquire extraneous Information, external environment usually change with the movement of robot, and external environment has randomness, sudden, this is right Accuracy, the authenticity of sensing data have an impact, common external sensor have visual sensor, ultrasonic sensor, Temperature sensor, laser radar sensor etc..Internal sensor is mounted in robot, is not interacted with external information, often The internal sensor seen has the inertial sensors such as accelerometer, photoelectric encoder, gyroscope, and internal sensor can be in a short time Accurate information is provided, realizes higher positioning accuracy.The positioning of mobile robot be robot by the sensor of itself or Itself and ambient condition information are perceived with the information exchange of extraneous sensor, fusion treatment is carried out to the collected data of sensor It converts and the process of itself pose is obtained by certain location algorithm.The positioning of mobile robot is according to the unusual of reference It is divided into absolute fix and relative positioning, the reference coordinates of robot absolute fix are terrestrial coordinate system, and the reference of relative positioning Coordinate is running environment, and when general Study is of equal value or connected with world coordinate system by its running environment coordinate system.In the case of two kinds, Mobile robot all must determine that this is also the research object of location technology relative to the mutual alignment relation of its running environment. Most common outdoor positioning mode is GPS (GPS), but the positioning accuracy of GPS is poor, for needing It to obtain for locating navigation information and the system relatively high to Position Fixing Navigation System reliability requirement, be used alone in real time GPS is unable to satisfy requirement.Robot localization research field is mainly for the research of Indoor Robot relative positioning, room at present The internalization common positioning method of device people has following several:

Vision positioning: mainly there are monocular vision positioning, binocular visual positioning currently based on the robot localization technology of vision It is positioned with panoramic vision.Vision positioning technology relates generally to camera calibration, signal filtering in image procossing, at image grayscale The research of the technologies such as reason, feature extraction, straight line fitting.The Wang Xuan of Beijing University of Post & Telecommunication is based on binocular visual positioning principle, carries out The vision positioning research of movable spherical robot.Li Maohai, Cai Zesu of Harbin Institute of Technology et al. are used based on random Consistent location algorithm of sampling realizes mobile robot monocular vision Global localization.RoboCup robot field is mostly used aphorama Feel that location technology completes robot in the positioning of pitch.There are also the positioning based on road sign: the Liu Jia of Central South University is carried out Mobile robot visual Position Research based on road Lu carries out edge detection using separable Laplacian operator and realizes complexity Robot localization under environment.But vision positioning system algorithm is complicated, at high cost, volume is big.

Reckoning positioning: dead reckoning is divided into the reckoning localization method based on inertial sensor and is based on mileage The reckoning localization method of meter.Odometer calculates robot pose by calculation code device corner combination kinematics model.It is used Property sensor using gyro sensor measure angular speed, accelerometer measures acceleration, according to measured value it is primary integral with Quadratic integral can find out angles and positions parameter respectively.Reckoning positioning system is a kind of for GPS navigation system Autonomous positioning technology, its advantages are the speed and location information that the inertial sensor integrated by itself calculates object.But As other location algorithms based on inertial navigation components, due to the accumulation of error of itself, positioning accuracy will be with the time Increase and distribute, is not suitable for being accurately positioned over long distances and for a long time.

Map match positioning: the robot local environment extraneous by sensor perception is established local map, is then passed through The geometrical characteristic and prior established global map for comparing local environment determine itself position in the environment.Map match is fixed The core of position technology lies also in the research for establishing cartographic model and matching algorithm.Kweon and Kanadel is fixed using map match first Position method estimates an initial state of relative position by extracting feature and matching characteristic, then passes through a variety of local maps The position and direction of global map in the work environment are obtained, finally with the program iterative estimate of optimization and the more accurate position of calculating It sets.

Ultrasonic wave positioning: range measurement principle of the Zhang Ting of Chang An University based on ultrasonic sensor, with four piezoelectric-type ultrasonics Wave sensor receiving module receives the ultrasonic signal that ultrasonic wave transmitting module issues in mobile robot, and calculating robot is opposite In the distance of four receiving modules, using three-point fix principle, in conjunction with least square method calculating robot's securing position.Ultrasonic wave Strong interference immunity is positioned, precision is high, and can solve robot Disorientation Problem.But ultrasonic wave is decayed obviously in transmission process Effective range is positioned to influence it, coverage area is small and coverage area is not preferably greater than 10 meters, it is difficult to answer on a large scale in outdoor With.

In addition, laser radar positioning accuracy is high, but its cannot in spacious or environmental turbulence larger, sleet sky gas field sunlight The application in the places such as direct projection；In Radio Frequency Identification Technology, RFID label tag needs accurate site inspection early period, and arranges in advance more A label；There are drift errors and accumulated error for inertial navigation system；The positioning of view-based access control model for different light, weather and background at It manages extremely difficult.

Due to the collected Limited information of single sensor and sensor noise generates positioning accuracy and effective content It influences, the research hotspot in localization for Mobile Robot field is the fusion of multi-sensor information and grinding for corresponding blending algorithm at present Study carefully.

Summary of the invention

To realize outdoor crusing robot high accuracy positioning, natural advantage is had in outdoor positioning based on GPS, but the people It is lower with positioning accuracy；Ultrasonic wave have it is at low cost, lay convenience, but ultrasonic wave decay in transmission process it is obvious, cover model Enclose small feature, the present invention provides a kind of outdoor robot positioning system based on GPS and ultrasonic wave and method.

The present invention is achieved by the following technical solutions:

A kind of outdoor robot positioning system based on GPS and ultrasonic wave, including GPS positioning system, ultrasonic wave positioning system System and Algorithms of Robots Navigation System；The ultrasonic positioning system includes that several ultrasonic waves being fixedly mounted in localization region receive Module；The Algorithms of Robots Navigation System is mounted on robot body, including the transmitting of GPS antenna, GPS processing module, ultrasonic wave Module, ultrasonic wave localization process module and comprehensive positioning chip；

The GPS processing module handles the received GPS signal of GPS antenna institute for receiving, while will be at GPS by serial ports GPS positioning data after reason resume module are transferred to comprehensive positioning chip；

The ultrasonic wave localization process module is used to provide trigger signal simultaneously by serial ports to the ultrasonic wave transmitting module The time is recorded, while the ultrasonic wave localization process module also wirelessly issues triggering letter to ultrasonic wave receiving module Number；Start timing after ultrasonic wave receiving module receives trigger signal, is transmitted until receiving ultrasonic wave transmitting module Ultrasonic signal when stop timing, the ultrasonic wave receiving module is by radio frequency signal to the ultrasonic wave localization process Its time difference of module transfer and ultrasonic wave receiving module coding；

The comprehensive positioning chip is used for the GPS positioning data of GPS processing module and ultrasonic wave localization process module Signal carries out integrated treatment, and the GPS processing module and ultrasonic wave localization process module pass through serial ports respectively and the synthesis is fixed Position chip connection；After match time, the GPS positioning data of robot are submitted to the ultrasonic wave by the comprehensive positioning chip Localization process module, the ultrasonic wave localization process module carry out computation of table lookup according to the GPS positioning data and are positioned The exact value of data calculates.

Further, the ultrasonic wave transmitting module includes sequentially connected first singlechip, ultrasonic wave transmitting driving electricity Road, ultrasonic transmitter and the first radio-frequency communication module；The ultrasonic wave receiving module includes that sequentially connected second radio frequency is logical Module, ultrasonic receiver, signal modulation circuit and second singlechip are interrogated, the signal modulation circuit is used for signal processing and puts Greatly, the first radio-frequency communication module and the second radio-frequency communication module are used to generation time benchmark and realize that ultrasonic wave receives mould Communication between block and robot.

Further, the ultrasonic wave transmitting module monnolithic case is rotary table or cone, outside the rotary table or circular cone It has been evenly arranged several ultrasonic transmitters within wall one week, has also been disposed with a ultrasonic wave transmitting in the rotary table or conical top Device.

Further, further include temperature sensor in the ultrasonic wave transmitting module, be used for real-time measurement outdoor temperature, and Send the outdoor temperature measured to first singlechip.

Further, the ultrasonic transmitter and ultrasonic receiver are all made of piezoelectric-type ultrasonic wave sensor, described Piezoelectric-type ultrasonic wave sensor is made of two piezoelectric chips and a sounding board.

Further, the robot uses caterpillar type robot.

A kind of outdoor robot localization method based on GPS and ultrasonic wave, comprising the following steps:

Step 1, GPS signal is obtained by the GPS antenna of robot, machine is obtained by the GPS processing module of robot load The GPS positioning data of device people；

Step 2, ultrasonic wave is emitted by the ultrasonic wave transmitting module of robot load, while the first radio-frequency communication module is to super Acoustic receiver module launch time reference signal；

Step 3, the ultrasonic wave receiving module positioned at localization region receives the time reference signal, is led to by the second radio frequency News module starts to start timer；The ultrasonic wave receiving module simultaneously etc. the ultrasonic signal to be received launched, calculate The flight time of ultrasonic wave out, by between the time-of-flight measuring robot and ultrasonic wave receiving module position of ultrasonic wave Distance；

Step 4, the ultrasonic wave localization process module of robot load is received wirelessly is returned by each ultrasonic wave receiving module The range information of biography calculates the position coordinates of robot；

Step 5, if calculated robot location's coordinate is unique solution, use the position coordinates for the positioning of robot As a result；If there are more solutions in calculated robot location's coordinate, by the calculated multiple position coordinates of robot of institute respectively with step GPS positioning data in rapid 1 are compared, and taking difference smaller is the positioning result of robot.

The invention has the benefit that

1, the present invention carries out compound algorithm using GPS and ultrasonic wave, can be further improved outdoor positioning accuracy, precision Better than 0.1 meter.

2, the present invention carries out compound algorithm using GPS and ultrasonic wave, in conjunction with GPS coarse positioning technology, can effectively expand The coverage area of ultrasonic wave positioning, solves the ambiguity of ultrasonic array positioning.

3, the compound location algorithm in outdoor proposed by the present invention is slightly walked using GPS and delimit grid, quick ergodic algorithm, significantly Reduce ultrasonic wave three-point fix algorithm computational algorithm complexity and the dependence to hardware.

4, the compound location algorithm in outdoor proposed by the present invention, the ultrasonic receiver utilized, while can for shelf depreciation, The gas leakage of pressure vessel is examined and determine.

Detailed description of the invention

Fig. 1 is outdoor robot positioning system structure schematic diagram of the present invention；

Fig. 2 is crusing robot structural schematic diagram of the present invention；

Fig. 3 is Algorithms of Robots Navigation System schematic diagram of internal structure of the present invention；

Wherein, 1- crusing robot, 2- inspection route, 3- inspection device, 4- ultrasonic wave receiving module, 5-GPS antenna, 6- Ultrasonic wave transmitting module.

Specific embodiment

In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not For limiting the present invention.