一种基于UWB的护理机器人定位系统

护理机器人大部分时间在室内工作,由于室内环境比室外复杂且定位环境恶劣,因此需要具有很高的定位精度。为了更好地解决护理机器人的定位问题,建立了一种基于超宽带(UWB)的高精度护理机器人定位系统。首先,采用基于信号到达时间的定位模型,不需标签与基站之间的时钟同步,只需3个基站时钟同步来获取护理机器人上的标签距离各个基站的位置信息;其次,将收集到的位置信息通过室内局域网传输给利用Matlab搭建的上位机系统;最后,在上位机系统内进行偏最小二乘法线性回归,再通过遗传算法进一步对数据进行优化得到精确的位置信息,并进行仿真分析。结果表明,系统的定位精度相比于TDOA模型直接定位有较大的提高,能达到护理机器人的定位要求。基于超宽带技术的定位方法还可以应用于仓储物流小车等其他室内移动设备的高精度定位。

A nursing robot positioning system based on UWB

Nursing robots work indoors most of the time, high positioning accuracy of the nursing robot is needed due to the more complex and poorer positioning working environment indoors compared with that of outdoors. In order to better solve the problem of the positioning system of nursing robots, a high-precision nursing robot positioning system based on ultra-wide band (UWB) was established in this paper. Firstly, there was no need of clock synchronization between the tag and the base station, and only three base station clocks were demanded to be synchronized to obtain the position information of the tag on the nursing robot from each base station by using the positioning model based on time of arrival. Then, the collected position information was transmitted to the host computer system built by Matlab through the indoor local area network. Finally, partial least squares linear regression was performed in the host computer system, and the data was further optimized by genetic algorithm to obtain accurate position information. Simulation analysis shows that the positioning accuracy with this system is greatly improved compared to the direct positioning with TDOA model, which can meet the positioning requirements of nursing robots. The positioning system based on UWB can also be applied to high-precision positioning of other indoor equipment such as the mobile dolly of warehousing logistics.