Research On Indoor Positioning Of The Sweeping Robot

Sweeping robot, as an intelligent products which can help people get rid of the heavy cleaning work, is entering more and more families. But the problem, such as repetitive circling, has been bothering people. The root cause lies in that the sweeping robot cannot ensure its own position. Limited to the complexity of the indoor environment, there is still not a solution which can make it realize the high precision real-time positioning. Indoor positioning has been a popular field of study recently, and there have been many new breakthroughs. This paper is based on these studies.The purpose of this study is to improve the positioning precision of the sweeping robot under the indoor environment, and make it avoid the labyrinth, repeated circles and other issues. Thesis focuses on the structure and motion characteristics of the robot itself. By the Bluetooth 4.0 positioning technology and “ dual encoder and gyroscope” dead reckoning system, we completed the positioning technology research. And the research has achieved sub-meter positioning accuracy of the real-time positioning.This paper illustrates in detail for the realization of the positioning function. Coding and configuring parameter is based on Bluetooth-4.0 standard protocol in the aspect of software. The hardware module of the Bluetooth-4.0 positioning system is designed. The effective method to remove noise and supple losing data of the raw data for Bluetooth-4.0 is introduced. The method to calculate distance and location based on the Bluetooth-4.0 signal is discussed. And the concrete mathematical model was set up. In dead reckoning section, the sensor, which can improve the positioning accuracy of the sweeping robot, is analyzed and selected, and the corresponding recursive algorithm is given. Through the analysis of the principle and characteristics of different combination of fixing, the combination of the Kalman filter is selected. And the specific algorithm of the loosely coupled and tightly combined cases is presented.In this paper, we simulated the real working environment and working condition of the sweeping robot, and carried on the field test to the design of the indoor positioning scheme. By the estimated distance, the location comparing with the real ones, we proved the validity of the proposed method in this paper. In this article, through the combination of the Kalman filtering method, we fixed the information of distance output from Bluetooth-4.0 positioning system and the information of location output from dead reckoning system. And we realized the real-time positioning under the sub-meter positioning accuracy of the sweeping robot in the indoor environment.