Design And Realization Of Intelligent Patrol Robot Based On UWB

Since the beginning of this century,the demand for security automation has become increasingly urgent because of the continuous expansion of the number and scale of airports,supermarkets,large warehousing and smart factories with the rapid growth of the national economy.At present,however,the main solutions are human patrol and monitoring.Faced with the complex environment of people and logistics,these solutions cannot meet the actual needs generally.Therefore,a better solution is a combined patrol robot with autonomous cognitive decision-making capabilities and executive capabilities,which can scheduledly patrol and monitoring continuously.So,it is of great importance for us to study a smart patrol robot with positioning function.This paper systematically studies the patrol robot with indoor positioning function,and completes the system design of UWB-based intelligent patrol robot.The motion control principle of the robot is analyzed,and the kinematics model of the four-wheel drive differential steering robot is established.The STM32F103 chip is used as the main control core,and magnetic navigation and ultrasonic technology are used for accurate path planning and obstacle avoidance.The WiFi technology is used to transmit monitoring information to the upper computer for real-time patrol monitoring.In view of the poor ability of traditional technology to sense complex environments,this study designed a multi-sensor acquisition terminal,including temperature and humidity sensors,smoke gas sensors,PM2.5 sensors,researched and analyzed the latest IoT chip module ESP8266,which connects to and transmits data to the OneNet cloud platform successfully with TCP and HTTP protocols,and designed a UI interface to monitor environmental information in real time.In-depth research on indoor positioning technology,this paper proposes the use of UWB(Ultra Wide Band)technology for robot positioning.The TDOA algorithm is used to perform the positioning and theoretical derivation..A UWB positioning system with four base stations and two tags is designed.The TW-TOF ranging algorithm is derived by research and analysis.The system uses the DWM1000 module to achieve end-to-end distance measurement,Transfer the ranging data to the host computer through the CP2102.After receiving the data,the upper computer uses the TDOA positioning model to analyze and display the label position,and then we can manage and configure the base station and the tag through it.Then EKF(extended kalman)filtering algorithm is used for filtering,error suppression and positioning error reduction.After experiments,the system has high stability,reliability and high precision positioning.