Indoor Positioning Scheme Of Sweeping Robot Based On Ultrasonic And Track Estimation

The priority is to determine the current position of the sweeping robot in the intelligent cleaning process.In recent years,the indoor positioning of the sweeping robot has also become a hot topic with the increasing demand of it.At present,the laser ranging and visual navigation positioning systems are usually adopted in the indoor positioning of the sweeping robot.The laser ranging is able to locate accurately at the cost of high expense and maintenance fee.The visual navigation positioning system has an extreme high demand for the reference objects,and the positioning accuracy will be seriously reduced if the reference object is too fuzzy.In order to solve the above problems,this paper first analyzes the principle,cost and accuracy of the common indoor positioning schemes.With the target of low cost and high precision,the indoor positioning scheme suitable for the sweeping robot is proposed through comparing the advantages and disadvantages of the positioning schemes such as geometric measurement method,track estimation algorithm and fingerprint matching method.This scheme combines ultrasonic positioning with track estimation,making advantage of and complementing each other.When the environment is complicated and the TOA-based ultrasonic positioning cannot work effectively,the track estimation based on the encoder and the gyroscope is used for indoor positioning.When the ultrasonic positioning is effective,the track estimation result is corrected by ultrasonic positioning,thereby the cumulative error of the track estimation is reduced.In the track estimation,the data of the encoder and the gyroscope are processed by Kalman filter and quaternion analysis to obtain the displacement information of the sweeping robot,and then the coordinates of the current time are obtained according to the coordinates of the sweeping robot at the previous moment;In the ultrasonic positioning,the ultrasonic transmitting end and the receiving end are separately designed,and the node coordinates of the cleaning robot are calculated according to the distance between the cleaning robot and the base station.In order to verify the feasibility of this scheme,the software and hardware test platform of the sweeping robot is built in this laboratory.In the actual test,multiple sets of data were extracted,and the experimental data was analyzed to prove that this fusion positioning system can work for a long time,and the maximum error in the test is 24.7cm,and the hardware cost of the positioning system can be controlled within 100 yuan.