CN112946690A - Bluetooth-based GPS mobile robot positioning system - Google Patents
Bluetooth-based GPS mobile robot positioning system Download PDFInfo
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- CN112946690A CN112946690A CN202110147026.9A CN202110147026A CN112946690A CN 112946690 A CN112946690 A CN 112946690A CN 202110147026 A CN202110147026 A CN 202110147026A CN 112946690 A CN112946690 A CN 112946690A
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- 230000008569 process Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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Abstract
The invention discloses a Bluetooth-based GPS mobile robot positioning system, which comprises a mobile robot, a Bluetooth module, a GPS module, a controller, a motor driving module, a mobile control end and a display module. The Bluetooth module, the GPS module, the controller, the motor driving module and the display module are respectively arranged on a chassis of the mobile robot; the GPS module is used for positioning the mobile robot and sending positioning information to the controller; the controller sends the positioning information to the mobile control terminal through the Bluetooth module; the mobile control end controls the motor driving module to drive the mobile robot to reach the designated position through the Bluetooth module; the display module is used for displaying the state of the mobile robot. The invention realizes the information of longitude and latitude and corresponding time through the GPS, and the positioning information makes the positioning information unique through the longitude and latitude and the time, and the positioning is accurate; the mobile robot can not lose direction, the later route planning is more convenient, the information interaction is realized through Bluetooth, and the cost is lower.
Description
Technical Field
The invention relates to a control system, in particular to a Bluetooth-based GPS mobile robot positioning system.
Background
Different from the traditional industrial robot (mechanical arm and the like), the mobile robot has a special structural model and an application field, is a mobile intelligent system capable of autonomously moving indoors, outdoors and under complex road conditions, and integrates multiple functions of surrounding environment detection, real-time state planning navigation, motion control and the like. The research content in the field relates to multidisciplinary theories such as image real-time processing, computer vision, sensor technology, automatic control principle, mechanical engineering and the like, and embodies the latest achievements of modern science and artificial intelligence technology.
Nowadays, as research robots are increasingly deep and applied to wider fields, the environment and tasks are more and more complex. In view of the current development, the mobile robot will have wider application in the future.
For example, in the detection field, when data acquisition and detection are performed on dangerous environments or regions which are inconvenient to touch by manpower, a mobile robot positioning system in the prior art is complex and high in cost.
Disclosure of Invention
The present invention is directed to a bluetooth-based GPS mobile robot positioning system that solves one or more of the problems set forth above.
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
a GPS mobile robot positioning system based on Bluetooth comprises a mobile robot, a Bluetooth module, a GPS module, a controller, a motor driving module, a mobile control end and a display module.
The Bluetooth module, the GPS module, the controller, the motor driving module and the display module are respectively arranged on the mobile robot chassis;
the Bluetooth module is used for establishing communication connection between the mobile control terminal and the mobile robot;
the GPS module is used for positioning the mobile robot and sending positioning information to the controller;
the controller sends positioning information to the mobile control terminal through the Bluetooth module;
the mobile control end controls the motor driving module to drive the mobile robot to reach a specified position through the Bluetooth module;
the display module is used for displaying the state of the mobile robot.
Further: the mobile control end is a mobile phone, a tablet personal computer or a notebook computer.
Further: the model number of the motor module is l298n, and the number of the motor driving modules is at least two; each motor driving module correspondingly controls one motor.
Further: the controller is stc89c52 rc.
Further: the Bluetooth module is hc-05.
Further: the GPS is atgm336 h.
Further: the positioning information is longitude and latitude information and the corresponding time information.
Further: the mobile robot comprises a chassis, two motors and four Michelme wheels, wherein each motor correspondingly controls the two Michelme wheels.
Further: the mobile control end controls the mobile robot to do the following motions: forward, backward, left turn in place, right turn in place.
The invention has the technical effects that:
the invention realizes the control of the mobile robot through the Bluetooth, realizes the information of longitude and latitude and corresponding time through the GPS, and makes the positioning information unique through the longitude and latitude and the time, and the positioning is accurate; the mobile robot can not lose direction, the later route planning is more convenient, and the information interaction cost through Bluetooth is lower.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention.
In the drawings:
fig. 1 is a schematic diagram of the control structure of the present invention.
Detailed Description
The present invention will now be described in detail with reference to the drawings and specific embodiments, wherein the exemplary embodiments and descriptions are provided only for the purpose of illustrating the present invention and are not to be construed as unduly limiting the invention.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
A GPS mobile robot positioning system based on Bluetooth comprises a mobile robot, a Bluetooth module, a GPS module, a controller, a motor driving module, a mobile control end and a display module.
The Bluetooth module, the GPS module, the controller, the motor driving module and the display module are respectively arranged on the mobile robot chassis;
the Bluetooth module is used for establishing communication connection between the mobile control terminal and the mobile robot;
the GPS module is used for positioning the mobile robot and sending positioning information to the controller;
the controller sends positioning information to the mobile control terminal through the Bluetooth module;
the mobile control end controls the motor driving module to drive the mobile robot to reach a specified position through the Bluetooth module;
the display module is used for displaying the state of the mobile robot.
In the invention, the communication interaction between the mobile control terminal and the mobile robot is realized through the Bluetooth, the Bluetooth cost is low, and the connection signal is good.
The longitude and latitude are confirmed through a GPS module, and the position information of the mobile robot is unique by matching with the time dimension; the positioning is more accurate, and the positioning device is beneficial to a user to use under the condition of poor environment.
The positioning device is suitable for the mobile robot to be used in the detection field, such as road condition detection or other detection, and is not limited.
In the present invention, the mobile robot may carry any detection and/or transportation components, such as an infrared laser sensor, a camera, a gas detection device, a jack, etc., so that the mobile robot is used in the detection or transportation field, which is not limited herein.
Further: the mobile control end is a mobile phone, a tablet personal computer or a notebook computer. Or other mobile terminals, such as PSP, but not limited thereto.
Further: the model number of the motor module is l298n, and the number of the motor driving modules is at least two; each motor driving module correspondingly controls one motor. The rotating speed of the motor is controlled through pwm duty ratio, the forward and reverse rotation of the motor is controlled to be left and right, the forward and reverse rotation is that signals 01 are exchanged, and one mobile robot needs two motors and four wheels; on the basis, the corresponding number of the control modules and the motors can be increased according to the requirements of movement and the robot.
Further: the controller is stc89c52 rc.
Further: the Bluetooth module is hc-05.
Further: the GPS is atgm336 h.
The models are all models which can be purchased in the market, and the cost is low and the use is convenient in the use process.
Further: the positioning information is longitude and latitude information and the corresponding time information. The positioning information is unique, and the positioning is accurate.
Further: the mobile robot comprises a chassis, two motors and four Michelme wheels, wherein each motor correspondingly controls the two Michelme wheels.
Further: the mobile control end controls the mobile robot to do the following motions: forward, backward, left turn in place, right turn in place.
The mecanum wheels can realize omnibearing movement through coordination, the direction and the speed of each wheel are depended on, the final combination of the forces generates a resultant force vector in any required direction, and therefore the platform can be ensured to move freely in the direction of the final resultant force vector without changing the direction of the wheels.
Example one
As shown in fig. 1, the mobile control terminal in fig. 1 is a mobile phone. A GPS mobile robot positioning system based on Bluetooth comprises a mobile robot, a Bluetooth module, a GPS module, a controller, a motor driving module, a mobile control end and a display module.
The Bluetooth module, the GPS module, the controller, the motor driving module and the display module are respectively arranged on the mobile robot chassis; the mobile robot comprises a chassis, two motors and four Michelme wheels, wherein each motor correspondingly controls the two Michelme wheels.
The Bluetooth module is used for establishing communication connection between the mobile control terminal and the mobile robot; the Bluetooth module is hc-05.
The GPS module is used for positioning of the mobile robot, and the GPS is atgm336 h. The positioning information is longitude and latitude information and the corresponding time information. And transmitting positioning information to the controller; the controller is stc89c52 rc.
The controller sends positioning information to the mobile control terminal through the Bluetooth module; the mobile control end is a mobile phone, and an APP is installed on the mobile phone and used for controlling the mobile robot. The mobile control end controls the mobile robot to do the following motions: forward, backward, left turn in place, right turn in place.
The mobile control end controls the motor driving module to drive the mobile robot to reach a specified position through the Bluetooth module; the model number of the motor module is l298n, and the number of the motor driving modules is at least two; each motor driving module correspondingly controls one motor. The display module is used for displaying the states of the mobile robot, such as position information, electric quantity conditions and the like.
In this embodiment, regard as mobile control end with the cell-phone, use more nimble, only need download specific APP just can realize the use to mobile robot to each mobile robot's user, application range is wider.
Example two
As shown in fig. 1, the mobile control terminal in fig. 1 is a notebook computer. A GPS mobile robot positioning system based on Bluetooth comprises a mobile robot, a Bluetooth module, a GPS module, a controller, a motor driving module, a mobile control end and a display module.
The Bluetooth module, the GPS module, the controller, the motor driving module and the display module are respectively arranged on the mobile robot chassis; the mobile robot comprises a chassis, two motors and four Michelme wheels, wherein each motor correspondingly controls the two Michelme wheels.
The Bluetooth module is used for establishing communication connection between the mobile control terminal and the mobile robot; the Bluetooth module is hc-05.
The GPS module is used for positioning of the mobile robot, and the GPS is atgm336 h. The positioning information is longitude and latitude information and the corresponding time information. And transmitting positioning information to the controller; the controller is stc89c52 rc.
The controller sends positioning information to the mobile control terminal through the Bluetooth module; the mobile control end is an APP installed on a notebook computer and used for controlling the mobile robot. The mobile control end controls the mobile robot to do the following motions: forward, backward, left turn in place, right turn in place.
The mobile control end controls the motor driving module to drive the mobile robot to reach a specified position through the Bluetooth module; the model of the motor module is l298n, and the number of the motor driving modules is two; each motor driving module correspondingly controls one motor. The display module is used for displaying the states of the mobile robot, such as position information, communication conditions, electric quantity conditions and the like.
In this embodiment, the mobile control terminal is a notebook computer; therefore, the use safety can be ensured, the damage of the mobile robot caused by disordered use is avoided, and the responsibility division is convenient.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A GPS mobile robot positioning system based on Bluetooth comprises a mobile robot, a Bluetooth module, a GPS module, a controller, a motor driving module, a mobile control end and a display module;
the method is characterized in that:
the Bluetooth module, the GPS module, the controller, the motor driving module and the display module are respectively arranged on the mobile robot chassis;
the Bluetooth module is used for establishing communication connection between the mobile control terminal and the mobile robot;
the GPS module is used for positioning the mobile robot and sending positioning information to the controller;
the controller sends positioning information to the mobile control terminal through the Bluetooth module;
the mobile control end controls the motor driving module to drive the mobile robot to reach a specified position through the Bluetooth module;
the display module is used for displaying the state of the mobile robot.
2. The bluetooth-based GPS mobile robot positioning system of claim 1, wherein: the mobile control end is a mobile phone, a tablet personal computer or a notebook computer.
3. The bluetooth-based GPS mobile robot positioning system of claim 1, wherein: the model number of the motor module is l298n, and the number of the motor driving modules is at least two; each motor driving module correspondingly controls one motor.
4. The bluetooth-based GPS mobile robot positioning system of claim 1, wherein: the controller is stc89c52 rc.
5. The bluetooth-based GPS mobile robot positioning system of claim 1, wherein: the Bluetooth module is hc-05.
6. The bluetooth-based GPS mobile robot positioning system of claim 1, wherein: the GPS is atgm336 h.
7. The bluetooth-based GPS mobile robot positioning system of claim 1, wherein: the positioning information is longitude and latitude information and the corresponding time information.
8. The bluetooth-based GPS mobile robot positioning system of claim 1, wherein: the mobile robot comprises a chassis, two motors and four Michelme wheels, wherein each motor correspondingly controls the two Michelme wheels.
9. The bluetooth-based GPS mobile robot positioning system of claim 8, wherein: the mobile control end controls the mobile robot to do the following motions: forward, backward, left turn in place, right turn in place.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110147026.9A CN112946690A (en) | 2021-02-03 | 2021-02-03 | Bluetooth-based GPS mobile robot positioning system |
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| CN202110147026.9A CN112946690A (en) | 2021-02-03 | 2021-02-03 | Bluetooth-based GPS mobile robot positioning system |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204229232U (en) * | 2014-12-09 | 2015-03-25 | 上海工程技术大学 | A kind of mobile robot's route control device |
| CN106647745A (en) * | 2016-11-16 | 2017-05-10 | 厦门快商通科技股份有限公司 | Hospital guide robot autonomous navigation system and method based on Bluetooth positioning |
| US20190286122A1 (en) * | 2018-03-19 | 2019-09-19 | Shenzhen Xiluo Robot Co., Ltd. | Method and System for Presenting Trajectory of Robot and Environmental Map |
| CN211478960U (en) * | 2020-03-04 | 2020-09-11 | 中国农业大学 | But remote control's intelligent vehicle |
| CN211468615U (en) * | 2019-12-27 | 2020-09-11 | 辽宁科技学院 | On-site detection intelligent vehicle based on multi-degree-of-freedom bionic mechanical arm |
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- 2021-02-03 CN CN202110147026.9A patent/CN112946690A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204229232U (en) * | 2014-12-09 | 2015-03-25 | 上海工程技术大学 | A kind of mobile robot's route control device |
| CN106647745A (en) * | 2016-11-16 | 2017-05-10 | 厦门快商通科技股份有限公司 | Hospital guide robot autonomous navigation system and method based on Bluetooth positioning |
| US20190286122A1 (en) * | 2018-03-19 | 2019-09-19 | Shenzhen Xiluo Robot Co., Ltd. | Method and System for Presenting Trajectory of Robot and Environmental Map |
| CN211468615U (en) * | 2019-12-27 | 2020-09-11 | 辽宁科技学院 | On-site detection intelligent vehicle based on multi-degree-of-freedom bionic mechanical arm |
| CN211478960U (en) * | 2020-03-04 | 2020-09-11 | 中国农业大学 | But remote control's intelligent vehicle |
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Application publication date: 20210611 |