基于物联网的智能室内定位送水系统设计  

Design of Intelligent Indoor Positioning Water Supply System Based on Internet of Things

作　　者：胡琦瑶 周和兴 彭先霖 艾娜[1] 齐锦[1] Hu Qiyao;Zhou Hexing;Peng Xianlin;Ai Na;Qi Jin(School of Information Science and Technology,Northwest University,Xi'an 710127,China;Intelligent Interaction and Information Arts Research Center,Northwest University,Xi'an 710127,China)

机构地区：[1]西北大学信息科学与技术学院,西安710127 [2]西北大学智能交互与信息艺术研究中心,西安710127

出　　处：《计算机测量与控制》2020年第2期240-245,共6页Computer Measurement &Control

基　　金：国家自然科学基金资助项目(61903300)

摘　　要：随着物联网技术的发展,机器人已广泛应用于生产和生活之中;自动送水机器人作为一种智能饮水系统,可应用于办公区域、医院、家庭等多种场所,智能化地为人类提供饮水服务;设计了一款智能室内定位送水系统,可以实现水杯定位、转向前行、自动添注水等功能;系统以UP Squared处理器为设计平台,扩展了UWB定位、Zigbee无线传输、陀螺仪、机械臂等功能模块;采用MPU6050模块进行旋转角度感知,PID算法控制机器人旋转;基于电流磁效应和电磁感应定律感知水杯位置;采用超声波模块对出水口上升的高度和水杯中水位进行检测;通过实验测试了系统的定位、方向调整、测距、功耗等多项参数以及送水全过程,结果表明,设计的机器人测量精度为1 cm,静态功率共计5.35 W,动态功率共计13.6 W;系统具有定位准确、转向快速平稳和功耗低等特点,达到实际应用于室内智能定位送水的技术要求。With the development of the Internet of Things technology,robots have been widely used in production and life.As an intelligent drinking water system,the automatic water supply robot can be applied to various places such as office areas,hospitals,homes,etc.,to intelligently provide drinking water services for human beings.An intelligent indoor positioning water supply system is designed,which can realize the functions of cup positioning,steering forward,and automatic water filling.The system uses the UP Squared processor as a design platform,and expands functional modules such as UWB positioning,Zigbee wireless transmission,gyroscope,and robotic arm.The MPU6050 module is used to sense the rotation angle,and the PID algorithm controls the robot s rotation.The current cup position is detected based on the current magnetic effect and the law of electromagnetic induction.The ultrasonic module is used to detect the height of the water outlet and the water level in the cup.Several parameters such as the positioning,direction adjustment,ranging,power consumption,and water delivery process of the system were tested through experiments.The results show that the designed robot has a measurement accuracy of 1 cm,a total static power of 5.35W,and a total dynamic power of 13.6W.The system has the characteristics of accurate positioning,fast and stable steering,and low power consumption,which meets the technical requirements for practical application of indoor intelligent positioning water delivery.

关 键 词：UWB定位 无线通信 PID算法 磁感线圈 

分 类 号：TP391.4[自动化与计算机技术—计算机应用技术]