基于VLC的室内移动机器人定位与接入混合技术研究

In multiple operating scenes, it is development trend that manpower will be replaced by indoor mobile robots. Compared to RF class technologies, the localization and wireless access(communication)technology of indoor mobile robot based on VLC（Visible Light Communication）has the advantages of LED lighting infrastructure available, multiple functions, high localization accuracy, no electromagnetic interference and etc. The research group has achieved initial results in VLC communication and localization. 50Mbps bit rate of multi-user access to the Internet and localization demo based on VLC RSS algorithm were realized. In robot's static state, the localization accuracy reaches up to 35cm. For indoor mobile robot, in order to achieve higher localization accuracy and precision, and realize the fusion of VLC localization and communication functions, three reseach contents will be prepared to carry out, including the research of VLC high localization accuracy and precision algorithm, the research of handover project and algorithm, and the research of heterogeneous fusion of localization and communication functions. The key technical specifications includes: localization accuracy up to 1cm(movement speed ≤ 1cm), wrong handover rate less than 5%, localization delay < 0.01s and network throughput > 80%. VLC localization and access(communication) technology is important means to improve fine operational capability, intelligent level and collaboration of indoor mobile robot. The technology is expected to have a broad application prospects.

室内移动机器人在多个作业场景代替人力是发展趋势，基于可见光通信（VLC）的室内移动机器人定位和无线接入（通信）技术相比射频类技术具有可利用LED照明基础设施、兼具多种功能、定位精度高、无电磁干扰等优点。课题组已在VLC通信和定位的研究工作取得了阶段性成果，实现了多点用户的50Mbps比特率接入互联网；基于VLC RSS算法实现了定位样机，机器人静止时，定位精度达到35cm。 针对室内移动机器人，为达到更高定位准确度，实现VLC定位和通信功能的融合，拟开展VLC高精度和高准确度定位及算法研究、小区切换方案及算法研究、定位和通信功能的异构融合研究。拟达到的关键技术指标为：1cm的定位精度（移动速度≤1m/s），小区错误切换率＜5%，定位延迟＜0.01s，网络吞吐量＞80%。 VLC定位和接入（通信）技术作为提高室内移动机器人精细作业能力、智能化水平及多机器人协作的重要手段，预期有广阔应用前景。

室内移动机器人在多个作业场景代替人力是发展趋势，基于可见光通信（VLC）的室内移动机器人定位和无线接入（通信）技术相比射频类技术具有可利用LED照明基础设施、兼具多种功能、定位精度高、无电磁干扰等优点。课题组已在VLC通信和定位的研究工作取得了阶段性成果，实现了多点用户的50Mbps比特率接入互联网；在本项目中，我们提出一种针对移动机器人的基于频率ID，采用多盏LED 定位的VLC TDOA方案，并分析了可见光信道多径效应和噪声干扰对定位精度的影响； 创新的提出了一种新型的可见光通信定向天线系统的设计方案，并进行了硬件设计；随后对整个机器人高精度定位系统的框架进行了搭建，定位系统主要包括信标灯、机器人、寻光云台和上位机软件四个部分；最后，提出了一种均衡通信速度和通信距离的小区切换算法，与传统的基于信号接收强度的RSS切换算法相比，减少了切换次数，保证了系统吞吐量的稳定。