CN106142086A - The Work robot locating and tracking system of a kind of radio multimedia sensor network fusion and method - Google Patents
The Work robot locating and tracking system of a kind of radio multimedia sensor network fusion and method Download PDFInfo
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- CN106142086A CN106142086A CN201610635598.0A CN201610635598A CN106142086A CN 106142086 A CN106142086 A CN 106142086A CN 201610635598 A CN201610635598 A CN 201610635598A CN 106142086 A CN106142086 A CN 106142086A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
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Abstract
nullThe invention discloses a kind of Work robot locating and tracking system and the method that radio multimedia sensor network merges，Including thermal imaging monitoring device、Automatic rotating base、Temperature sensor、Aggregation node、Height sensor、Wireless gateway node and data processing unit，The height value of the data of aggregation node transmission temperature sensor and the real-time measuring robots of height sensor is to wireless gateway node，Thermal imaging member obtains the temperature hologram of Work robot electric cabinet，Wireless gateway node is by temperature parameter、Height parameter、The reference coordinate value of thermal imaging monitoring device、The horizontal and vertical angle of automatic rotating base，Morphological feature in conjunction with the hot spot region extracting from temperature hologram is transferred to data processing unit，Obtain the three-dimensional coordinate of Work robot to the Data Fusion of Sensor refinement of many groups，Can be used in the real time dynamic tracing positioning of Work robot under the environment such as factory building or warehouse.The present invention is practical, safe and reliable, installs and easy to operate.
Description
Technical field
The present invention relates to a kind of Work robot localization method, be specifically related to the work that a kind of radio multimedia sensor network merges
Industry robot localization follows the tracks of system and method.
Background technology
With developing rapidly of computer technology, sensor-based network technology and artificial intelligence so that robot is by widely
Apply at industry monitoring and automation field, as in space flight and aviation, medical treatment auxiliary, Smart Home and danger souding etc. all
Work robot is needed to complete specific task.Therefore, to first have to perception self residing when the task of execution for Work robot
Position and with the relative position between other actuators and peripheral obstacle, even robot autonomous when multi-robot Cooperation
Location technology, as key technology, can move to corresponding position according to the functional requirement setting with best route for Work robot
Offer technical support is provided.Currently, researcher mainly use odometer positioning, vision positioning, laser positioning, inertial navigation and
Wireless sense networks etc. carry out locating and tracking to Work robot.
Work robot odometer is located through the rotation circle that the rotary encoder being arranged on wheel carrys out robot measurement
Number, is calculated the range ability of Work robot, but when path bending, wheel slip and long boat, operation easily produces tired
Count error and affect positioning performance；Work robot vision positioning is based primarily upon monocular or multi-vision visual obtains consecutive image sequence
Row, are fulfiled assignment Robot visual location by images match, feature extraction to location estimation, but the change of uneven illumination, image
Shape and high-speed mobile etc. bring error to vision positioning calculation；The laser of transmitter is mainly measured in Work robot laser positioning
And the time difference between robotic surface reflection laser obtains distance, and laser positioning has good directivity and monochromaticjty
On the basis of easily covered by barrier and lost efficacy；Work robot inertial navigation method is based primarily upon the inertia of moving target, by three
Axle acceleration and three-axis gyroscope obtain the inertia parameters such as the attitude of robot, speed and position, are capable of dynamic synchronization
Position and attitude output, but there are cumulative errors at present in long boat；The main employing portion of Work robot wireless sense network positioning
Affix one's name to the signal strength signal intensity instruction between the radio node in space, arrival time, arrival time difference and angle of arrival, calculated by positioning
Method realizes Work robot Distributed localization in monitoring space, but wireless signal be vulnerable to the interference of ambient noise and in office
There is location of mistake in region in portion.
In sum, there is positioning blind area or accumulated error etc. and lack in the localization method positioning inaccuracy of Work robot
Point, it is impossible to meet the positioning requirements of Work robot under complex environment.Therefore, most of Work robots use a kind of biography incessantly
Sensor, can carry out the combination of different sensors to carry out Work robot positioning.Single alignment system set multisensor number
According to being naturally larger than the simple superposition of any kind single-sensor information.
Content of the invention
In order to solve in prior art, present in Work robot localization method, position error is big and cannot meet complexity
The problems such as the requirement of environment, the present invention propose a kind of radio multimedia sensor network merge Work robot locating and tracking system and
Method.
Realizing above-mentioned technical purpose, reaching above-mentioned technique effect, the present invention is achieved through the following technical solutions:
The Work robot locating and tracking system that a kind of radio multimedia sensor network merges, including organize thermal imaging monitoring dress more
Put, multiple temperature sensor, height sensor, aggregation node and data processing unit, the plurality of thermal imaging monitoring device is equal
Including thermal imaging member, the automatic rotating base being connected with thermal imaging member, wireless gateway node；The plurality of temperature sensor
It is all connected with the input of aggregation node with the output of height sensor；The input of described wireless gateway node saves with converging
Point be connected, its data transmission terminal is connected with thermal imaging member, its output respectively with automatic rotating base and data processing unit
It is connected；Described many group thermal imaging monitoring devices are all deployed in positioning region, and the plurality of temperature sensor is all deployed in operation
Around electric cabinet in robot, described height sensor is arranged on Work robot fuselage.
Described height sensor is used for real-time monitoring results robot, and aggregation node obtains height sensor output
Work robot height value is simultaneously transferred to each wireless gateway node, and each wireless gateway node carries out newton to the height value receiving
Iteration coordinate transform, and by the reference coordinate value, automatically through the height value of Newton iteration coordinate transform, thermal imaging monitoring device
The horizontal and vertical angle of rotating base is transferred to data processing unit.
Described aggregation node obtains the temperature sensitive factor of the electric cabinet characteristic point of each temperature sensor output, and by them
It is transferred to wireless gateway node；Each thermal imaging member described is for obtaining the temperature hologram of Work robot electric cabinet；Institute
The temperature of the electric cabinet characteristic point stating the temperature hologram of wireless gateway node reception electric cabinet, the output of each temperature sensor is quick
The sense factor, and the boundary temperature of hot spot region in temperature hologram is determined according to the temperature sensitive factor self adaptation receiving, right
Temperature hologram carries out image segmentation and determines hot spot region, extracts the morphological feature of hot spot region, finally by the shape of hot spot region
State feature is transferred to data processing unit.
Described data processing unit organizes Work robot under thermal imaging monitoring device to single respectively according to the data receiving
Position resolve, carry out storage simultaneously to robot real time position and set up robot position data storehouse, finally with spatially
Reason geometry span is that constraint function carries out organizing Co-factor propagation refinement more, obtains the physical location of Work robot.
The Work robot positioning and tracing method that a kind of radio multimedia sensor network merges, comprises the following steps:
Step one: aggregation node obtains the multiple electric cabinet characteristic points around the electric cabinet being arranged on Work robot
Temperature sensitive factor；Obtain the height value of Work robot simultaneously；
Step 2: aggregation node broadcasts temperature sensitive factor and the working rig of electric cabinet characteristic point to each wireless gateway node
The height value of device people；
Step 3: using the electric cabinet of Work robot as object of observation, the control of each wireless gateway node rotates at the end automatically
Seat, utilizes automatic rotating base to go to adjust each thermal imaging member horizontal and vertical angle, to Work robot electric cabinet in real time
Carry out real-time tracking；The height value of the Work robot to the height sensor output receiving for each wireless gateway node carries out ox
Iteration coordinate transform, and by through the height value of Newton iteration coordinate transform, thermal imaging monitoring device reference coordinate value, from
The horizontal and vertical angle of dynamic rotating base is transferred to data processing unit；
Step 4: each thermal imaging member obtains the temperature hologram of Work robot electric cabinet, and is transferred to each wireless network
Artis；Each wireless gateway node is according to the temperature sensitive factor of the electric cabinet characteristic point receiving and temperature hologram, adaptive
Should determine that the boundary temperature of hot spot region in temperature hologram, carry out image segmentation to temperature hologram and determine hot spot region, carry
Take the morphological feature of hot spot region, finally the morphological feature of hot spot region is transferred to data processing unit；
Step 5: utilize data processing unit according to the data receiving to work machine under single group thermal imaging monitoring device
The position of people resolves, and carries out storage to robot real time position simultaneously and sets up robot position data storehouse, finally with space
Geographical geometry span is that constraint function carries out organizing Co-factor propagation refinement more, obtains the physical location of Work robot.
The temperature sensitive factor of the plurality of electric cabinet characteristic point is respectively by the multiple temperature being all deployed in around electric cabinet
Sensor collects；The height of described Work robot is gathered by the height sensor being arranged on Work robot fuselage
Arrive；Described aggregation node is arranged on Work robot fuselage.
Described thermal imaging monitoring device is many group thermal imaging monitoring devices, includes thermal imaging member and thermal imaging list respectively
The connected automatic rotating base of unit, wireless gateway node, and how group thermal imaging monitoring device is all deployed in positioning region.
Beneficial effects of the present invention:
Thermal imaging is combined by the present invention with radio multimedia sensor network cooperation technology, can be used in Work robot
The monitoring of position；The method of the present invention is practical, safe and reliable, installs and easy to operate.
Electric cabinet in Work robot is monitored by the present invention initially with thermal imaging member, can show work intuitively
The temperature field on electric cabinet surface in industry robot, has not by the feature that illumination, electromagnetic interference and environmental suitability are strong；With
When, temperature sensor is arranged on the surrounding of electric cabinet in Work robot, can overcome the thermal imaging member angle of visual field narrower with
And the problem that Work robot fuselage cannot obtain more greatly complete temperature pattern；Secondly, temperature sensor and height sensor sense
The parameter known passes to wireless gateway node by aggregation node, and wireless gateway node self adaptation arranges hot zone in temperature pattern
The boundary temperature in territory；Finally, the Multi-dimensional constraint existing in geometry location space based on Work robot improves Work robot
Position calculation accuracy.
The present invention is without considering radio frequency signal damped expoential size and radio channel model, and environmental suitability is strong, no
Affected by electromagnetic wave, illumination etc., carry out data resolving with temperature pattern information and obtain positioning information, there is stable precision.
Brief description
Fig. 1 is that the multimedia sensing network of the present invention merges the overall theory diagram of lower Work robot locating and tracking.
Fig. 2 is that the multimedia sensing network of the present invention merges lower Work robot positioning apparatus system schematic diagram.
Fig. 3 is that the multimedia sensing network of the present invention merges lower Work robot positioning calculation Method And Principle figure
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with embodiment, to the present invention
It is further elaborated.It should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not used to
Limit the present invention.
Below in conjunction with the accompanying drawings the application principle of the present invention is explained in detail.
As Figure 1-3, the Work robot locating and tracking system that a kind of radio multimedia sensor network merges, including many groups
Thermal imaging monitoring device the 2nd, multiple temperature sensors the 4th, height sensor the 5th, aggregation node 6 and data processing unit 9, the plurality of
Thermal imaging monitoring device 2 all includes automatic rotating base the 8th, the wireless network joint that the 3rd, thermal imaging member is connected with thermal imaging member 3
Point 7；The plurality of temperature sensor 4 is all connected with the input of aggregation node 6 with the output of height sensor 5；Described nothing
The input of gauze artis 7 is connected with aggregation node 6, and its data transmission terminal is connected with thermal imaging member 3, and its output is respectively
It is connected with thermal imaging member 3 and data processing unit 9；Described many group thermal imaging monitoring devices 2 are all deployed in positioning region, institute
State multiple temperature sensor 4 to be all deployed in around the thermally sensitive electric cabinet on Work robot 1, described height sensor
5 are arranged on Work robot 1 fuselage.
Described height sensor 5 is for real-time monitoring results robot 1 height, and it is defeated that aggregation node 6 obtains height sensor 5
The Work robot height value that goes out simultaneously is transferred to each wireless gateway node 7, and the height value receiving is entered by each wireless gateway node
Row Newton iteration coordinate transform, and by through the height value of Newton iteration coordinate transform, the reference coordinate of thermal imaging monitoring device 2
Value, the horizontal and vertical angle of automatic rotating base are transferred to data processing unit 9.
Described aggregation node 6 obtains Work robot 1 height value of height sensor 5 output, each temperature sensor 4 exports
The temperature sensitive factor of electric cabinet characteristic point, and transmit them to wireless gateway node 7；Each thermal imaging member 3 described
For obtaining the temperature hologram of Work robot electric cabinet；Described wireless gateway node 7 receive electric cabinet temperature hologram,
The temperature sensitive factor of the electric cabinet characteristic point of the output of each temperature sensor 4, height sensor 5 output operation robot 1 are high
Angle value, wireless gateway node 7 determines the limit of hot spot region in temperature hologram according to the temperature sensitive factor self adaptation receiving
Boundary's temperature, carries out image segmentation and determines hot spot region, extract the morphological feature of hot spot region, finally by focus to temperature hologram
The morphological feature in region is transferred to data processing unit 9.Owing to Work robot 1 electric cabinet temperature distributing characteristic has space
Difference, can be obtained the temperature sensitive factor of electric cabinet characteristic point by being deployed in the temperature sensor 4 of electric cabinet diverse location,
Obtain the boundary temperature of temperature hologram hot spot region finally by temperature sensitive factor, therefore, in the present invention, at electricity
The temperature sensor 4 that control case surrounding is arranged, different its temperature of electric cabinet position is different, therefore it is considered that in difference
Position is by temperature sensitive factor that the temperature value that temperature sensor 4 obtains is exactly this electric cabinet characteristic point；In addition, described nothing
Gauze artis 7 determines the boundary temperature of hot spot region in temperature hologram according to the temperature sensitive factor self adaptation receiving,
Particularly as follows: due to the temperature sensitive factor being able to receive that multiple electric cabinet characteristic point, can be depicted entirely by these values
The temperature value of electric cabinet, temperature value region the highest is hot spot region, and can be drawn by the temperature value of electric cabinet regional
Dividing which block to be the higher hot spot region of temperature, which block is the relatively low borderline region of temperature, thus realizes the heat to temperature hologram
Point region carries out image segmentation.
Described data processing unit 9 is obtained in that temperature sensor the 4th, height sensor 5 and thermal imaging member 3 etc. export
Parameter, belong to multiple sensors measurement different physical quantities be referred to as multi-source heterogeneous data, based on multi-source heterogeneous data at single group
Under thermal imaging device resolving the position of Work robot 1, real-time storage robot location sets up robot location simultaneously
More database, finally carry out organizing Co-factor propagation refinement for constraint function with space and geographical geometry span, obtain Work robot
Physical location.
Work robot 1 positioning and tracing method that a kind of radio multimedia sensor network merges, comprises the following steps:
Step one: aggregation node 6 obtains the multiple electric cabinet characteristics around the electric cabinet being arranged on Work robot 1
The temperature sensitive factor of point；Obtain the height value of Work robot 1 simultaneously；
Step 2: aggregation node 6 broadcasts temperature sensitive factor and the operation of electric cabinet characteristic point to each wireless gateway node 7
The height value of robot 1；
Step 3: using the electric cabinet of Work robot as object of observation, each wireless gateway node 7 controls and automatically rotates at the end
Seat 8, utilizes automatic rotating base 8 to go to adjust each thermal imaging member 3 horizontal and vertical angle in real time, automatically controlled to Work robot
Case carries out real-time tracking；The height value of the Work robot to the height sensor output receiving for each wireless gateway node 7 enters
Row Newton iteration coordinate transform, and by through the height value of Newton iteration coordinate transform, the reference coordinate of thermal imaging monitoring device 2
Value, the horizontal and vertical angle of automatic rotating base are transferred to data processing unit 9；
Step 4: each thermal imaging member 3 obtains the temperature hologram of Work robot electric cabinet, and is transferred to each wireless network
Artis 7；Each wireless gateway node 7 according to the temperature sensitive factor of the electric cabinet characteristic point receiving and temperature hologram, from
Adapt to determine the boundary temperature of hot spot region in temperature hologram, carry out image segmentation to temperature hologram and determine hot spot region,
Extract the morphological feature of hot spot region, finally the morphological feature of hot spot region is transferred to data processing unit 9；
Step 5: utilize data processing unit according to the multi-source heterogeneous data collecting under single group thermal imaging monitoring device
The position of Work robot resolves, and carries out storage simultaneously to robot real time position and sets up robot position data storehouse, so
After last again carry out organizing Co-factor propagation refinement with space and geographical geometry span for constraint function more, obtain the reality of Work robot
Position.
The temperature sensitive factor of the plurality of electric cabinet characteristic point is respectively by the multiple temperature being all deployed in around electric cabinet
Sensor 4 collects；The height of described Work robot 1 is adopted by the height sensor 5 being arranged on Work robot 1 fuselage
Collection obtains；Described aggregation node 6 is arranged on Work robot 1 fuselage.
Described thermal imaging monitoring device 2 is many group thermal imaging monitoring devices 2, includes thermal imaging member 3 and thermal imaging respectively
Thermal imaging member the 3rd, wireless gateway node 7 that unit 3 is connected, and be all deployed in positioning region.
Embodiment one
Work robot 1 moves in the space such as factory building or warehouse, affixes one's name to multiple thermal imaging prison at positioning intra-zone
Survey device 2, around the electric cabinet on Work robot fuselage, dispose multiple temperature sensor 4, use height sensor 5 to monitor
Temperature data and altitude information are broadcast to wireless gateway node 7 by aggregation node 6 by the real-time height of Work robot, and
Control automatic rotating base 8 to regulate the angle of thermal imaging member 3, under geographical geometrical constraint, quickly calculate Work robot
Three-dimensional coordinate position, with the movement of Work robot, be capable of the stable output at whole position in space.
Work robot locating and tracking system includes that organize thermal imaging monitoring device the 2nd, multiple temperature sensors the 4th, height passes more
Sensor the 5th, aggregation node 6 and data processing unit 9, each group thermal imaging monitoring device 2 includes thermal imaging member the 3rd, wireless network joint
Point 7 and thermal imaging member 3, be all deployed in thermal imaging monitoring device 2 in located space；Temperature sensor 4 is arranged in work
Industry robot fuselage thermally sensitive electric cabinet surrounding, aggregation node 6 is responsible for collecting the real time temperature that temperature sensor 4 obtains
The real-time height value that value and height sensor 5 obtain；Wireless gateway node 7 is responsible for collection and the process of many sensing datas, in profit
While obtaining the Work robot height of temperature data and height sensor 5 perception with aggregation node 6, by control automatic rotary
Turn base 8 to adjust the horizontal and vertical angle of thermal imaging member 3；Thermal imaging monitoring device 2 passes through wireless gateway node 7 from group
Net constitutes multimedia sensing network, and by wire cable, the multi-source hybrid parameter of collection is transferred to data processing unit 9, Sui Zhezuo
The movement of industry robot, completes the locating and tracking of Work robot in whole located space.
The Work robot locating and tracking system of a kind of radio multimedia sensor network fusion and method, Work robot positions
Method is:
1) Work robot fuselage generally cannot completely obtain image, in order to overcome thermal imaging image unit visual field relatively greatly
Angle is narrower, using Work robot shape facility substantially, the less electric cabinet of build as object of observation, thermal imaging member 3 every
Certain time gathers the temperature of one-stop operation robot electric cabinet, and is hot spot region by the electric cabinet temperature hologram of acquisition
It is identified；Meanwhile, the temperature aggregation node 6 real-time perception Work robot electric cabinet internal temperature sensitive factor, and by heat
Wireless gateway node 7 in imaging monitoring apparatus 2 is transferred to data processing unit 9；By temperature sensitive factor at multimedia sensing
Net is broadcasted, is simultaneously based on temperature sensitive factor self adaptation and the boundary temperature of hot spot region in temperature hologram is set, solve
The problem that certainly infrared image contrast is low and resolve minutiae is less able；
2) the Work robot locating and tracking stage, wireless gateway node 7 according to temperature sensor 4 obtain temperature sensitive because of
Son, carries out splitting and extracting morphological feature to temperature hologram, and wireless gateway node 7 controls automatic rotating base 8 to adjust heat
The angle of image-generating unit 3, carries out real-time tracking to Work robot electric cabinet；Meanwhile, height sensor 5 is used to detect work in real time
The elevation information of industry robot, wireless gateway node 7 carries out coordinate transform to it；Then, wireless gateway node 7 is obtained this group
The hot spot region of thermal imaging member 3 and temperature profile information, in conjunction with reference coordinate and the thermal imaging of thermal imaging monitoring device 2
The horizontal and vertical angle of unit 3, uploads to data processing unit 9；
3) data processing unit 9 converges each group of thermal imaging member 3 and obtains hot spot region and focus information from objective pattern, positioning
Focus center, i.e. Work robot electric cabinet center, in conjunction with thermal imaging monitoring device 2 reference coordinate, thermal imaging member 3 water
Angle in flat, vertical direction, calculates the Work robot that this group thermal imaging monitoring device 2 records relative to position, at data
Reason unit 9, according to 3 groups and above resolving information, carries out Work robot three-dimensional coordinate position and merges resolving, draw working rig
The accurate locus of device people, is stored in related data in image library simultaneously.Owing to located space Work robot exists position
Constraint, located space there is also the constraint of height and distance to each other simultaneously, it is possible to increase Work robot position calculation accuracy.
The general principle of the present invention and principal character and advantages of the present invention have more than been shown and described.The technology of the industry
Personnel are it should be appreciated that the present invention is not restricted to the described embodiments, and the simply explanation described in above-described embodiment and specification is originally
The principle of invention, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, and these become
Change and improvement both falls within scope of the claimed invention.Claimed scope by appending claims and
Equivalent defines.
Claims (7)
1. the Work robot locating and tracking system that a radio multimedia sensor network merges, it is characterised in that: include organizing heat more
Imaging monitoring apparatus, multiple temperature sensor, height sensor, aggregation node and data processing unit, the plurality of thermal imaging
Monitoring device all includes thermal imaging member, the automatic rotating base being connected with thermal imaging member, wireless gateway node；The plurality of
Temperature sensor is all connected with the input of aggregation node with the output of height sensor；The input of described wireless gateway node
End be connected with aggregation node, its data transmission terminal is connected with thermal imaging member, its output respectively with automatic rotating base sum
It is connected according to processing unit；Described many group thermal imaging monitoring devices are all deployed in positioning region, and the plurality of temperature sensor is equal
Being deployed in around the electric cabinet on Work robot, described height sensor is arranged on Work robot fuselage.
2. the Work robot locating and tracking system that a kind of radio multimedia sensor network according to claim 1 merges, its
It is characterised by: described height sensor is for the height of real-time monitoring results robot, and it is defeated that aggregation node obtains height sensor
The Work robot height value that goes out simultaneously is transferred to each wireless gateway node, and the height value receiving is carried out by each wireless gateway node
Newton iteration coordinate transform, and by through the height value of Newton iteration coordinate transform, thermal imaging monitoring device reference coordinate value,
The horizontal and vertical angle of automatic rotating base is transferred to data processing unit.
3. the Work robot locating and tracking system that a kind of radio multimedia sensor network according to claim 2 merges, its
It is characterised by: described aggregation node obtains the temperature sensitive factor of the electric cabinet characteristic point of each temperature sensor output, and by it
Be transferred to wireless gateway node；Each thermal imaging member described is for obtaining the temperature hologram of Work robot electric cabinet；
Described wireless gateway node receives the temperature of the electric cabinet characteristic point of the output of the temperature hologram of electric cabinet, each temperature sensor
Sensitive factor, and the boundary temperature of hot spot region in temperature hologram is determined according to the temperature sensitive factor self adaptation receiving,
Carry out image segmentation to temperature hologram and determine hot spot region, extract the morphological feature of hot spot region, finally by hot spot region
Morphological feature is transferred to data processing unit.
4. the Work robot locating and tracking system that a kind of radio multimedia sensor network according to claim 3 merges, its
It is characterised by: described data processing unit organizes Work robot under thermal imaging monitoring device to single respectively according to the data receiving
Position resolve, carry out storage simultaneously to robot real time position and set up robot position data storehouse, finally with spatially
Reason geometry span is that constraint function carries out organizing Co-factor propagation refinement more, obtains the physical location of Work robot.
5. the Work robot positioning and tracing method that a radio multimedia sensor network merges, it is characterised in that include following step
Rapid:
Step one: aggregation node obtains the temperature of the multiple electric cabinet characteristic points around the electric cabinet being arranged on Work robot
Degree sensitive factor；Obtain the height value of Work robot simultaneously；
Step 2: aggregation node broadcasts temperature sensitive factor and the Work robot of electric cabinet characteristic point to each wireless gateway node
Height value；
Step 3: using the electric cabinet of Work robot as object of observation, the automatic rotating base of each wireless gateway node control, real
The automatic rotating base of Shi Liyong goes to adjust each thermal imaging member horizontal and vertical angle, carries out reality to Work robot electric cabinet
When follow the tracks of；The height value of the Work robot to the height sensor output receiving for each wireless gateway node carries out Newton iteration
Coordinate transform, and by through the height value of Newton iteration coordinate transform, thermal imaging monitoring device reference coordinate value, automatically rotate
The horizontal and vertical angle of base is transferred to data processing unit；
Step 4: each thermal imaging member obtains the temperature hologram of Work robot electric cabinet, and is transferred to each wireless network joint
Point；Each wireless gateway node is according to the temperature sensitive factor of the electric cabinet characteristic point receiving and temperature hologram, and self adaptation is true
The boundary temperature of hot spot region in fixed temperature hologram, carries out image segmentation and determines hot spot region, extract heat to temperature hologram
The morphological feature of hot spot region is finally transferred to data processing unit by the morphological feature in some region；
Step 5: utilize data processing unit according to the data receiving to Work robot under single group thermal imaging monitoring device
Position resolves, and carries out storage to Work robot real time position simultaneously and sets up robot position data storehouse, finally with space
Geographical geometry span is that constraint function carries out organizing Co-factor propagation refinement more, obtains the physical location of Work robot.
6. the Work robot positioning and tracing method that radio multimedia sensor network according to claim 5 merges, its feature
It is: the temperature sensitive factor of the plurality of electric cabinet characteristic point is respectively by the multiple TEMPs being all deployed in around electric cabinet
Device collects；The height value of described Work robot is gathered by the height sensor being arranged on Work robot fuselage
Arrive；Described aggregation node is arranged on Work robot fuselage.
7. the Work robot positioning and tracing method that the radio multimedia sensor network according to claim 5 or 6 merges, it is special
Levy and be: described thermal imaging monitoring device is many group thermal imaging monitoring devices, includes thermal imaging member and thermal imaging member respectively
The automatic rotating base that is connected, wireless gateway node, and many group thermal imaging monitoring devices are all deployed in positioning region.
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| CN1945351B (en) * | 2006-10-21 | 2010-06-02 | 中国科学院合肥物质科学研究院 | Robot navigation positioning system and navigation positioning method |
| CN101304386B (en) * | 2008-06-13 | 2010-09-01 | 南京邮电大学 | Data transmission collaboration processing method for multimedia sensor network |
| CN100566409C (en) * | 2008-06-13 | 2009-12-02 | 南京邮电大学 | The implementation method of wireless multimedia sensor node apparatus |
| CN101590644B (en) * | 2009-06-23 | 2011-06-08 | 东南大学 | Node device of wireless mobile sensor network |
| CN101854653B (en) * | 2010-05-21 | 2012-08-15 | 南京邮电大学 | Target tracking method for wireless multimedia sensor network |
| CN202586115U (en) * | 2012-04-11 | 2012-12-05 | 中国农业大学 | Thermal image temperature measuring and fault location inspection robot system |
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