CN106142086B - A kind of the Work robot locating and tracking system and method for radio multimedia sensor network fusion - Google Patents
A kind of the Work robot locating and tracking system and method for radio multimedia sensor network fusion Download PDFInfo
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- CN106142086B CN106142086B CN201610635598.0A CN201610635598A CN106142086B CN 106142086 B CN106142086 B CN 106142086B CN 201610635598 A CN201610635598 A CN 201610635598A CN 106142086 B CN106142086 B CN 106142086B
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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
Abstract
The invention discloses the Work robot locating and tracking systems and method of a kind of fusion of radio multimedia sensor network,Including thermal imaging monitoring device,Automatic rotating base,Temperature sensor,Aggregation node,Height sensor,Wireless gateway node and data processing unit,The data and height sensor of aggregation node transmission temperature sensor detect the height value of robot to wireless gateway node in real time,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,Data processing unit is transferred to reference to from the morphological feature for the hot spot region that temperature hologram extracts,The three-dimensional coordinate of Work robot is obtained to multigroup Data Fusion of Sensor refinement,It can be used in the real time dynamic tracing positioning of Work robot under the environment such as workshop or warehouse.The present invention is highly practical, safe and reliable, installs and easy to operate.
Description
Technical field
The present invention relates to a kind of Work robot localization methods, and in particular to a kind of work of radio multimedia sensor network fusion
Industry robot localization tracking system and method.
Background technology
With the rapid development of computer technology, sensor-based network technology and artificial intelligence so that robot is by widely
It applies in industry monitoring and automation field, such as equal in space flight and aviation, medical treatment auxiliary, smart home and danger souding
Work robot is needed to complete specific task.Therefore, Work robot first has to perceive residing for itself in the task of execution
Position and relative position between other actuators and peripheral obstacle in addition in multi-robot Cooperation it is robot autonomous
Location technology can be that Work robot is moved to corresponding position according to the functional requirement of setting with best route as key technology
Offer technical support is provided.Currently, researcher mainly using odometer positioning, vision positioning, laser positioning, inertial navigation and
Wireless sense network etc. carries out locating and tracking to Work robot.
The rotary encoder that Work robot odometer is located through on wheel carrys out the rotation circle of robot measurement
The range ability of Work robot is calculated in number, but easily generation is tired for path bending, wheel slip and the operation of long endurance
It counts error and influences 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 resolving；Work robot laser positioning mainly measures the laser of transmitter
Time difference between robotic surface reflection laser obtains distance, and laser positioning is with good directivity and monochromaticjty
On the basis of easily by barrier cover and fail；Work robot inertial navigation method is based primarily upon the inertia of moving target, passes through three
Axle acceleration and three-axis gyroscope obtain the inertia parameter such as posture, speed and position of robot, can realize dynamic synchronization
Position and posture output, but there are cumulative errors under long endurance；The positioning of Work robot wireless sense network mainly uses portion
Signal strength instruction, arrival time, reaching time-difference and the angle of arrival between the radio node in space are affixed one's name to, is calculated by positioning
Method realize Work robot monitoring space in Distributed localization, but wireless signal be vulnerable to the interference of ambient noise and in office
There is location of mistake in region in portion.
In conclusion the localization method positioning of Work robot is inaccurate, there is positioning blind area or accumulated error etc. and lack
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.
Invention content
It is big and complexity can not be met in order to solve position error present in Work robot localization method in the prior art
The problems such as requirement of environment, the present invention propose a kind of fusion of radio multimedia sensor network Work robot locating and tracking system and
Method.
It realizes above-mentioned technical purpose, reaches above-mentioned technique effect, the invention is realized by the following technical scheme：
A kind of Work robot locating and tracking system of radio multimedia sensor network fusion, monitors including multigroup thermal imaging and fills
Put, multiple temperature sensors, height sensor, aggregation node and data processing unit, multigroup thermal imaging monitoring device it is equal
Automatic rotating base, the wireless gateway node being connected including thermal imaging member, with thermal imaging member；The multiple temperature sensor
It is connected with the output terminal of height sensor with the input terminal of aggregation node；The input terminal of the wireless gateway node is saved with convergence
Point is connected, and the data transmission terminal of the wireless gateway node is connected with thermal imaging member, the output terminal of the wireless gateway node
It is connected respectively with automatic rotating base and data processing unit；Multigroup thermal imaging monitoring device is deployed in localization region
Interior, the multiple temperature sensor is deployed in around the electric cabinet on Work robot, and the height sensor, which is mounted on, to be made
Industry robot fuselage.
The 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 received
Iteration coordinate transform, and by the height value, the reference coordinate value of thermal imaging monitoring device, automatic Jing Guo Newton iteration coordinate transform
The horizontal and vertical angle of rotating base is transferred to data processing unit.
The aggregation node obtains the temperature sensitive factor of the electric cabinet characteristic point of each temperature sensor output, and by they
It is transferred to wireless gateway node；Each thermal imaging member is used to obtain the temperature hologram of Work robot electric cabinet；Institute
The temperature for stating the electric cabinet characteristic point of the output of the temperature hologram, each temperature sensor of wireless gateway node reception electric cabinet is quick
Feel the factor, and according to the boundary temperature of hot spot region in the adaptive temperature hologram of the temperature sensitive factor received, it is right
Temperature hologram carries out image segmentation and determines hot spot region, the morphological feature of hot spot region is extracted, finally by the shape of hot spot region
State feature is transferred to data processing unit.
The data processing unit is according to the data received respectively to Work robot under single group thermal imaging monitoring device
Position resolved, while to robot real time position carry out storage establish robot position data library, finally with spatially
It manages geometry span and carries out multigroup Co-factor propagation refinement for constraint function, obtain the physical location of Work robot.
A kind of Work robot positioning and tracing method of radio multimedia sensor network fusion, includes the following steps：
Step 1：Aggregation node obtains multiple electric cabinet characteristic points around the electric cabinet being mounted on Work robot
Temperature sensitive factor；The height value of Work robot is obtained simultaneously；
Step 2：Aggregation node broadcasts the temperature sensitive factor and 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 observation object, each automatic rotation bottom of wireless gateway node control
Seat, goes to adjust the horizontal and vertical angle of each thermal imaging member in real time using automatic rotating base, to Work robot electric cabinet
Carry out real-time tracking；The height value of Work robot that each wireless gateway node exports the height sensor received carries out ox
Iteration coordinate transform, and by Jing Guo Newton iteration coordinate transform height value, the reference coordinate value of thermal imaging monitoring device, oneself
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 adaptive according to the temperature sensitive factor of the electric cabinet characteristic point received and temperature hologram
It should determine that the boundary temperature of hot spot region in temperature hologram, image segmentation carried out to temperature hologram and determines hot spot region, is carried
The morphological feature of hot spot region is taken, the morphological feature of hot spot region is finally transferred to data processing unit；
Step 5：Using data processing unit according to the data received to work machine under single group thermal imaging monitoring device
The position of people is resolved, while storage is carried out to robot real time position and establishes robot position data library, finally with space
Geographical geometry span carries out multigroup Co-factor propagation refinement for constraint function, obtains the physical location of Work robot.
The temperature sensitive factor of the multiple electric cabinet characteristic point multiple temperature by being deployed in around electric cabinet respectively
Sensor collects；The height of the Work robot is acquired by the height sensor being mounted on Work robot fuselage
It arrives；The aggregation node is mounted on Work robot fuselage.
The thermal imaging monitoring device is multigroup thermal imaging monitoring device, respectively includes thermal imaging member and thermal imaging list
The connected automatic rotating base of member, wireless gateway node, and multigroup thermal imaging monitoring device is deployed in localization 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, securely and reliably, installs and easy to operate.
The present invention is first monitored the electric cabinet in Work robot using thermal imaging member, can intuitively show work
The temperature field on electric cabinet surface in industry robot, have the characteristics that not to be illuminated by the light, electromagnetic interference and environmental suitability it is strong；Together
When, by temperature sensor be mounted on Work robot in electric cabinet surrounding, thermal imaging member field angle can be overcome relatively narrow with
And Work robot fuselage larger the problem of can not obtaining complete temperature pattern；Secondly, temperature sensor and height sensor sense
The parameter known passes to wireless gateway node by aggregation node, hot zone in the adaptive set temperature image of wireless gateway node
The boundary temperature in domain；Finally, Work robot is improved in Multi-dimensional constraint existing for geometry location space based on Work robot
Position calculation accuracy.
The present invention need not consider radio frequency signal damped expoential size and radio channel model, and environmental suitability is strong, no
It is influenced by electromagnetic wave, illumination etc., carrying out data calculation with temperature pattern information obtains location information, has stable precision.
Description of the drawings
Fig. 1 is the lower Work robot locating and tracking entirety functional block diagram of multimedia sensing network fusion of the present invention.
Fig. 2 is the lower Work robot positioning apparatus system schematic diagram of multimedia sensing network fusion of the present invention.
Fig. 3 is the lower Work robot positioning calculation method schematic of multimedia sensing network fusion of the present invention
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
The application principle of the present invention is explained in detail below in conjunction with the accompanying drawings.
As shown in Figs. 1-3, a kind of Work robot locating and tracking system of radio multimedia sensor network fusion, including multigroup
Thermal imaging monitoring device 2, multiple temperature sensors 4, height sensor 5, aggregation node 6 and data processing unit 9, it is described multigroup
Thermal imaging monitoring device 2 includes thermal imaging member 3, the automatic rotating base 8 being connected with thermal imaging member 3, wireless network joint
Point 7；Input terminal of the output terminal of the multiple temperature sensor 4 and height sensor 5 with aggregation node 6 is connected；The nothing
The input terminal of gauze artis 7 is connected with aggregation node 6, data transmission terminal and the thermal imaging member 3 of the wireless gateway node 7
It is connected, the output terminal of the wireless gateway node 7 is connected respectively with thermal imaging member 3 and data processing unit 9；Multigroup heat
Imaging monitoring apparatus 2 is deployed in localization region, and the multiple temperature sensor 4 is deployed in pair on Work robot 1
Around temperature sensitive electric cabinet, the height sensor 5 is mounted on 1 fuselage of Work robot.
For the height sensor 5 for real-time 1 height of monitoring results robot, 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, each wireless gateway node to the height value that receives into
Row Newton iteration coordinate transform, and by Jing Guo Newton iteration coordinate transform height value, 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.
The aggregation node 6 obtains 1 height value of Work robot, each temperature sensor 4 that height sensor 5 exports and exports
Electric cabinet characteristic point temperature sensitive factor, and transmit them to wireless gateway node 7；Each thermal imaging member 3
For obtaining the temperature hologram of Work robot electric cabinet；The temperature hologram of the reception of wireless gateway node 7 electric cabinet,
Temperature sensitive factor, the 5 output operation robot 1 of height sensor of the electric cabinet characteristic point of the output of each temperature sensor 4 are high
Angle value, wireless gateway node 7 is according to the side of hot spot region in the adaptive temperature hologram of the temperature sensitive factor received
Boundary's temperature carries out temperature hologram image segmentation and determines hot spot region, the morphological feature of hot spot region extracted, finally by hot spot
The morphological feature in region is transferred to data processing unit 9.Since 1 electric cabinet temperature distributing characteristic of Work robot has space
Difference can obtain the temperature sensitive factor of electric cabinet characteristic point by being deployed in the temperature sensor 4 of electric cabinet different location,
The boundary temperature of temperature hologram hot spot region is obtained finally by temperature sensitive factor, therefore, in the present invention, in electricity
The temperature sensor 4 of case surrounding arrangement is controlled, different its temperature of electric cabinet position is different, therefore it is considered that in difference
Position passes through temperature sensitive factor that the temperature value that temperature sensor 4 obtains is exactly the electric cabinet characteristic point；In addition, the nothing
Gauze artis 7 according to the boundary temperature of hot spot region in the adaptive temperature hologram of the temperature sensitive factor received,
Specially：Since the temperature sensitive factor of multiple electric cabinet characteristic points can be received, can be depicted entirely by these values
The temperature value of electric cabinet, the highest region of temperature value is hot spot region, and can be drawn by the temperature value of electric cabinet each region
It is the higher hot spot region of temperature to divide which block, which block is the relatively low borderline region of temperature, so as to fulfill the heat to temperature hologram
Point region carries out image segmentation.
The data processing unit 9 can obtain the outputs such as temperature sensor 4, height sensor 5 and thermal imaging member 3
Parameter, belong to multiple sensors measurement different physical quantities be known as multi-source heterogeneous data, based on multi-source heterogeneous data in single group
The position of Work robot 1 is resolved under thermal imaging device, while real-time storage robot location establishes robot location
Database finally carries out multigroup Co-factor propagation refinement by constraint function of space and geographical geometry span, obtains Work robot
Physical location.
A kind of 1 positioning and tracing method of Work robot of radio multimedia sensor network fusion, includes the following steps：
Step 1：Aggregation node 6 obtains multiple electric cabinet characteristics around the electric cabinet being mounted on Work robot 1
The temperature sensitive factor of point；The height value of Work robot 1 is obtained simultaneously；
Step 2：Temperature sensitive factor and operation of the aggregation node 6 to each wireless gateway node 7 broadcast electric cabinet characteristic point
The height value of robot 1；
Step 3：Using the electric cabinet of Work robot as observation object, each wireless gateway node 7 controls automatic rotation bottom
Seat 8, goes to adjust each 3 horizontal and vertical angle of thermal imaging member in real time using automatic rotating base 8, automatically controlled to Work robot
Case carries out real-time tracking；The height value for the Work robot that each wireless gateway node 7 exports the height sensor that receives into
Row Newton iteration coordinate transform, and by Jing Guo Newton iteration coordinate transform height value, 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 received and temperature hologram, from
The boundary temperature of hot spot region in temperature hologram is adapted to, image segmentation is carried out to temperature hologram and determines hot spot region,
The morphological feature of hot spot region is extracted, the morphological feature of hot spot region is finally transferred to data processing unit 9；
Step 5：Using data processing unit according to collected multi-source heterogeneous data under single group thermal imaging monitoring device
The position of Work robot is resolved, while storage is carried out to robot real time position and establishes robot position data library, so
Multigroup Co-factor propagation refinement finally is carried out by constraint function of space and geographical geometry span again afterwards, obtains the reality of Work robot
Position.
The temperature sensitive factor of the multiple electric cabinet characteristic point multiple temperature by being deployed in around electric cabinet respectively
Sensor 4 collects；The height of the Work robot 1 is adopted by the height sensor 5 being mounted on 1 fuselage of Work robot
Collection obtains；The aggregation node 6 is mounted on 1 fuselage of Work robot.
The thermal imaging monitoring device 2 is multigroup thermal imaging monitoring device 2, respectively includes thermal imaging member 3 and thermal imaging
The connected thermal imaging member 3 of unit 3, wireless gateway node 7, and be deployed in localization region.
Embodiment one
Work robot 1 is moved in the spaces such as workshop or warehouse, and multigroup thermal imaging prison is disposed in localization region
Device 2 is surveyed, multiple temperature sensors 4 is disposed around the electric cabinet on Work robot fuselage, is monitored using height sensor 5
Temperature data and altitude information are broadcast to wireless gateway node 7 by the real-time height of Work robot by aggregation node 6, and
Automatic rotating base 8 is controlled to adjust the angle of thermal imaging member 3, Work robot is quickly calculated under geographical geometrical constraint
Three-dimensional coordinate position, with the movement of Work robot, can realize and stablize output in entire position in space.
Work robot locating and tracking system includes multigroup thermal imaging monitoring device 2, multiple temperature sensors 4, height and passes
Sensor 5, aggregation node 6 and data processing unit 9, each group thermal imaging monitoring device 2 include thermal imaging member 3, wireless network joint
Point 7 and thermal imaging member 3, thermal imaging monitoring device 2 is deployed in located space；Temperature sensor 4 is arranged in work
The thermally sensitive electric cabinet surrounding of industry robot fuselage, aggregation node 6 are 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 the acquisition and processing of more sensing datas, in profit
While obtaining the Work robot height that temperature data and height sensor 5 perceive with aggregation node 6, by controlling automatic rotary
Turn pedestal 8 to adjust the horizontal and vertical angle of thermal imaging member 3；Thermal imaging monitoring device 2 is by wireless gateway node 7 from group
Net forms multimedia sensing network, the multi-source hybrid parameter of acquisition is transferred to data processing unit 9 by wire cable, with work
The locating and tracking of the Work robot in entire located space is completed in the movement of industry robot.
A kind of the Work robot locating and tracking system and method for radio multimedia sensor network fusion, Work robot positioning
Method is：
1) Work robot fuselage is usually larger and can not completely obtain image, in order to overcome thermal imaging camera unit visual field
Angle is relatively narrow, using Work robot shape feature is apparent, the smaller electric cabinet of build is as observation object, thermal imaging member 3 every
The temperature of certain time acquisition one-stop operation robot electric cabinet, and be hot spot region by the electric cabinet temperature hologram of acquisition
It is identified；Meanwhile the 6 real-time perception Work robot electric cabinet internal temperature sensitive factor of temperature aggregation node, and pass through heat
Wireless gateway node 7 in imaging monitoring apparatus 2 is transferred to data processing unit 9；By temperature sensitive factor in multimedia sensing
It is broadcasted in net, while based on the boundary temperature of hot spot region in the adaptive set temperature hologram of temperature sensitive factor, solution
Certainly infrared image contrast is low and the problem of resolve minutiae is less able；
2) the Work robot locating and tracking stage, wireless gateway node 7 according to temperature sensor 4 obtain temperature sensitivity because
Son is split temperature hologram and extracts morphological feature, and wireless gateway node 7 controls automatic rotating base 8 to adjust heat
The angle of imaging unit 3 carries out real-time tracking to Work robot electric cabinet；Meanwhile detection is made in real time using height sensor 5
The elevation information of industry robot, wireless gateway node 7 carry out coordinate transform to it；Then, which is obtained by wireless gateway node 7
The hot spot region of thermal imaging member 3 and temperature profile information, reference coordinate and thermal imaging with reference to 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 thermal imaging member 3 and obtains hot spot region and hot spot information from objective pattern, positioning
Hot spot center, i.e. Work robot electric cabinet center, with reference to 2 reference coordinate of thermal imaging monitoring device, 3 water of thermal imaging member
Angle flat, in vertical direction, calculates the Work robot relative position that this group of thermal imaging monitoring device 2 measures, at data
Manage unit 9 according to 3 groups and more than resolving information, carry out the fusion of Work robot three-dimensional coordinate position and resolve, obtain working rig
The accurate spatial position of device people, while related data is stored in image library.Due to located space Work robot existence position
Constraint, while located space can improve Work robot position calculation accuracy to each other there is also the constraint of height and distance.
The basic principles, main features and the advantages of the invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (7)
1. a kind of Work robot locating and tracking system of radio multimedia sensor network fusion, it is characterised in that：Including multigroup heat
Imaging monitoring apparatus, multiple temperature sensors, height sensor, aggregation node and data processing unit, multigroup thermal imaging
Automatic rotating base, the wireless gateway node that monitoring device includes thermal imaging member, is connected with thermal imaging member；It is the multiple
Input terminal of the output terminal of temperature sensor and height sensor with aggregation node is connected；The input of the wireless gateway node
End is connected with aggregation node, and the data transmission terminal of the wireless gateway node is connected with thermal imaging member, the wireless network joint
The output terminal of point is connected respectively with automatic rotating base and data processing unit；Multigroup thermal imaging monitoring device is deployed in
In localization region, the multiple temperature sensor is deployed in around the electric cabinet on Work robot, the height sensor
Mounted on Work robot fuselage.
2. a kind of Work robot locating and tracking system of radio multimedia sensor network fusion according to claim 1,
It is characterized in that：The height sensor is used 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 each wireless gateway node carries out the height value received
Newton iteration coordinate transform, and by Jing Guo Newton iteration coordinate transform height value, the reference coordinate value of thermal imaging monitoring device,
The horizontal and vertical angle of automatic rotating base is transferred to data processing unit.
3. a kind of Work robot locating and tracking system of radio multimedia sensor network fusion according to claim 2,
It is characterized in that：The 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 is used to obtain the temperature hologram of Work robot electric cabinet；
The wireless gateway node receives the temperature of the electric cabinet characteristic point of the output of the temperature hologram, each temperature sensor of electric cabinet
Sensitive factor, and according to the boundary temperature of hot spot region in the adaptive temperature hologram of the temperature sensitive factor received,
Image segmentation is carried out to temperature hologram and determines hot spot region, the morphological feature of hot spot region is extracted, finally by hot spot region
Morphological feature is transferred to data processing unit.
4. a kind of Work robot locating and tracking system of radio multimedia sensor network fusion according to claim 3,
It is characterized in that：The data processing unit is according to the data received respectively to Work robot under single group thermal imaging monitoring device
Position resolved, while to robot real time position carry out storage establish robot position data library, finally with spatially
It manages geometry span and carries out multigroup Co-factor propagation refinement for constraint function, obtain the physical location of Work robot.
5. a kind of Work robot positioning and tracing method of radio multimedia sensor network fusion, which is characterized in that including following step
Suddenly：
Step 1：Aggregation node obtains the temperature of multiple electric cabinet characteristic points around the electric cabinet being mounted on Work robot
Spend sensitive factor；The height value of Work robot is obtained simultaneously；
Step 2：Aggregation node broadcasts the temperature sensitive factor and Work robot of electric cabinet characteristic point to each wireless gateway node
Height value；
Step 3：Using the electric cabinet of Work robot as observation object, each wireless gateway node controls automatic rotating base, real
The automatic rotating bases of Shi Liyong go to adjust the horizontal and vertical angle of each thermal imaging member, Work robot electric cabinet are carried out real
When track；The height value of Work robot that each wireless gateway node exports the height sensor received carries out Newton iteration
Coordinate transform, and by Jing Guo Newton iteration coordinate transform height value, the reference coordinate value of thermal imaging monitoring device, automatic rotation
The horizontal and vertical angle of pedestal 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 adaptive true according to the temperature sensitive factor of the electric cabinet characteristic point received and temperature hologram
The boundary temperature of hot spot region in constant temperature degree hologram carries out temperature hologram image segmentation and determines hot spot region, extraction heat
The morphological feature in point region, is finally transferred to data processing unit by the morphological feature of hot spot region；
Step 5：Using data processing unit according to the data received to Work robot under single group thermal imaging monitoring device
Position is resolved, while storage is carried out to Work robot real time position and establishes robot position data library, finally with space
Geographical geometry span carries out multigroup Co-factor propagation refinement for constraint function, obtains the physical location of Work robot.
6. the Work robot positioning and tracing method of radio multimedia sensor network fusion according to claim 5, feature
It is：The temperature sensitive factor of the multiple electric cabinet characteristic point multiple temperature sensing by being deployed in around electric cabinet respectively
Device collects；The height value of the Work robot is acquired by the height sensor being mounted on Work robot fuselage
It arrives；The aggregation node is mounted on Work robot fuselage.
7. the Work robot positioning and tracing method of radio multimedia sensor network fusion according to claim 5 or 6, special
Sign is：The thermal imaging monitoring device is multigroup thermal imaging monitoring device, respectively includes thermal imaging member and thermal imaging member
Connected automatic rotating base, wireless gateway node, and multigroup thermal imaging monitoring device is deployed in localization region.
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