CN108521629A - A kind of accurate Indoor Robot guiding system of guiding - Google Patents
A kind of accurate Indoor Robot guiding system of guiding Download PDFInfo
- Publication number
- CN108521629A CN108521629A CN201810283571.9A CN201810283571A CN108521629A CN 108521629 A CN108521629 A CN 108521629A CN 201810283571 A CN201810283571 A CN 201810283571A CN 108521629 A CN108521629 A CN 108521629A
- Authority
- CN
- China
- Prior art keywords
- wireless sensor
- robot
- guiding
- indoor
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/024—Guidance services
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of accurate Indoor Robots of guiding to guide system, including Indoor Wireless Sensor Networks subsystem and robot, the Indoor Wireless Sensor Networks subsystem is for determining indoor wireless sensing station, the robot is for receiving wireless sensor location information, indoor guiding is carried out according to wireless sensor position, the robot includes GPS positioning chip, language interactive module, navigation module and motion-control module, the GPS positioning chip is used to obtain the position of robot, the language interactive module inputs destination for user, the navigation module is used for according to robot location, indoor guiding is completed in destination and wireless sensor position, the motion-control module is for controlling robot motion.Beneficial effects of the present invention are：By being positioned to indoor wireless sensor, the accurate guiding of Indoor Robot is realized, the guiding for improving robot is horizontal.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of accurate Indoor Robot guiding system of guiding.
Background technology
Patient goes shopping in hospital admission, consumer, is required for carrying out indoor guiding, however, existing interior guiding is more
It is carried out by manually guiding.
Wireless sensor network is made of the sense node that can perceive or detect physical environment, passes through nothing between these nodes
Line connection type is communicated, it target following and monitoring, nature hazard forecasting, health monitoring, hazardous environment exploration and
There is important application in the fields such as seismic sensor cable, have become the research hotspot of information technology field.Constitute the various of sensing network
Node is although small, processing capacity and various resources are limited, but they are with traditional sensor that there are one most by comparison
Big feature：That is exactly that price is cheaper, and often wants cheap an order of magnitude or more, therefore can be used in and need big rule
Among the environment of mould deployment.On the other hand, these sensor nodes are although resource-constrained and cheap, but above function but
Compare comprehensively, they can constantly obtain information by measuring and perceive from environment, can be acquisition after processing
The data transfer arrived carries out various decisions to user, for user and provides foundation.It can in order to fully improve wireless sensor data
With property, to wireless sensor node be accurately positioned becomes key.
Invention content
In view of the above-mentioned problems, the present invention is intended to provide a kind of accurate Indoor Robot of guiding guides system.
The purpose of the present invention is realized using following technical scheme：
Provide a kind of guiding accurate Indoor Robot guiding system, including Indoor Wireless Sensor Networks subsystem and
Robot, the Indoor Wireless Sensor Networks subsystem is for determining that indoor wireless sensing station, the robot are used for
Wireless sensor location information is received, indoor guiding is carried out according to wireless sensor position, the robot includes GPS positioning core
Piece, language interactive module, navigation module and motion-control module, the GPS positioning chip are used to obtain the position of robot, institute
Predicate says that interactive module inputs destination for user, and the navigation module is used for according to robot location, destination and wireless
Sensing station completes indoor guiding, and the motion-control module is for controlling robot motion.
The Indoor Wireless Sensor Networks subsystem include signal propagate modeling module, wireless sensor locating module and
Positioning result evaluation module, the signal propagate the signal propagation model that modeling module is used to determine wireless sensor node, institute
State wireless sensor locating module for according to signal propagation model to sensor node to be positioned in wireless sensor network into
Row positioning, obtains positioning result, and the positioning result evaluation module is used for the positioning knot to the wireless sensor locating module
Fruit is assessed.
Beneficial effects of the present invention are：By being positioned to indoor wireless sensor, the standard of Indoor Robot is realized
Really guiding, the guiding for improving robot are horizontal.
Description of the drawings
Using attached drawing, the invention will be further described, but the embodiment in attached drawing does not constitute any limit to the present invention
System, for those of ordinary skill in the art, without creative efforts, can also obtain according to the following drawings
Other attached drawings.
Fig. 1 is the structural schematic diagram of the present invention；
Reference numeral：
Indoor Wireless Sensor Networks subsystem 1, robot 2.
Specific implementation mode
The invention will be further described with the following Examples.
Referring to Fig. 1, a kind of accurate Indoor Robot of guiding of the present embodiment guides system, including indoor wireless sensor
Network subsystem 1 and robot 2, the Indoor Wireless Sensor Networks subsystem 1 for determining indoor wireless sensing station,
The robot 2 carries out indoor guiding, the machine for receiving wireless sensor location information, according to wireless sensor position
People 2 includes GPS positioning chip, language interactive module, navigation module and motion-control module, and the GPS positioning chip is for obtaining
The position of robot 2, the language interactive module is taken to input destination for user, the navigation module is used for according to robot
Indoor guiding is completed in 2 positions, destination and wireless sensor position, and the motion-control module is for controlling the movement of robot 2.
The present embodiment realizes the accurate guiding of Indoor Robot, is promoted by being positioned to indoor wireless sensor
The guiding of robot is horizontal.
Preferably, the Indoor Wireless Sensor Networks subsystem 1 is fixed including signal propagation modeling module, wireless sensor
Position module and positioning result evaluation module, the signal propagate modeling module and are used to determine that the signal of wireless sensor node to be propagated
Model, the wireless sensor locating module are used for according to signal propagation model to level sensor undetermined in wireless sensor network
Node is positioned, and positioning result is obtained, and the positioning result evaluation module is used for the wireless sensor locating module
Positioning result is assessed.
The signal propagates the signal propagation model that modeling module is used to determine wireless sensor node：It is determined using following formula
The signal propagation model of wireless sensor node：
In formula, d indicates launch point to the distance of receiving point, d0Indicate that reference distance, EH (d) indicate receiving point signal
Receiving intensity, EH0It indicates in reference distance d0Under receiving point signal receiving strength, β indicate decay factor,Expression is made an uproar
Sound, the noise be mean value be 0, standard deviation σNGaussian Profile stochastic variable；
This preferred embodiment signal propagation model fully takes into account the decaying of signal and the presence of noise, can obtain more
Accurate signal receiving strength lays the foundation for the follow-up accurate positionin for obtaining wireless sensor node.
Preferably, the wireless sensor locating module includes single treatment unit, after-treatment unit, processing is single three times
Member and positioning unit, the single treatment unit are used to determine the item that signal receiving strength is EH under conditions of actual range is d
Part probability distribution, the after-treatment unit be used to determine measurement distance according to measuring obtained signal receiving strength, described three
Secondary processing unit is used to determine that measurement distance is d according to the conditional probability distribution and measurement distancesUnder conditions of actual range
For the probability of d, the positioning unit is used to according to measurement distance be dsUnder conditions of actual range be d determine the probability it is to be positioned
Wireless sensor node position；
The single treatment unit is used to determine the conditional probability that signal receiving strength is EH under conditions of actual range is d
Distribution：According to signal propagation model, the conditional probability distribution that signal receiving strength is EH under conditions of actual range is d is determined：
In formula, and P (EH | d) indicate the conditional probability point that signal receiving strength is EH under conditions of actual range is d
Cloth；The after-treatment unit is used to determine measurement distance according to the signal receiving strength that measurement obtains：
Signal receiving strength measurement model using following formula determine,Its
In, EH1(ds) indicate to measure obtained signal receiving strength, dsIt indicates to measure obtained distance, be measured according to signal receiving strength
Value determines measurement distance,
The processing unit three times is used to determine that measurement distance is d according to the conditional probability distribution and measurement distances's
Under the conditions of actual range be d probability：With P (d | ds) indicate that in measurement distance be dsUnder conditions of actual range be d probability,
According to P (EH | d) and dsDetermine P (d | ds)：
In formula, P (d) indicates that actual range is the prior probability of d, P (ds) expression measurement distance be dsPriori it is general
Rate；
In formula,(x ', y ') indicates wireless sensor node positioning to be positioned
As a result, indicate wireless sensor node to be positioned to i-th of beaconing nodes actual range di, P (di|ds,i) indicate measure away from
From for ds,iUnder conditions of actual range be diProbability.
This preferred embodiment is single for follow-up positioning by single treatment unit, after-treatment unit and processing unit three times
Member be accurately positioned laying a good foundation to wireless sensor node to be positioned, and the localization method has calculation amount small, saves
The advantages of computing resource.
It guides accurate Indoor Robot that system is guided to carry out indoor guiding using the present invention, chooses 5 users and carry out in fact
It tests, respectively user 1, user 2, user 3, user 4, user 5, guiding accuracy rate and user satisfaction is counted, same to people
Member, which guides, to be compared, and generation has the beneficial effect that shown in table：
| Early warning accuracy rate improves | Early warning efficiency improves | |
| User 1 | 29% | 27% |
| User 2 | 27% | 26% |
| User 3 | 26% | 26% |
| User 4 | 25% | 24% |
| User 5 | 24% | 22% |
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than the present invention is protected
The limitation of range is protected, although being explained in detail to the present invention with reference to preferred embodiment, those skilled in the art answer
Work as understanding, technical scheme of the present invention can be modified or replaced equivalently, without departing from the reality of technical solution of the present invention
Matter and range.
Claims (7)
1. a kind of accurate Indoor Robot of guiding guides system, which is characterized in that including Indoor Wireless Sensor Networks subsystem
System and robot, the Indoor Wireless Sensor Networks subsystem is for determining indoor wireless sensing station, the robot
For receiving wireless sensor location information, indoor guiding is carried out according to wireless sensor position, the robot includes GPS fixed
Position chip, language interactive module, navigation module and motion-control module, the GPS positioning chip are used to obtain the position of robot
Set, the language interactive module for user input destination, the navigation module be used for according to robot location, destination and
Indoor guiding is completed in wireless sensor position, and the motion-control module is for controlling robot motion.
2. the accurate Indoor Robot of guiding according to claim 1 guides system, which is characterized in that the indoor wireless
Sensor network Network Subsystem includes that signal propagates modeling module, wireless sensor locating module and positioning result evaluation module, institute
It states signal and propagates the signal propagation model that modeling module is used to determine wireless sensor node, the wireless sensor locating module
For being positioned to sensor node to be positioned in wireless sensor network according to signal propagation model, acquisition positioning result,
The positioning result evaluation module is for assessing the positioning result of the wireless sensor locating module.
3. the accurate Indoor Robot of guiding according to claim 2 guides system, which is characterized in that the signal is propagated
Modeling module is used to determine the signal propagation model of wireless sensor node：The signal of wireless sensor node is determined using following formula
Propagation model：
In formula, d indicates launch point to the distance of receiving point, d0Indicate that reference distance, EH (d) indicate that receiving point signal receives
Intensity, EH0It indicates in reference distance d0Under receiving point signal receiving strength, β indicate decay factor,Indicate noise, institute
State noise be mean value be 0, standard deviation σNGaussian Profile stochastic variable.
4. the accurate Indoor Robot of guiding according to claim 3 guides system, which is characterized in that the wireless sensing
Device locating module includes single treatment unit, after-treatment unit, three times processing unit and positioning unit, the single treatment list
Member is for determining signal receiving strength is EH under conditions of actual range is d conditional probability distribution, the after-treatment unit
Signal receiving strength for being obtained according to measurement determines that measurement distance, the processing unit three times are used for general according to the condition
Rate is distributed and measurement distance determines that measurement distance is dsUnder conditions of actual range be d probability, the positioning unit be used for root
It is d according to measurement distancesUnder conditions of actual range be d determine the probability wireless sensor node position to be positioned.
5. the accurate Indoor Robot of guiding according to claim 4 guides system, which is characterized in that the single treatment
Unit is used to determine the conditional probability distribution that signal receiving strength is EH under conditions of actual range is d：According to signal propagating mode
Type determines the conditional probability distribution that signal receiving strength is EH under conditions of actual range is d：
In formula, and P (EH | d) indicate the conditional probability distribution that signal receiving strength is EH under conditions of actual range is d；Institute
It states signal receiving strength of the after-treatment unit for being obtained according to measurement and determines measurement distance：
Signal receiving strength measurement model using following formula determine,Wherein,
EH1(ds) indicate to measure obtained signal receiving strength, dsIt indicates to measure obtained distance, according to signal receiving strength measured value
Determine measurement distance,
6. the accurate Indoor Robot of guiding according to claim 5 guides system, which is characterized in that described to handle three times
Unit is used to determine that measurement distance is d according to the conditional probability distribution and measurement distancesUnder conditions of actual range be d it is general
Rate：With P (d | ds) indicate that in measurement distance be dsUnder conditions of actual range be d probability, according to P (EH | d) and dsDetermine P (d
|ds)：
In formula, P (d) indicates that actual range is the prior probability of d, P (ds) expression measurement distance be dsPrior probability.
7. the accurate Indoor Robot of guiding according to claim 6 guides system, which is characterized in that the positioning unit
For being d according to measurement distancesUnder conditions of actual range be d determine the probability wireless sensor node position to be positioned：It waits for
It positions wireless sensor node position to be indicated with (x, y), it is assumed that a total of n beaconing nodes participate in positioning, i-th of beaconing nodes
The location information sended over triple (xi,yi,ds,i) indicate, (xi,yi) indicate i-th of beaconing nodes position coordinates,
ds,iThe measurement distance for indicating node to be positioned and i-th of beaconing nodes is equivalent to n Random event due to there is n beaconing nodes
Part independently occurs, and wireless sensor node positioning result to be positioned is determined using following formula：(x ＇, y ')=arg max(x,y){YW(x,
y)×3YW(x,y),
In formula,(x ＇, y ＇) indicates wireless sensor node positioning result to be positioned,
Indicate wireless sensor node to be positioned to i-th of beaconing nodes actual range di, P (di|ds,i) indicate in measurement distance be
ds,iUnder conditions of actual range be diProbability.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810283571.9A CN108521629A (en) | 2018-04-02 | 2018-04-02 | A kind of accurate Indoor Robot guiding system of guiding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810283571.9A CN108521629A (en) | 2018-04-02 | 2018-04-02 | A kind of accurate Indoor Robot guiding system of guiding |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108521629A true CN108521629A (en) | 2018-09-11 |
Family
ID=63431486
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810283571.9A Pending CN108521629A (en) | 2018-04-02 | 2018-04-02 | A kind of accurate Indoor Robot guiding system of guiding |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108521629A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111089581A (en) * | 2018-10-24 | 2020-05-01 | 上海博泰悦臻网络技术服务有限公司 | Traffic guidance method, terminal and robot |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1945351A (en) * | 2006-10-21 | 2007-04-11 | 中国科学院合肥物质科学研究院 | Robot navigation positioning system and navigation positioning method |
| CN1951027A (en) * | 2004-04-30 | 2007-04-18 | 香港应用科技研究院有限公司 | Location determination and location tracking in wireless networks |
| CN102209382A (en) * | 2011-05-18 | 2011-10-05 | 杭州电子科技大学 | Wireless sensor network node positioning method based on received signal strength indicator (RSSI) |
| CN103916954A (en) * | 2013-01-07 | 2014-07-09 | 华为技术有限公司 | Probability locating method and locating device based on WLAN |
| CN104185270A (en) * | 2013-05-28 | 2014-12-03 | 中国电信股份有限公司 | Indoor positioning method, system and positioning platform |
| CN104936147A (en) * | 2015-05-08 | 2015-09-23 | 中国科学院上海微系统与信息技术研究所 | Positioning method based on building layout constraint under complex indoor environment |
| CN106768086A (en) * | 2017-04-06 | 2017-05-31 | 四川理工学院 | A kind of room air detecting system |
| CN107450564A (en) * | 2017-09-22 | 2017-12-08 | 芜湖星途机器人科技有限公司 | Bootstrap robot |
-
2018
- 2018-04-02 CN CN201810283571.9A patent/CN108521629A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1951027A (en) * | 2004-04-30 | 2007-04-18 | 香港应用科技研究院有限公司 | Location determination and location tracking in wireless networks |
| CN1945351A (en) * | 2006-10-21 | 2007-04-11 | 中国科学院合肥物质科学研究院 | Robot navigation positioning system and navigation positioning method |
| CN102209382A (en) * | 2011-05-18 | 2011-10-05 | 杭州电子科技大学 | Wireless sensor network node positioning method based on received signal strength indicator (RSSI) |
| CN103916954A (en) * | 2013-01-07 | 2014-07-09 | 华为技术有限公司 | Probability locating method and locating device based on WLAN |
| CN104185270A (en) * | 2013-05-28 | 2014-12-03 | 中国电信股份有限公司 | Indoor positioning method, system and positioning platform |
| CN104936147A (en) * | 2015-05-08 | 2015-09-23 | 中国科学院上海微系统与信息技术研究所 | Positioning method based on building layout constraint under complex indoor environment |
| CN106768086A (en) * | 2017-04-06 | 2017-05-31 | 四川理工学院 | A kind of room air detecting system |
| CN107450564A (en) * | 2017-09-22 | 2017-12-08 | 芜湖星途机器人科技有限公司 | Bootstrap robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111089581A (en) * | 2018-10-24 | 2020-05-01 | 上海博泰悦臻网络技术服务有限公司 | Traffic guidance method, terminal and robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104125538B (en) | The secondary localization method and device of RSSI signal intensities based on WIFI network | |
| JP5675885B2 (en) | Positioning method, apparatus, and system | |
| Goulet et al. | Model falsification diagnosis and sensor placement for leak detection in pressurized pipe networks | |
| US20130196684A1 (en) | Generating indoor radio map, locating indoor target | |
| CN102576064B (en) | Method and apparatus for identification of points of interest within a predefined area | |
| CN107659893A (en) | A kind of error compensating method, device, electronic equipment and readable storage medium storing program for executing | |
| CN104333903A (en) | Indoor multi-object positioning system and method based on RSSI (receiver signal strength indicator) and inertia measurement | |
| CN103885030A (en) | Locating method of mobile node in wireless sensor network | |
| CN106066470B (en) | A kind of gross error recognition methods of mobile target RSSI positioning | |
| CN108680899A (en) | Positioning system based on the arrival time | |
| CN105044676A (en) | Energy-based sound source localization method | |
| CN104301995A (en) | Hybrid positioning method and device | |
| CN107202976A (en) | The distributed microphone array sound source localization system of low complex degree | |
| CN107796403A (en) | Moving method, device and the robot of robot | |
| CN105043381A (en) | Magnetic nail-based positioning method | |
| CN108957476A (en) | A kind of Diameter measure device and tree-walk measuring method based on unmanned plane | |
| CN105204002B (en) | A kind of sound localization method and system | |
| CN108521629A (en) | A kind of accurate Indoor Robot guiding system of guiding | |
| CN108226864A (en) | Coal mine underground personnel positioning method based on maximum likelihood estimate compressed sensing | |
| CN106610486B (en) | A kind of method and apparatus of node locating | |
| CN104392040B (en) | A kind of examination and test of products False Rate calculation method based on uncertainty of measurement | |
| KR200469823Y1 (en) | Electronic callipers | |
| CN107402257A (en) | Timber radial longitudinal section defect imaging method based on path packet interpolation method | |
| US20130066590A1 (en) | Measuring device and measurement method | |
| CN104981011B (en) | The acquisition of Wi-Fi hotspot data and update method based on Sequential processing |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180911 |
|
| RJ01 | Rejection of invention patent application after publication |