CN108710107A - Robot Passive Location based on infrared laser and positioning video linked system - Google Patents
Robot Passive Location based on infrared laser and positioning video linked system Download PDFInfo
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- CN108710107A CN108710107A CN201810482105.3A CN201810482105A CN108710107A CN 108710107 A CN108710107 A CN 108710107A CN 201810482105 A CN201810482105 A CN 201810482105A CN 108710107 A CN108710107 A CN 108710107A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- 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
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- Signal Processing (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of robot Passive Location based on infrared laser, in combination with current widely applied Video Analysis Technology and big data analysis technology, provide a kind of positioning video linked system based on infrared laser and video monitoring, both the accurate real-time positioning for having realized robot also achieves video interlink analysis, has the advantages that accurate positioning, reasonable design, data rich, scalability are strong.
Description
Technical field
The present invention relates to positioning and navigation fields, specifically, it is passively fixed to relate to a kind of robot based on infrared laser
Position method and positioning video linked system.
Background technology
With the rapid development of wireless location technology, location based service (LBS) also gradually spreads to every field.To the greatest extent
Pipe GPS technology is maturely used in industry-by-industry, but GPS technology cannot position indoors, and general civilian
Precision is also not high enough, and the requirement relative to indoor navigation also has a distance.
In recent years, the positive indoor development of the relevant technologies and industry of location-based service is immanent location-based to provide
Service, chief motivation is the huge application and commercial potential that indoor location service can be brought.And indoor service machine
People is increasingly becoming the teeth of the storm of current industry as the emerging industry to grow up, since earliest sweeping robot, patrols
Examine robot, family accompanies robot, meal delivery robot etc. to enter public view successively.Robot localization navigation is its research neck
One important branch in domain, however current indoor locating system is with complexity is high, of high cost, applicability is bad, positioning accurate
Not high problem is spent, the indoor positioning technologies of mainstream have vision, earth magnetism, ultrasonic wave, ultra wide band, visible light, laser, inertial navigation at present
Deng.Passive Location and positioning video linked system disclosed by the invention based on infrared laser pass through video image, positioning
Technology, data analysis combination, realize accurate real-time positioning and the video interlink of robot.
In order to solve the above problems, people are seeking always a kind of ideal technical solution.
Invention content
The purpose of the present invention is in view of the deficiencies of the prior art, to provide a kind of robot quilt based on infrared laser
Motion positioning method and positioning video linked system.
To achieve the goals above, the technical solution adopted in the present invention is：A kind of robot quilt based on infrared laser
Motion positioning method includes the following steps：
Step 1, multiple infrared transmitters are fixed in localization region, the infrared transmitter is built-in with position coordinates and transmitter
Basic information；Locator is installed in robot；
Step 2, the infrared transmitter carries the position coordinates to locator transmitting and the transmitter basis is believed
The infrared laser signal of breath；
Step 3, the locator is according to the signal strength of multiple infrared laser signals of reception and azimuth and multiple
The position coordinates and transmitter basic information that the infrared laser signal carries carry out position resolving, obtain the real-time seat of robot
Mark information.
Based on above-mentioned, in step 3, the locator is obtained according to the calculating of the signal strength of the infrared laser signal of reception
The locator is obtained at a distance from the infrared transmitter；
The position that the locator is carried according to the azimuth of the infrared laser signal of reception and the infrared laser signal
Coordinate obtains the first coordinate range of the locator；
The locator using the locator at a distance from the infrared transmitter as condition in first coordinate range into
Row screening, obtains the second coordinate range of the locator；
Described in the locator is calculated according to the second coordinate range of the multiple locators filtered out, using three side positioning modes
The real-time coordinates information of locator.
Based on above-mentioned, the position of the infrared transmitter is relative coordinate point or absolute coordinate point in localization region.
Based on above-mentioned, the transmitter basic information include infrared transmitter product type, product coding, temporal information and
Infrared optical information.
The present invention also provides a kind of positioning video linked system, which includes the locator being mounted in robot and the
One video camera, the multiple infrared transmitters being fixed in localization region and second camera and it is built-in with electronic map
Comprehensive management platform, is preset with locator product information and robot information in the locator, pre- in the infrared transmitter
Equipped with position coordinates and transmitter basic information；
The infrared transmitter is connect with the locator, for carrying the position coordinates and institute to locator transmitting
State the infrared laser signal of transmitter basic information；
First video camera is connect with the locator, is obtained the first multi-view image video information and is uploaded to the locator；
Second video camera is connect with the comprehensive management platform, obtains the second multi-view image of the locator region
Video information is uploaded to the comprehensive management platform；
The locator is connect with the comprehensive management platform, according to the signal strength of multiple infrared laser signals of reception
The transmitter basic information and position coordinates carried with azimuth and multiple infrared laser signals carries out position resolving, obtains
Robot real-time coordinates information, and by the real-time coordinates information of the robot and the first multi-view image video information
It is uploaded to the comprehensive management platform；
The real-time coordinates information of robot described in the comprehensive management platform analyzing processing, the first multi-view image video letter
Breath, the second multi-view image video information and the electronic map, generate operating path and command scheduling instruction, and to described
Locator sends the electronic map information, the operating path, the second multi-view image video information and the commander and adjusts
Degree instruction；
The locator is also connect with robot control system, integrates the electronic map information, the operating path, described
The taken the photograph live video of two videos, command scheduling instruction, the real-time coordinates of the robot and first multi-view image regard
Frequency information generates control instruction and is sent to the robot control system.
Based on above-mentioned, the positioning video linked system further includes information write-in device, and described information writing station includes
Infrared transmitter writing module and locator writing module, the infrared transmitter writing module connect with the infrared transmitter
It connects, for the infrared transmitter to be written in the position coordinates and the transmitter basic information；Mould is written in the locator
Block is connect with the locator, for the locator to be written in the locator product information and the robot information.
Based on above-mentioned, the locator includes that information write-in interface, infrared receiving module, position resolve module, wireless receive
Module, intelligent processing module, the first camera interface and robot control system interface are sent out,
Described information write-in interface is connect with described information writing station and the intelligent processing module respectively, is used for the intelligence
It can the processing module write-in locator product information and the robot information；
The infrared receiving module receives the infrared laser signal of the infrared transmitter transmitting；
The position resolves module and is connect with the intelligent processing module, according to the letter of multiple infrared laser signals of reception
The transmitter basic information and position coordinates that number intensity and azimuth and multiple infrared laser signals carry carry out position
It resolves, obtains the real-time coordinates information of robot and be sent to the intelligent processing module；
The intelligent processing module is connect by first camera interface with first video camera, is received described first and is regarded
Angle image/video information, and the real-time coordinates information of the first multi-view image video information and robot is uploaded to described comprehensive
Close management platform；And integrate the electronic map information, the operating path, the taken the photograph live video of second video, institute
Command scheduling instruction, the real-time coordinates of the robot and the first multi-view image video information is stated to generate control instruction and lead to
It crosses the robot control system interface and is sent to the robot control system.
Based on above-mentioned, the infrared transmitter include information write-in interface, clock synchronization module, signal modulation module and
Signal emission module,
Described information write-in interface is connect with described information writing station and the signal emission module respectively, is used for the letter
The position coordinates and the transmitter basic information is written in number transmitting module；
The clock synchronization module be used for keep the infrared transmitter and other infrared transmitters absolute time or it is opposite when
Between it is consistent；
The signal modulation module is used to carry out wireless-modulated to infrared laser signal；
The signal emission module is used to the position coordinates and the transmitter basic information being loaded onto modulated infrared
On laser signal, transmitting to the locator.
Based on above-mentioned, the locator product information includes product type and product coding, and the robot information includes
Robot or other use object number, title, the transmitter basic information includes product type, product coding, time
Information and infrared optical information.
Based on above-mentioned, the comprehensive management platform includes electronic map information, data processing module, management module and wireless
Transceiver module；
The electronic map information includes localization region map, fix in localization region target point mark and it is newer electronically
Figure information, the target point include fixed building, the infrared transmitter, second video camera and robot；
The data processing module is used for the electronic map information, the operating path, the taken the photograph scene of the second video
Video, command scheduling instruction, the real-time coordinates of the robot and the first multi-view image video information integrated,
Analysis and statistics；
The management module for realizing operating path setting and realize the locator, infrared transmitter, described
The management of first video camera, second video camera and the robot information.
The present invention has substantive distinguishing features outstanding and significant progress compared with the prior art, and specifically, the present invention carries
Supplied a kind of robot Passive Location based on infrared laser, in combination with current widely applied Video Analysis Technology and
Big data analysis technology provides a kind of positioning video linked system based on infrared laser and video monitoring, both realizes machine
The accurate real-time positioning of device people also achieves video interlink analysis, has accurate positioning, reasonable design, data rich, expansible
The strong advantage of property.
Description of the drawings
Fig. 1 is that position of the present invention resolves flow diagram.
Fig. 2 is the functional block diagram of the positioning video linked system of the present invention.
Fig. 3 is the deployment schematic diagram of the positioning video linked system of the present invention.
Fig. 4 is the functional block diagram of locator of the present invention.
In figure：1. infrared transmitter；2. locator；3. the second video camera；4. the first video camera；5. robot.
Specific implementation mode
Below by specific implementation mode, technical scheme of the present invention will be described in further detail.
As shown in Figure 1, a kind of 5 Passive Location of robot based on infrared laser, includes the following steps：
Step 1, multiple infrared transmitters 1 are fixed in localization region, the infrared transmitter 1 is built-in with position coordinates and transmitting
Device basic information, specifically, the position of the infrared transmitter 1 is relative coordinate point or absolute coordinate point in localization region,
The transmitter basic information includes 1 product type of infrared transmitter, product coding, temporal information and infrared optical information；Machine
Locator 2 is installed on people 5；
Step 2, the infrared transmitter 1 carries the position coordinates and transmitter basis to the transmitting of the locator 2
The infrared laser signal of information；
Step 3, the locator 2 is according to the signal strength of multiple infrared laser signals of reception and azimuth and multiple
The position coordinates and transmitter basic information that the infrared laser signal carries carry out position resolving, obtain the real-time of robot 5
Coordinate information.
Specifically, in step 3, the locator 2 is calculated according to the signal strength of the infrared laser signal of reception
The locator 2 is obtained at a distance from the infrared transmitter 1；
The position that the locator 2 is carried according to the azimuth of the infrared laser signal of reception and the infrared laser signal
Coordinate obtains the first coordinate range of the locator 2, i.e., is conical tip with the infrared transmitter 1, with the azimuth
Circular cone is built for fixed angle, and the round element of a cone is random length, and any one bottom surface of the circular cone is described the
One coordinate range；
The locator 2 using the locator 2 at a distance from the infrared transmitter 1 is condition in first coordinate range
It is screened, obtains the second coordinate range of the locator 2, i.e., with the locator 2 at a distance from the infrared transmitter 1
D is element of cone, at this point, the bottom surface of the circular cone is second coordinate range；
The locator 2 calculates institute according to the second coordinate range of the multiple locators 2 filtered out using three side positioning modes
State the real-time coordinates information of locator 2.
The present invention also provides a kind of positioning video linked systems, and as shown in figs 2-4, which includes locator 2, first
It video camera 4, multiple infrared transmitters 1, the second video camera 3, information write-in device and is built-in with the integrated pipe of electronic map and pats
Platform, the infrared transmitter 1 and second video camera 3 are arranged in the fixed position of localization region, and according to orientation range
Quantity increase is carried out, the position coordinates of the infrared transmitter 1 are relative coordinate point or absolute coordinate point in localization region, institute
It is live localization region video camera to state the second video camera 3, for shooting the second multi-view image video information, second visual angle figure
As video information is field regions video；The locator 2 and first video camera 4 are mounted in the robot 5,
In, first video camera 4 can be but be not limited only to the picture pick-up device of of robot 5 itself, for shooting, recording the first visual angle
Image/video information, the first multi-view image video information are image scene video.
The positioning video linked system further includes information write-in device, and described information writing station includes infrared transmitter
Writing module and locator writing module, the infrared transmitter writing module are connect with the infrared transmitter 1, are used for position
It sets coordinate and the infrared transmitter 1 is written in transmitter basic information；The locator writing module connects with the locator 2
It connects, for the locator 2 to be written in locator product information and robot information；Specifically, the locator product information
Including product type and product coding, the robot information includes robot 5 or other use number, the title of object, institute
It includes product type, product coding, temporal information and infrared optical information to state transmitter basic information.
The infrared transmitter 1 is connect with the locator 2, and the position coordinates are carried to the transmitting of the locator 2
With the infrared laser signal of the transmitter basic information；First video camera 4 is the first visual angle camera shooting that robot 5 carries
Video information for shooting, studio image/video, and is reached locator 2 by machine；It is connect with the locator 2, obtains the
One multi-view image video information is uploaded to the locator 2；Second video camera 3 is connect with the comprehensive management platform, is obtained
The second multi-view image video information of 2 region of the locator is taken to be uploaded to the comprehensive management platform；The locator 2
It is connect with the comprehensive management platform, according to the signal strength of multiple infrared laser signals of reception and azimuth and more
The transmitter basic information and position coordinates that a infrared laser signal carries carry out position resolving, obtain the reality of robot 5
When coordinate information, and the real-time coordinates information of the robot 5 and the first multi-view image video information is uploaded to described
Comprehensive management platform；
The real-time coordinates information of robot 5 described in the comprehensive management platform analyzing processing, the first multi-view image video letter
Breath, the second multi-view image video information and the electronic map, generate operating path and command scheduling instruction, and to described
Locator 2 sends the electronic map information, the operating path, the second multi-view image video information and the commander and adjusts
Degree instruction, the command scheduling instruction include integrated dispatch, route adjustment and work plan adjustment；
The locator 2 is also connect with robot control system, integrates the electronic map information, operating path, described
The taken the photograph live video of second video, command scheduling instruction, the real-time coordinates of the robot 5 and first multi-view image
Video information carries out path planning or outlier detection, and generates control instruction and be sent to the robot control system into walking along the street
Diameter planning, timely avoidance and abnormal point record.
Specifically, the path planning refers to carrying out real-time location navigation for robot 5；
The timely avoidance refers to 5 timely avoiding obstacles of guidance machine people, again programme path；
Abnormal point record refer to by analyzing the first multi-view image video information, finding out abnormal point, and
Abnormal point operate and record in detail, including video capture, the abnormity point position record, abnormal point attribute record and abnormal shape
Condition records.
Specifically, the locator 2 includes information write-in interface, infrared receiving module, position resolving module, wireless receiving and dispatching
Module, intelligent processing module, the first camera interface and robot control system interface,
Described information write-in interface is connect with described information writing station and the intelligent processing module respectively, is used for the intelligence
It can the processing module write-in locator product information and the robot information；
The infrared receiving module receives the infrared laser signal of the transmitting of the infrared transmitter 1；
The position resolves module and is connect with the intelligent processing module, according to the letter of multiple infrared laser signals of reception
The transmitter basic information and position coordinates that number intensity and azimuth and multiple infrared laser signals carry carry out position
It resolves, obtain the real-time coordinates information of robot 5 and is sent to the intelligent processing module；
The intelligent processing module is connect by first camera interface with first video camera 4, receives described first
Multi-view image video information, and the real-time coordinates information of the first multi-view image video information and robot 5 is uploaded to institute
State comprehensive management platform；And integrate the electronic map information, the operating path, the taken the photograph scene of the second video regard
Frequently, the command scheduling instruction, the real-time coordinates of the robot 5 and the first multi-view image video information generate control and refer to
It enables and the robot control system is sent to by the robot control system interface.
Specifically, the infrared transmitter 1 include information write-in interface, clock synchronization module, signal modulation module and
Signal emission module,
Described information write-in interface is connect with described information writing station and the signal emission module respectively, is used for the letter
The position coordinates and the transmitter basic information is written in number transmitting module；
The clock synchronization module is used to keep the absolute time or opposite of the infrared transmitter 1 and other infrared transmitters 1
Time consistency；
The signal modulation module is used to carry out wireless-modulated to the infrared laser signal, by the position coordinates and the hair
Emitter basic information is loaded on the infrared laser signal, it is preferred that the wireless-modulated mode is OOK, PSK or AM etc. normal
With modulation system, user can voluntarily select；
The signal emission module according to preset signals frequency for emitting to the locator 2, it is preferred that multiple described infrared
The signal frequency difference and orthogonal relationship of transmitter 1.
Specifically, the comprehensive management platform includes electronic map information, data processing module, management module and wireless receipts
Send out module；
The electronic map information includes localization region map, fix in localization region target point mark and it is newer electronically
Figure information, the target point include fixed building, the infrared transmitter 1, second video camera 3 and robot 5；
The data processing module is used for the electronic map information, the operating path, the taken the photograph scene of the second video
Video, command scheduling instruction, the real-time coordinates of the robot 5 and the first multi-view image video information carry out whole
Splitting or integrating is analysed and statistics；
Setting and the realization locator 2, the infrared transmitter 1, institute of the management module for realizing operating path
State the management of the first video camera 4, second video camera 3 and the robot information.
Finally it should be noted that:The above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof；To the greatest extent
The present invention is described in detail with reference to preferred embodiments for pipe, those of ordinary skills in the art should understand that：Still
It can modify to the specific implementation mode of the present invention or equivalent replacement is carried out to some technical characteristics；Without departing from this hair
The spirit of bright technical solution should all cover within the scope of the technical scheme claimed by the invention.
Claims (10)
1. a kind of robot Passive Location based on infrared laser, which is characterized in that include the following steps：
Step 1, multiple infrared transmitters are fixed in localization region, the infrared transmitter is built-in with position coordinates and transmitter
Basic information；Locator is installed in robot；
Step 2, the infrared transmitter carries the position coordinates to locator transmitting and the transmitter basis is believed
The infrared laser signal of breath；
Step 3, the locator is according to the signal strength of multiple infrared laser signals of reception and azimuth and multiple
The position coordinates and transmitter basic information that the infrared laser signal carries carry out position resolving, obtain the real-time seat of robot
Mark information.
2. the robot Passive Location according to claim 1 based on infrared laser, it is characterised in that：In step 3,
The locator calculates according to the signal strength of the infrared laser signal of reception and obtains the locator and the infrared hair
The distance of emitter；
The position that the locator is carried according to the azimuth of the infrared laser signal of reception and the infrared laser signal
Coordinate obtains the first coordinate range of the locator；
The locator using the locator at a distance from the infrared transmitter as condition in first coordinate range into
Row screening, obtains the second coordinate range of the locator；
Described in the locator is calculated according to the second coordinate range of the multiple locators filtered out, using three side positioning modes
The real-time coordinates information of locator.
3. the robot Passive Location according to claim 1 or 2 based on infrared laser, it is characterised in that：It is described
The position of infrared transmitter is relative coordinate point or absolute coordinate point in localization region.
4. the robot Passive Location according to claim 1 or 2 based on infrared laser, it is characterised in that：It is described
Transmitter basic information includes infrared transmitter product type, product coding, temporal information and infrared optical information.
5. a kind of positioning video linked system, it is characterised in that：Include locator in robot and the first video camera,
The multiple infrared transmitters and second camera that are fixed in localization region and the integrated management for being built-in with electronic map
Platform is preset with locator product information and robot information in the locator, position is preset in the infrared transmitter
Coordinate and transmitter basic information；
The infrared transmitter is connect with the locator, for carrying the position coordinates and institute to locator transmitting
State the infrared laser signal of transmitter basic information；
First video camera is connect with the locator, is obtained the first multi-view image video information and is uploaded to the locator；
Second video camera is connect with the comprehensive management platform, obtains the second multi-view image of the locator region
Video information is uploaded to the comprehensive management platform；
The locator is connect with the comprehensive management platform, according to the signal strength of multiple infrared laser signals of reception
The transmitter basic information and position coordinates carried with azimuth and multiple infrared laser signals carries out position resolving, obtains
Robot real-time coordinates information, and by the real-time coordinates information of the robot and the first multi-view image video information
It is uploaded to the comprehensive management platform；
The real-time coordinates information of robot described in the comprehensive management platform analyzing processing, the first multi-view image video letter
Breath, the second multi-view image video information and the electronic map, generate operating path and command scheduling instruction, and to described
Locator sends the electronic map information, the operating path, the second multi-view image video information and the commander and adjusts
Degree instruction；
The locator is also connect with robot control system, integrates the electronic map information, the operating path, described
The taken the photograph live video of two videos, command scheduling instruction, the real-time coordinates of the robot and first multi-view image regard
Frequency information generates control instruction and is sent to the robot control system.
6. positioning video linked system according to claim 5, it is characterised in that：The positioning video linked system is also wrapped
Include information write-in device, described information writing station includes infrared transmitter writing module and locator writing module, described red
External transmitter writing module is connect with the infrared transmitter, for writing the position coordinates and the transmitter basic information
Enter the infrared transmitter；The locator writing module is connect with the locator, is used for the locator product information
The locator is written with the robot information.
7. positioning video linked system according to claim 6, it is characterised in that：The locator includes that information write-in connects
Mouth, infrared receiving module, position resolve module, radio receiving transmitting module, intelligent processing module, the first camera interface and robot
Control system interface,
Described information write-in interface is connect with described information writing station and the intelligent processing module respectively, is used for the intelligence
It can the processing module write-in locator product information and the robot information；
The infrared receiving module receives the infrared laser signal of the infrared transmitter transmitting；
The position resolves module and is connect with the intelligent processing module, according to the letter of multiple infrared laser signals of reception
The transmitter basic information and position coordinates that number intensity and azimuth and multiple infrared laser signals carry carry out position
It resolves, obtains the real-time coordinates information of robot and be sent to the intelligent processing module；
The intelligent processing module is connect by first camera interface with first video camera, is received described first and is regarded
Angle image/video information, and the real-time coordinates information of the first multi-view image video information and robot is uploaded to described comprehensive
Close management platform；And integrate the electronic map information, the operating path, the taken the photograph live video of second video, institute
Command scheduling instruction, the real-time coordinates of the robot and the first multi-view image video information is stated to generate control instruction and lead to
It crosses the robot control system interface and is sent to the robot control system.
8. the positioning video linked system according to claim 7, it is characterised in that：The infrared transmitter includes letter
Breath write-in interface, clock synchronization module, signal modulation module and signal emission module,
Described information write-in interface is connect with described information writing station and the signal emission module respectively, is used for the letter
The position coordinates and the transmitter basic information is written in number transmitting module；
The clock synchronization module be used for keep the infrared transmitter and other infrared transmitters absolute time or it is opposite when
Between it is consistent；
The signal modulation module is used to carry out wireless-modulated to infrared laser signal；
The signal emission module is used to the position coordinates and the transmitter basic information being loaded onto modulated infrared
On laser signal, transmitting to the locator.
9. the positioning video linked system described according to claim 6 or 7 or 8, it is characterised in that：The locator product
Information includes product type and product coding, and the robot information includes robot or other use number, the title of object,
The transmitter basic information includes product type, product coding, temporal information and infrared optical information.
10. the positioning video linked system according to claim 5 or 6 or 7 or 8, it is characterised in that：The integrated pipe
Platform includes electronic map information, data processing module, management module and radio receiving transmitting module；
The electronic map information includes localization region map, fix in localization region target point mark and it is newer electronically
Figure information, the target point include fixed building, the infrared transmitter, second video camera and robot；
The data processing module is used for the electronic map information, the operating path, the taken the photograph scene of the second video
Video, command scheduling instruction, the real-time coordinates of the robot and the first multi-view image video information integrated,
Analysis and statistics；
The management module for realizing operating path setting and realize the locator, infrared transmitter, described
The management of first video camera, second video camera and the robot information.
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Cited By (5)
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| CN110450167A (en) * | 2019-08-27 | 2019-11-15 | 南京涵曦月自动化科技有限公司 | A kind of robot infrared laser positioning motion trail planning method |
| CN110497417A (en) * | 2019-09-25 | 2019-11-26 | 李宏达 | A kind of multi-axis robot based on high-precision three-dimensional space positioning system |
| CN110733036A (en) * | 2019-09-24 | 2020-01-31 | 李宏达 | omnidirectional movement multi-axis robot positioning device of low-cost high-precision three-dimensional space positioning system based on laser positioning |
| CN111210611A (en) * | 2020-03-09 | 2020-05-29 | 南京卓欧信息技术有限公司 | Method for identifying indoor video monitoring blind area |
| CN111983631A (en) * | 2020-08-17 | 2020-11-24 | 云南电网有限责任公司电力科学研究院 | Snakelike electric power inspection robot positioning system for long and narrow closed space |
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