Sensor network based mobile robot and static sensor task cooperation method

A mobile robot and sensor network technology, applied in the information field, can solve problems such as insufficient recognition accuracy

Active Publication Date: 2016-11-09
SHANDONG UNIV
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Problems solved by technology

At present, the perception technology about human behavior has...

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  • Sensor network based mobile robot and static sensor task cooperation method
  • Sensor network based mobile robot and static sensor task cooperation method
  • Sensor network based mobile robot and static sensor task cooperation method

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Embodiment Construction

[0077] The present invention is described in detail below in conjunction with accompanying drawing:

[0078] Such as figure 1 As shown, the distributed information consistency estimation method of human joint points based on interactive multi-model realizes distributed processing of data and distributed fusion of information by constructing a dynamic distributed RGBD sensor network, and there is no centralized information processing in the network With the fusion center, sensor nodes only exchange information with neighboring nodes, and through a limited number of consistency iterations, the estimation of the perceived target state in the network is consistent.

[0079] The sensor network realizes the transmission of information through wireless communication. Each sensor is connected to a local processor, which can be a microcomputer or an ARM development board. After the local processor processes the information, it exchanges network data with neighboring nodes through wir...

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Abstract

The invention discloses a sensor network based mobile robot and static sensor task cooperation method, which comprises the steps that a dynamic distributed sensor network is built, and consistency estimation is carried out on acquired human body articulation point distributed information; color image and depth image based multi-feature joint data association is performed after consistency estimation is carried out on the human body articulation point distributed information; distributed DTW human body behavior intension recognition is carried out based on human body behavior characteristics; on the basis of a behavior recognition result, a mobile robot participates in a bidding service by using a contract net method and provides robot services in allusion to specific behaviors of a user; when an estimation error of a static sensor for a certain articulation point of the human body exceeds a set value, a request for a close-range checking task is initiated, an adjacent mobile robot bids for the task and executes the task, and close-range observation for a specific target is realized. The sensor network based mobile robot and static sensor task cooperation method provides close-range observation in allusion to an observation blind area on the one hand, and provides corresponding intelligent services for special behaviors of the human body on the other hand.

Description

technical field [0001] The invention relates to the field of information technology, in particular to a task cooperation method of a mobile robot and a static sensor based on a sensor network. Background technique [0002] Human behavior recognition based on multiple RGBD cameras has attracted extensive attention from researchers, and has been applied to human behavior detection in operating rooms, factory workshops, automobile assembly, indoor monitoring and other environments, effectively solving the problem of human occlusion and possible human- The robot collision problem has important application value. [0003] At present, human behavior perception based on multiple RGBD sensors is still in a centralized stage, requiring one or more data fusion centers to fuse 3D data and human skeleton joint point data, which requires high computing power and robustness for data fusion centers , weak resistance to network instability and low scalability. [0004] With the developmen...

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Application Information

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IPC IPC(8): G06K9/00G06T7/20
CPCG06T7/20G06T2207/10024G06T2207/20081G06V40/20
Inventor 刘国良田国会
Owner SHANDONG UNIV
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