CN103900554A - Information processing method and guiding devices - Google Patents
Information processing method and guiding devices Download PDFInfo
- Publication number
- CN103900554A CN103900554A CN201210574957.8A CN201210574957A CN103900554A CN 103900554 A CN103900554 A CN 103900554A CN 201210574957 A CN201210574957 A CN 201210574957A CN 103900554 A CN103900554 A CN 103900554A
- Authority
- CN
- China
- Prior art keywords
- guiding device
- electronic equipment
- mobile electronic
- coverage
- navigation information
- 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
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an information processing method and guiding devices. The information processing method is used for the first guiding device, the first guiding device is connected to a second guiding device, the first guiding device and the second guiding device are used for guiding a removable electronic device to carry out positioning, the first guiding device has a first coverage range, and the second guiding device has a second coverage range. The information processing method comprises capturing image data in the first coverage range, acquiring position information of the removable electronic device according to the image data, determining if the removable electronic device arrives at a triggering switching position according to the position information, generating a first switching request signal used for requesting the second guiding device to provide navigation information for the removable electronic device if the removable electronic device arrives at the triggering switching position, and transmitting the first switching request signal to the second guiding device. The information processing method guarantees seamless switching of the removable electronic device between the guiding device coverage ranges.
Description
Technical field
The present invention relates to field of computer technology, more specifically, the present invention relates to a kind of information processing method and guiding device.
Background technology
Instant location is current popular research topic aspect robot location with map structuring (Simultaneous Localization and Mapping, SLAM).So-called SLAM by mobile electronic equipment (is for example exactly, mobile robot) locate with environmental map establishment and combine together, be that robot estimates according to self pose and the perception structure increment type environmental map of sensor to environment in motion process, utilize this map to realize the location of self simultaneously.
Mobile robot's accurately and fast location is robot navigation's gordian technique, particularly and other location facilities unavailable at GPS (as, use Wifi) in accurate not indoor environment.
In the prior art, robot uses the SLAM function for self poisoning conventionally.But, due to the restriction of memory capacity and calculated performance, certainly develop formula mobile robot in the situation that not abandoning himself data, can not the unknown, carry out for a long time SLAM in open environment.And, only rely on the ability of robot self, in the time that SLAM suffers heavy calculated load, instant location and map structuring are consuming time long and effect is bad.
For this problem, a kind of possible solution is that the robot various technology that adopt peripheral hardware aspect (such as, localization method based on road sign, the localization method based on ultrasound wave, infrared, laser lamp sensor instrument distance, the localization method based on structure map and the localization method etc. based on using how much maps and probability inference) are located fast.But the shortcoming of this scheme is poor expandability.This system-specific is in very limited application or mechanism, and as RoboCup football championship (RoboCup), wherein all machines are limited to motion in the region of 20 square metres per capita.
Another kind of possible solution is that the robot various technology that adopt know-why aspect (such as, localization method based on signal strength localization method, electric wave transmission time or mistiming, based on Radio wave incident angle, mixed location method etc.) position.But the shortcoming of this scheme is very out of true of result, its deviation is greater than 2 meters conventionally.
For the defect of above-mentioned two kinds of solutions, a kind of technical scheme robot being positioned based on guiding device has been proposed again in the prior art, in circumstances not known, dispose multiple guiding devices, observe and identify the robot in its coverage by guiding device, thereby robot is positioned and provides navigation information to it.But the shortcoming of this scheme is, the inaccurate coordination between multiple guiding devices, between each guiding device, have no provides navigation Service to robot collaboratively simultaneously, thereby causes serious waste of resources.
Therefore, need a kind of novel information processing method and guiding device to solve the problems referred to above.
Summary of the invention
In order to solve the problems of the technologies described above, according to an aspect of the present invention, a kind of information processing method is provided, be applied to the first guiding device, described the first guiding device is connected to the second guiding device, described the first guiding device and described the second guiding device are used for guiding mobile electronic equipment to position, described the first guiding device has the first coverage, described the second guiding device has the second coverage, it is characterized in that, described method comprises: the view data that catches described the first coverage; Obtain the positional information of described mobile electronic equipment according to described view data; Determine according to described positional information whether described mobile electronic equipment arrives triggering switching position; Arrive described triggering switching position if determine described mobile electronic equipment, generate the first switching request signal, described the first switching request signal is used for asking described the second guiding device to provide navigation information to described mobile electronic equipment; And send the first switching request signal to described the second guiding device.
In addition, according to a further aspect in the invention, a kind of the first guiding device is provided, described the first guiding device is connected to the second guiding device, and described the first guiding device and described the second guiding device are used for guiding mobile electronic equipment to position, and described the first guiding device has the first coverage, described the second guiding device has the second coverage, it is characterized in that, described the first guiding device comprises: capture unit, for catching the view data of described the first coverage; Acquiring unit, for obtaining the positional information of described mobile electronic equipment according to described view data; Determining unit, for determining according to described positional information whether described mobile electronic equipment arrives triggering switching position; Handoff request generation unit, if arrive described triggering switching position for determining described mobile electronic equipment, generate the first switching request signal, described the first switching request signal is used for asking described the second guiding device to provide navigation information to described mobile electronic equipment; And communication unit, for sending the first switching request signal to described the second guiding device.
Compared with prior art, adopt according to information processing side of the present invention and guiding device, can observe and identify individually the mobile electronic equipment in its coverage by the first guiding device, judge whether this mobile electronic equipment moves to the triggering switching position between this first guiding device and the second guiding device, and in the time determining this mobile electronic equipment and arrive this triggering switching position, be switched to the second guiding device and come to provide navigation information to this mobile electronic equipment individually.Therefore, in the present invention, can make each guiding device effectively cooperate, to ensure that mobile electronic equipment seamlessly switches between the coverage of each guiding device, thereby save system resource.
Other features and advantages of the present invention will be set forth in the following description, and, partly from instructions, become apparent, or understand by implementing the present invention.Object of the present invention and other advantages can be realized and be obtained by specifically noted structure in instructions, claims and accompanying drawing.
Brief description of the drawings
Accompanying drawing is used to provide a further understanding of the present invention, and forms a part for instructions, for explaining the present invention, is not construed as limiting the invention together with embodiments of the present invention.In the accompanying drawings:
Fig. 1 illustrates according to information processing method of the present invention.
Fig. 2 illustrates according to the first guiding device of the present invention.
Fig. 3 illustrates the information processing method according to the embodiment of the present invention.
Fig. 4 illustrates the aid in guide network according to the embodiment of the present invention.
Fig. 5 illustrates the first guiding device according to the embodiment of the present invention.
Fig. 6 illustrates the information handling system according to the embodiment of the present invention.
Fig. 7 illustrates according to the physics realization of the first guiding device of the embodiment of the present invention.
Embodiment
Describe in detail with reference to the accompanying drawings according to each embodiment of the present invention.Here, it should be noted that in the accompanying drawings, identical Reference numeral is given and substantially had ingredient identical or similar structures and function, and will omit being repeated in this description about them.
Hereinafter, describe according to information processing method of the present invention and guiding device with reference to Fig. 1 and 2.
Fig. 1 illustrates according to information processing method of the present invention, and Fig. 2 illustrates according to the first guiding device 100 of the present invention.
Described information processing method is applied to the first guiding device, described the first guiding device is connected to the second guiding device, described the first guiding device and described the second guiding device are used for guiding mobile electronic equipment to position, described the first guiding device has the first coverage, and described the second guiding device has the second coverage.As illustrated in Figure 2, described the first guiding device 100 comprises: capture unit 110, acquiring unit 120, determining unit 130, handoff request generation unit 140 and communication unit 150.
As illustrated in figure 1, described information processing method comprises:
In step S110, capture unit 110 catches the view data of described the first coverage;
In step S120, acquiring unit 120 obtains the positional information of described mobile electronic equipment according to described view data;
In step S130, determining unit 130 determines according to described positional information whether described mobile electronic equipment arrives triggering switching position;
In step S140, arrive described triggering switching position if determine described mobile electronic equipment, handoff request generation unit 140 generates the first switching request signal, and described the first switching request signal is used for asking described the second guiding device to provide navigation information to described mobile electronic equipment; And
In step S150, communication unit 150 sends the first switching request signal to described the second guiding device.
As can be seen here, adopt according to information processing side of the present invention and guiding device, can observe and identify individually the mobile electronic equipment in its coverage by the first guiding device, judge whether this mobile electronic equipment moves to the triggering switching position between this first guiding device and the second guiding device, and in the time determining this mobile electronic equipment and arrive this triggering switching position, be switched to the second guiding device and come to provide navigation information to this mobile electronic equipment individually.Therefore, in the present invention, can make each guiding device effectively cooperate, to ensure that mobile electronic equipment seamlessly switches between the coverage of each guiding device, thereby save system resource.
Hereinafter, describe according to the information processing method of the embodiment of the present invention and guiding device with reference to Fig. 3 to 6.
Fig. 3 illustrates the information processing method according to the embodiment of the present invention, and Fig. 4 illustrates the aid in guide network 20 according to the embodiment of the present invention.
Fig. 3 is illustrated can be applied to the illustrated aid in guide network 20 of Fig. 4 according to the information processing method of the embodiment of the present invention.This aid in guide network 20 can be for guiding mobile electronic equipment (for example, robot) 10 in circumstances not known, position and this circumstances not known is carried out to map structuring, and can comprise multiple guiding devices, for example the first guiding device 100, the second guiding device 200, the 3rd guiding device 300 etc., as illustrated in Fig. 4.
In aid in guide network 20, multiple guiding devices can link together by wireless network and/or cable network, to transmitting each other various information.For example, the plurality of guiding device can utilize wireless communication protocol (for example, WLAN (wireless local area network) WLAN) to communicate via access point (AP), with the dirigibility of guaranteeing that signal transmits.Alternatively, the plurality of guiding device also can be connected on hub, switch and/or router by netting twine, and utilizes wired communication protocol (for example, Ethernet) to communicate, with the reliability of guaranteeing that signal transmits.
Below, will the guiding device according to the embodiment of the present invention be described in detail as an example of the first guiding device 100 example.
Fig. 5 illustrates the first guiding device 100 according to the embodiment of the present invention.
As illustrated in Fig. 5, with the same in Fig. 2, this first guiding device 100 can comprise: capture unit 110, acquiring unit 120, determining unit 130, handoff request generation unit 140 and communication unit 150.In addition, this first guiding device 100 can also comprise: navigation information generation unit 160, transmitter unit 170, azimuth information generation unit 180 and/or handoff response generation unit 190.
This first guiding device 100 is for providing navigation information by the one or more of above-mentioned parts to the mobile electronic equipment 10 moving in the first coverage, and in the time that this mobile electronic equipment 10 moves in the second coverage of the second guiding device 200, ask this second guiding device 200 to continue to provide navigation information to mobile electronic equipment, make it possible to ensure seamlessly to provide navigation information to this mobile electronic equipment 10, thereby this mobile electronic equipment 10 can operate by execution SLAM the positional information obtaining to oneself according to this navigation information and proofread and correct in the moment in circumstances not known.
Referring back to Fig. 4, this first guiding device 100 has the first coverage, this second guiding device 200 has the second coverage, and the 3rd guiding device 300 has the 3rd coverage, and as mentioned above, each guiding device is for providing navigation information to the mobile electronic equipment 10 moving in its coverage.
Wherein, can be according to the transmitter unit 170(equipping on each guiding device for example, radio frequency transmitter) angle of coverage (for example, radiation scope), capture unit 110(for example, camera) angle of coverage (for example, or visual line of sight) and/or the receiving element 11(that equips in machine body for example, less radio-frequency receiver) position divide fast the overlay area of this guiding device.
In the first example, the first coverage of the first guiding device 100 can be the coverage that the radiation intensity of its transmitter unit 170 is greater than a threshold intensity.In the second example, the first coverage of the first guiding device 100 can be the picture catching scope of its capture unit 110.In the 3rd example, the first coverage of the first guiding device 100 can be one less in above-mentioned two scopes.
In addition,, in aid in guide network 20, preferably, the coverage of two adjacent guiding devices can have overlapping region.For example; as illustrated in Fig. 4; between this first coverage and this second coverage, form overlapping region; and between this second coverage and the 3rd coverage, form overlapping region, to guarantee that robot can obtain the assisting navigation of guiding device while moving on whole movement locus.But, the invention is not restricted to this.Obviously, consider that the number of saving guiding device is to reduce system cost, the coverage of two adjacent guiding devices can mutually be adjoined but is not overlapping; Or also can be separated by a distance.
At this, in order seamlessly to provide navigation information to mobile electronic equipment 10, preferably the coverage of two adjacent guiding devices is chosen for and has certain overlapping region in an embodiment of the present invention.
In addition, from macroscopic view, this aid in guide network 20 for example can belong to an information handling system.
Fig. 6 illustrates the information handling system according to the embodiment of the present invention.
As illustrated in Fig. 6, this information handling system can comprise: mobile electronic equipment 10, aid in guide network 20 and region server 30.
This mobile electronic equipment 10 can be robot (Robot), for independently or the map datum and the Route Planning Data that provide according to region server 30 move at circumstances not known, carry out instant location and map structuring (SLAM) simultaneously, and send the result of described instant location and map structuring to region server 30, for being updated in the map datum of storage in described region server 30.
The network that this aid in guide network 20 can be made up of multiple aid in guide equipment.This guiding device is for example beaconing nodes (Beacon Node, BN).This beaconing nodes for example comprises optics or the infrared camera of multiple networkings, to locate by colour code or the mobile electronic equipment 10 in its visual line of sight is observed and identified to the technology such as moving Object Detection, and obtain direct map or locating information, to assist mobile electronic equipment 10 to carry out more accurate SLAM operation, assist in addition region server 30 to utilize direct map image to be updated in the map datum of storage in described region server 30.Certainly, aid in guide equipment according to the present invention is not limited in this.The aid in guide equipment that those skilled in the art will appreciate that other types is also feasible, for example, feeds back the equipment guiding by light wave.
This region server 30(Regional Server, RS) can the space in circumstances not known or outside circumstances not known in.It can be made up of one or more region server 30, and can carry out Further Division according to the Robot of compass of competency or management.For example, can be responsible for providing the navigation information about whole circumstances not known to mobile electronic equipment 10 by a region server 30, but like this may be too high and be difficult to meet performance requirement for the performance requirement of this single region server 30.Alternatively, also can share and be responsible for providing the navigation information about whole circumstances not known to mobile electronic equipment 10 by multiple region server 30, be that single region server 30 is only responsible for certain compass of competency, and only provide the navigation information about the circumstances not known corresponding with its compass of competency to mobile electronic equipment 10.In addition, this single region server 30 can communicate by letter to obtain with the mobile electronic equipment 10 in its compass of competency the cartographic information of its structure, and communicates by letter to obtain direct map or locating information with the guiding device in its region, thereby builds area map.
It is pointed out that one or more aid in guide equipment can be installed in the compass of competency of a region server, and each aid in guide equipment has certain coverage.In addition, a region server can be managed one or more mobile electronic equipments, to coordinate the motion of each mobile electronic equipment in circumstances not known, and can not exert an influence to other mobile electronic equipments.
In this information handling system, mobile electronic equipment 10, aid in guide network 20 and region server 30 can link together by wireless network and/or cable network, to transmitting each other various information.
Next, by by describe the information processing method according to the embodiment of the present invention with reference to Fig. 3.
As illustrated in Fig. 3, comprise according to the information processing method of the embodiment of the present invention:
In step S210, the first guiding device provides navigation information to mobile electronic equipment.
When needs for example utilize mobile electronic equipment 10(, movable machine people Robot) to come a circumstances not known to carry out while exploring, region server 30 can fictionalize a collisionless optimal path for Robot within the utmost point short time in circumstances not known.Then, robot 10 can move according to this optimal path in circumstances not known.Alternatively, this robot 10 also can independently move in circumstances not known, so that place environment is surveyed and to be understood.
In addition, in the time that robot 10 works, can also apply for the support of aid in guide network 20.As mentioned above, in circumstances not known, may be furnished with one or more beaconing nodes (BN) as guiding device, and in order to obtain the larger visual field, this BN for example can be arranged in superjacent air space (on ceiling) or other positions of circumstances not known.Preferably, these BN can form an aid in guide network 20, and the circumstances not known that can be administered corresponding to this region server by the region of these aid in guide network 20 carries out image seizure.
Below, as an example of the first guiding device 100 example to being described in detail according to the physics realization of the guiding device of the embodiment of the present invention.
Fig. 7 illustrates according to the physics realization of the first guiding device of the embodiment of the present invention.
As illustrated in Fig. 7, in this first guiding device 100, the capture unit 110 of equipment can comprise one or more cameras, for observing and identify the object in its visual line of sight, wherein the base of each camera is fixed together, and optical axis included angle between each camera is adjustable.As illustrated from the shade that BN sent in Fig. 6 and Fig. 7, the visual angle of the camera of this BN is for overlooking visual angle.Preferably, this capture unit 110 can comprise two cameras, and optical axis included angle between two cameras is 60 degree, and its area coverage is 2m × 8m.By the camera of configuration like this, compared with traditional single camera, its field range is wider, thereby can easily obtain the pixel data etc. of robot 10, barrier, interim object and map in visual line of sight, as observation information.Typically, this observation information is the 2-D gray image information of overlooking visual angle of described circumstances not known.
Obviously, above-mentioned observation information is not limited to this.This first observation information and this second sensitive information can be also any one in Two-dimensional Color Image information, three-dimensional color image information or Three-Dimensional Gray image information.
Suppose in current the first coverage in the first guiding device 100 of this robot 10.So, in this guiding device 100, capture unit 110 catches the view data of the first coverage.For example, thereby this capture unit 110 takes for the object entering in visual line of sight the view data obtaining about described object, then it is identified described object by such as colour code etc. and whether belongs to robot 10, if described object belongs to robot 10, described view data is sent to acquiring unit 120 by capture unit 110.
Next the view data that, acquiring unit 120 captures according to capture unit 110 is obtained the positional information of described mobile electronic equipment 10.For example, this acquiring unit 120 is by analyzing and process to obtain the positioning result of this robot 10 in the first coverage to described view data.Particularly, can, using the specified point in space as reference point, preset the positional information of this first guiding device with respect to this reference point.Then, the positioning result that the acquiring unit of the first guiding device 120 can be obtained is offset corresponding thereto in amount corresponding to the positional information of reference point, thereby can obtain the positioning result taking this reference point as true origin.
In like manner, can also preset other guiding device using specified point as reference point with respect to the positional information of this reference point, and the positioning result that the acquiring unit of each guiding device is obtained is offset respectively corresponding thereto in amount corresponding to the positional information of reference point, thereby obtain the positioning result taking this reference point as true origin.Specified point in the space here can be one of multiple guiding devices, can be also any point beyond multiple guiding devices.
In addition, this acquiring unit 120 can also use the real-time positioning information that arrives angle orientation technology (AOA), location technology time of arrival (TOA) or the two hybrid locating method and obtain robot 10, more accurately robot is positioned.
Then, the positional information that navigation information generation unit 160 obtains according to described acquiring unit 120 also generates navigation information according to priori map for robot 10, and provide described navigation information by transmitter unit 170 to mobile electronic equipment 10, to make described mobile electronic equipment to proofread and correct self-position according to described navigation information.For example, this navigation information generation unit 160 can be before generating navigation information, and the positional information of first according to priori map, described acquiring unit 120 being obtained is carried out real time correction.After the first guiding device 100 receives this navigation information, this mobile electronic equipment 10 can be revised instant location and the result of map structuring self carried out according to this navigation information, so that acquisition has the more SLAM result of high reliability.
In addition,, along with the continuous motion from circumstances not known, this robot 10 can constantly carry out SLAM operation and obtain the bobbin movement feedback information of self simultaneously, and produces the estimated information about self-position according to both.And this robot 10, after the navigation information receiving from the first guiding device 100, can merge this navigation information and the location estimation information self producing and proofread and correct, to obtain the location estimation information after correction.Next, this robot 10 can also further be sent to region server 30 by the location estimation information after this correction, obtain a priori diagram data by this region server 30 locating information of robot is carried out to further contrast correction, thereby generate robot 10 positional informations and map datum more accurately.After this, this region server 30 can also be transmitted back to the first guiding device 100 by 10 positional informations of the robot after self-correcting and map datum, thereby make to form the position information confirming mechanism of closed loop, thereby effectively improved the positioning precision of robot in motion.
In step S220, determine whether mobile electronic equipment arrives triggering switching position.
After receiving this navigation information, robot 10 moves under the guiding of the first guiding device 100 in circumstances not known.And, suppose that this robot 10 is current to move gradually to the second coverage of the second guiding device 200 from the first coverage of the first guiding device 100.
Along with the motion of this robot 10, as mentioned above, this acquiring unit 120 can constantly obtain the positional information of robot 10, to complete in real time the positioning action for this robot 10.Simultaneously, in this first guiding device 100, the positional information that determining unit 130 is obtained according to described acquiring unit 120 determines whether described mobile electronic equipment arrives triggering switching position, arrive described triggering switching position and if determine described mobile electronic equipment, notify handoff request generation unit 140 to carry out subsequent operation.
As illustrated in Fig. 4, this first guiding device 100 has the first coverage, and this second guiding device 200 has the second coverage, and this first covering service is crossing at dot-and-dash line 150 places with this second coverage, and produces an overlapping region.
In one example, this determining unit 130 can determine whether this robot 10 moves into the second coverage of this second guiding device 200.
Particularly, owing to for the receiving element 11(of radio communication being for example equipped with in this robot 10, less radio-frequency receiver), and the coverage of guiding device is relevant to the angle of coverage of transmitter unit, so need to determining the receiving element 11 in this robot 10, this determining unit 130 whether enters in the coverage of transmitter unit of this second guiding device 200.For example, if this receiving element 11 is equipped in the front portion of robot 10, this determining unit 130 is determined the particular location of the head of this robot.And for example, if this receiving element is equipped in the rear portion of robot 10, this determining unit 130 is determined the particular location at the rear portion of this robot.But, due under normal conditions, in order to obtain best radio frequency reception effect, this receiving element 11 is often equipped in the center section of robot 10, so this determining unit 130 determines whether the center section of this robot has entered this second coverage, and in the time entering, to handoff request generation unit 140 notification triggers blocked operations.
In another example, this determining unit 130 can determine whether this robot 10 moves away the first coverage of this first guiding device 100.For example, when the center section of determining this robot when this determining unit 130 has left the first coverage, notify follow-up blocked operation to handoff request generation unit 140.
In another example, this determining unit 130 can determine whether the receiving element 11 of equipping in this robot 10 moves to Dutch and change separatrix.
Particularly, as mentioned above, cover between service and the second coverage of this second guiding device 200 and have an overlapping region at first of this first guiding device 100, and in this overlapping region, exist one to switch separatrix (spatially being illustrated by dot-and-dash line 150).Obviously,, in this left side, switching separatrix, on the first guiding device 100, the emissive porwer of the transmitter unit 170 of equipment is greater than the emissive porwer of the transmitter unit of equipment on the second guiding device 200; At this switching separatrix place, on the first guiding device 100, the emissive porwer of the transmitter unit 170 of equipment equals the emissive porwer of the transmitter unit of equipment on the second guiding device 200; And on this right side, switching separatrix, on the first guiding device 100, the emissive porwer of the transmitter unit 170 of equipment is less than the emissive porwer of the transmitter unit of equipment on the second guiding device 200.
So, in order to make robot 10 can receive the wireless signal compared with high radiance, when the center section of determining this robot when this determining unit 130 has arrived this switching separatrix and continued motion to the second coverage, the navigation that proceeds to the second guiding device 200 to handoff request generation unit 140 notices is switched.
In step S230, generate the first switching request signal.
Determine after described mobile electronic equipment 10 arrives described triggering switching position in determining unit 130, handoff request generation unit 140 receives the notification signal of determining unit 130.Then, this handoff request generation unit 140 generates the first switching request signal, and described the first switching request signal is used for asking described the second guiding device to provide navigation information to described mobile electronic equipment.
In addition, preferably, generate the first switching request signal side by side with this handoff request generation unit 140, azimuth information generation unit 180 generates the azimuth information of described mobile electronic equipment.For example, this azimuth information can comprise: the positional information that robot 10 is current and/or robot 10 enter the angle information of this second coverage, to this second guiding device 200 can be positioned this robot 10 with prestissimo.
Although azimuth information generation unit 180 is described as generating the first switching request signal and side by side generating with this handoff request generation unit 140 at this azimuth information of robot 10, but the invention is not restricted to this, but, can also, before or after this handoff request generation unit 140 generates the first switching request signal, generate this azimuth information by azimuth information generation unit 180.
In step S240, send the first switching request signal.
After this handoff request generation unit 140 generates the first switching request signal, notification unit 150 sends the first switching request signal to the second guiding device 200.
In one example, for example, when the plurality of guiding device and robot 10 all utilize wireless communication protocol (via access point (AP), WLAN (wireless local area network) WLAN) while communicating, this communication unit 150 can be this transmitter unit 170, and the first guiding device transmits this first switching request signal to the second guiding device 200 by radio frequency signal via this transmitter unit 170.Like this, can form signal transmission information handling system more flexibly, and reduce the wiring in information handling system, make the deployed position of guiding device more random.
In another example, while connecting together when the plurality of guiding device cable LAN, this communication unit 150 can be two independently parts with transmitter unit 170, and this communication unit 150 for example can be sent to wire signal by ICP/IP protocol the second guiding device 200, thereby the error of this first switching request signal in transmitting procedure is reduced to minimum.
In addition, preferably, after azimuth information generation unit 180 generates the current azimuth information of this robot 10, notification unit 150 sends this azimuth information to the second guiding device 200.
In step S250, the second guiding device provides navigation information to mobile electronic equipment.
In this second guiding device 200, receive this first switching request signal and this azimuth information by communication unit before, capture unit may be by one faster the first capture velocity catch the view data of described the first coverage.
This is due to before receiving this first switching request signal at this second guiding device 200, this robot 10 is often outside the second coverage, or in the overlapping region between the first guiding device 100 and the second guiding device 200, at this moment this second guiding device 200 possibly cannot position this robot 10 exactly, so in order to ensure that the second guiding device 200 can obtain with minimum delay the positional information of this robot 10, the capture unit of this second guiding device 200 must be with interval, minimum ground (for example, with p.s.s 100 frame high-speed) catch the view data of the second coverage, and this view data is identified, to determine whether this robot 10 has entered this second coverage.Like this, the second coverage that can effectively avoid this robot 10 to enter this second guiding device 200, and this second guiding device 200 miss, and cannot provide navigation information to this robot 10.
In the time receiving this azimuth information, the acquiring unit of the second guiding device 200 is determined the position of described mobile electronic equipment according to this azimuth information, and obtains the positional information of described mobile electronic equipment.Particularly, this acquiring unit is resolved received azimuth information, and from wherein extracting the current positional information of robot 10, for example coordinate information, thereby determine robot 10 in the second coverage where.In addition, this acquiring unit can also extract robot 10 and enter the angle information of this second coverage from this azimuth information, and what route Ji Gai robot 10 will enter the second coverage with.Like this, according to the current location information of this robot 10 and movement track information, this second guiding device 200 can position this robot 10 with prestissimo.
As mentioned above, because this second guiding device 200 can only carry out quick positioning robot 10 according to the azimuth information from the first guiding device 10, so after receiving above-mentioned azimuth information, the capture unit of this second guiding device 200 catches without again the image of the second coverage being carried out to high speed.Thus, determine robot in the position of the second coverage and after getting the positional information of robot at the acquiring unit of this second guiding device 200, this capture unit (is for example reduced to the second slower capture velocity by the capture velocity of self from the first capture velocity faster, p.s.s 10 frame speed), to save system power dissipation, and reduce for carrying out the shared system resource of picture catching, thereby make the second guiding device 200 processing power can be assigned to more other operation (such as, travel to and fro between the positional information of robot 10 and RS30 transfer robot 10 and/or barrier, view data etc.) in.
In step S260, generate the first handoff response signal.
In the time receiving this first switching request signal by communication unit, as in step S210, in this second guiding device 200, the positional information of the robot 10 that navigation information generation unit obtains according to acquiring unit generates navigation information, and provide described navigation information by transmitter unit to mobile electronic equipment 10, to make described mobile electronic equipment to proofread and correct self-position according to described navigation information.
Then, in this second guiding device 200, handoff response generation unit can generate the first handoff response signal, and described the first handoff response signal designation goes out described the second guiding device successfully provides navigation information to described mobile electronic equipment.Particularly, at described the second guiding device 200 successfully after described mobile electronic equipment 10 provides navigation information, receiving element (not shown, for example radio frequency receiver) in the second guiding device 200 can receive the confirmation about navigation information from robot 10.Afterwards, the handoff response generation unit in the second guiding device 200 can generate this first handoff response signal, so that the first guiding device 100 can learn whether switching is successfully completed.
In step S270, send the first handoff response signal.
After handoff response generation unit in the second guiding device 200 generates this first handoff response signal, this second guiding device 200 sends this first handoff response signal by communication unit to the first guiding device 100.
As in step S240, this process of transmitting can adopt wired and/or wireless mode to carry out according to user's request and system realization equally.
Correspondingly, in the first guiding device 100, receive from this second guiding device 200 at communication unit 150 and indicate the second guiding device 200 successfully provides the first handoff response signal of navigation information to robot 10 after, this first guiding device 100 can be determined the success of this handoff procedure.
In step S280, the first guiding device stops providing navigation information to mobile electronic equipment.
Determine after handoff procedure for navigation information is provided to robot 10 by the second guiding device 200 has been successfully completed at this first guiding device 100, transmitter unit 170 stops providing described navigation information to mobile electronic equipment 10.
Particularly, in one example, this first guiding device 100 has been substituted own and after robot 10 provides navigation information at definite the second guiding device 200, it is determined self no longer needs to continue to provide navigation information to robot 10, at this moment, it can forbid self capture unit 110 and transmitter unit 170, for example, close self camera and radio-frequency module, enter a lowest power consumption state from a high power consumption state, thereby greatly reduce system power dissipation, make to make in battery-powered situation at the first guiding device 100, can extend its stand-by time.Certainly, consider in the first coverage, also may there are other object (for example, operating personnel, robot or barrier etc.), so people often still need to continue to obtain the view data of the first coverage, therefore, this first guiding device 100 also can only be closed this transmitter unit 170, enters a power consumption state from this high power consumption state, with when part reduces system power dissipation, ensure still can monitor in real time the first coverage.
In addition, in the time adopting this example, can find out, owing to only having the transmitter unit of this that guiding device of robot 10 in its coverage in state of activation, and this robot 10 also only obtains navigation information from this guiding device, and the transmitter unit of other guiding devices is all in disabled status, so realized and come robot 10 independently by single BN and position, thereby can avoid wireless signal that other BN launch due to positioning error and/or signal reflex and robot 10 is caused to interference.
In another example, if the flying power of the first guiding device 100 is unrestricted, for example, when this first guiding device 100 uses alternating current to power, this first guiding device 100 determine self no longer need continue after robot 10 provides navigation information, also can only stop sending navigation information by transmitter unit 170 to robot 10, and not close any module.Alternatively, certainly, this first guiding device 100 even can continue to send navigation information by transmitter unit 170 to robot 10.
But, in the time adopting this example, consider that a large amount of radiofrequency signals of multiple BN transmittings of disposing in circumstances not known may cause for robot 10 the above-mentioned situation of interference, preferably, the radiofrequency signal of launching at each BN comprises the identifier (ID) of this BN.Like this, in the time that robot 10 receives certain radiofrequency signal, first it resolve this radiofrequency signal, extract BN ID wherein, if the source that this BN ID indicates this radiofrequency signal is the BN that is currently serviced in oneself, Ze Gai robot 10 responds for this radiofrequency signal, for example, for navigation; If be not the BN that is currently serviced in oneself and this BN ID indicates the source of this radiofrequency signal, Ze Gai robot 10 can directly abandon this radiofrequency signal, disturb in order to avoid be subject to the navigation of other BN, this is that the navigation information that other BN provide may be accurate not due in the time that this robot 10 is not the coverage in other BN.
In step S290, determine whether mobile electronic equipment arrives triggering switching position.
As mentioned above, next, robot 10 is by moving in the reforwarding of circumstances not known relaying under the guiding at the second guiding device 200.And, if this robot 10 moves to the 3rd coverage of the 3rd guiding device 300 gradually from the second coverage of the second guiding device 200, in the second guiding device 200, can repeat the process of above-mentioned steps S220, to judge whether robot 10 arrives the triggering switching position for navigation authority being switched to the 3rd guiding device 300, as represented in dot-and-dash line 250.
In step S300, generate the second switching request signal.
With the same in above-mentioned steps S230, in the second guiding device 200, after determining unit is determined robot 10 these triggering switching positions of arrival, notice handoff request generation unit generates the second switching request signal, and described the second switching request signal is used for asking described the 3rd guiding device 300 to provide navigation information to described mobile electronic equipment 10.
In step S310, send the second switching request signal.
With the same in above-mentioned steps S240, after this handoff request generation unit generates the second switching request signal, notification unit sends the second switching request signal to the 3rd guiding device 300, and between the 3rd guiding device 300 and the second guiding device 200, is carrying out above-mentioned handoff procedure between the second guiding device 200 and the first guiding device 100.
Similarly, thereafter, after the 3rd guiding device starts to provide navigation information to robot 10, within the coverage that moves to subsequent boots equipment along with robot 10, can also continue to be switched to subsequent boots equipment robot is navigated.
Because step S290 is identical to S240 with step S220 to the detailed process of S310, and therefore omit its detailed description.
As can be seen here, adopt according to the information processing side of the embodiment of the present invention and guiding device, can be first the angle of coverage of angle of coverage by less radio-frequency generator in guiding device, camera and the position of less radio-frequency receiver in machine body divide fast the overlay area of each guiding device.
And, in the overlay area of each each guiding device, can obtain by single independently guiding device the real-time positioning information of robot with various localization methods.Like this, on the one hand, can avoid the signal attenuation of barrier and avoid the signal of other guiding devices to disturb; On the other hand, the positional information that this guiding device can also obtain robot in priori map by camera is carried out real time correction to current robot location.Thereby, relatively improved single guiding device location-independent in indoor positioning precision, and further used the camera locating information under priori map to proofread and correct the precision that has improved single guiding device location-independent.
In addition, along with the motion of robot, by the robot real-time positioning information that the first guiding device is obtained pass to robot will travel arrive the second guiding device, make the acquisition that the second guiding device can be very fast arrive the robot information of BN covering critical line, and can the fastest time position control to robot.Like this, by robot real-time positioning information being delivered in advance to the guiding device that robot will run to, the single guiding device location-independent precision under priori map is improved, thereby ensure the seamless switching of robot between each guiding device overlay area, the positioning precision of robot in whole circumstances not known improved.
It should be noted that, by guiding device, the mobile electronic equipment moving at circumstances not known is provided in the process of navigation information although information processing method is applied in the above embodiment of the present invention,, the invention is not restricted to this.But, can also apply the present invention to for example, any reciprocal process between other one or more electronic equipments (, personal computer, panel computer, mobile phone, multimedia player, personal digital assistant, super, intelligent television etc.).
Through the above description of the embodiments, those skilled in the art can be well understood to the mode that the present invention can add essential hardware platform by means of software and realize, and can certainly all implement by software or hardware.Based on such understanding, what technical scheme of the present invention contributed to background technology can embody with the form of software product in whole or in part, this computer software product can be stored in storage medium, as ROM/RAM, disk, CD etc., comprise that some instructions (can be personal computers in order to make a computer equipment, server, or the network equipment etc.) carry out the method described in some part of each embodiment of the present invention or embodiment.
Describe each embodiment of the present invention in the above in detail.But, it should be appreciated by those skilled in the art that without departing from the principles and spirit of the present invention, can carry out various amendments to these embodiment, combination or sub-portfolio, and such amendment should fall within the scope of the present invention.
Claims (16)
1. an information processing method, be applied to the first guiding device, described the first guiding device is connected to the second guiding device, described the first guiding device and described the second guiding device are used for guiding mobile electronic equipment to position, described the first guiding device has the first coverage, described the second guiding device has the second coverage
It is characterized in that, described method comprises:
Catch the view data of described the first coverage;
Obtain the positional information of described mobile electronic equipment according to described view data;
Determine according to described positional information whether described mobile electronic equipment arrives triggering switching position;
Arrive described triggering switching position if determine described mobile electronic equipment, generate the first switching request signal, described the first switching request signal is used for asking described the second guiding device to provide navigation information to described mobile electronic equipment; And
Send the first switching request signal to described the second guiding device.
2. according to the method for claim 1, it is characterized in that, described method also comprises:
Generate navigation information according to described positional information, described navigation information is used for making described mobile electronic equipment to proofread and correct self-position according to described navigation information; And
Provide described navigation information to described mobile electronic equipment.
3. according to the method for claim 2, it is characterized in that, described method also comprises:
Receive the first handoff response signal from described the second guiding device, described the first handoff response signal designation goes out described the second guiding device successfully provides navigation information to described mobile electronic equipment; And
In the time receiving the first handoff response signal from described the second guiding device, stop providing navigation information to described mobile electronic equipment.
4. according to the method for claim 1, it is characterized in that, the step whether described definite described mobile electronic equipment arrives triggering switching position comprises:
Determine whether described mobile electronic equipment moves into described the second coverage;
Determine whether described mobile electronic equipment moves away described the first coverage; And/or
Determine whether the receiving element of equipping moves to Dutch and change separatrix on described mobile electronic equipment, at described switching separatrix place, the emissive porwer of the transmitter unit of equipping on described the first guiding device equals the emissive porwer of the transmitter unit of equipping on described the second guiding device.
5. according to the method for claim 1, it is characterized in that, described method also comprises:
Generate the azimuth information of described mobile electronic equipment; And
Send described azimuth information to described the second guiding device, make described the second guiding device can determine the position of described mobile electronic equipment.
6. according to the method for claim 1, it is characterized in that, the position of the radiation scope of described the first coverage and described the second coverage and the catching range of the capture unit of equipping on described the first guiding device and described the second guiding device, the transmitter unit equipped on described the first guiding device and described the second guiding device and/or the receiving element of equipping on described mobile electronic equipment is associated.
7. according to the method for claim 1, it is characterized in that, described the first guiding device is also connected to the 3rd guiding device, and described the 3rd guiding device has the 3rd coverage, and
The step of the view data of described the first coverage of described seizure comprises:
In the time that described the 3rd guiding device provides navigation information to described mobile electronic equipment, catch the view data of described the first coverage by the first capture velocity;
Receive the azimuth information of described mobile electronic equipment from described the 3rd guiding device;
Determine the position of described mobile electronic equipment according to described azimuth information;
Obtain the positional information of described mobile electronic equipment; And
Catch the view data of described the first coverage by the second capture velocity, described the second capture velocity is less than described the first capture velocity.
8. according to the method for claim 7, it is characterized in that, described method also comprises:
Receive the second switching request signal from described the 3rd guiding device, described the second switching request signal is used for asking described the first guiding device to provide navigation information to described mobile electronic equipment;
Generate navigation information according to described positional information, described navigation information is used for making described mobile electronic equipment to proofread and correct self-position according to described navigation information;
Provide described navigation information to described mobile electronic equipment;
Generate the second handoff response signal, described the second handoff response signal designation goes out described the first guiding device successfully provides navigation information to described mobile electronic equipment; And
Send described the second handoff response signal to described the 3rd guiding device.
9. a guiding device, described the first guiding device is connected to the second guiding device, described the first guiding device and described the second guiding device are used for guiding mobile electronic equipment to position, described the first guiding device has the first coverage, described the second guiding device has the second coverage
It is characterized in that, described the first guiding device comprises:
Capture unit, for catching the view data of described the first coverage;
Acquiring unit, for obtaining the positional information of described mobile electronic equipment according to described view data;
Determining unit, for determining according to described positional information whether described mobile electronic equipment arrives triggering switching position;
Handoff request generation unit, if arrive described triggering switching position for determining described mobile electronic equipment, generate the first switching request signal, described the first switching request signal is used for asking described the second guiding device to provide navigation information to described mobile electronic equipment; And
Communication unit, for sending the first switching request signal to described the second guiding device.
10. according to the first guiding device of claim 9, it is characterized in that, described the first guiding device also comprises:
Navigation information generation unit, for generating navigation information according to described positional information, described navigation information is used for making described mobile electronic equipment to proofread and correct self-position according to described navigation information; And
Transmitter unit, for providing described navigation information to described mobile electronic equipment.
11. according to the first guiding device of claim 10, it is characterized in that, described communication unit receives the first handoff response signal from described the second guiding device, and described the first handoff response signal designation goes out described the second guiding device successfully provides navigation information to described mobile electronic equipment, and
In the time receiving the first handoff response signal from described the second guiding device, described transmitter unit stops providing navigation information to described mobile electronic equipment.
12. according to the first guiding device of claim 9, it is characterized in that, described determining unit determines by carrying out following operation whether described mobile electronic equipment arrives triggering switching position:
Determine whether described mobile electronic equipment moves into described the second coverage;
Determine whether described mobile electronic equipment moves away described the first coverage; And/or
Determine whether the receiving element of equipping moves to Dutch and change separatrix on described mobile electronic equipment, at described switching separatrix place, the emissive porwer of the transmitter unit of equipping on described the first guiding device equals the emissive porwer of the transmitter unit of equipping on described the second guiding device.
13. according to the first guiding device of claim 9, it is characterized in that, described the first guiding device also comprises:
Azimuth information generation unit, for generating the azimuth information of described mobile electronic equipment, and
Described communication unit sends described azimuth information to described the second guiding device, makes described the second guiding device can determine the position of described mobile electronic equipment.
14. according to the first guiding device of claim 9, it is characterized in that, the position of the radiation scope of described the first coverage and described the second coverage and the catching range of the capture unit of equipping on described the first guiding device and described the second guiding device, the transmitter unit equipped on described the first guiding device and described the second guiding device and/or the receiving element of equipping on described mobile electronic equipment is associated.
15. according to the first guiding device of claim 9, it is characterized in that, described the first guiding device is also connected to the 3rd guiding device, and described the 3rd guiding device has the 3rd coverage, and
In the time that described the 3rd guiding device provides navigation information to described mobile electronic equipment, described capture unit catches the view data of described the first coverage by the first capture velocity,
Described communication unit receives the azimuth information of described mobile electronic equipment from described the 3rd guiding device,
Described acquiring unit is determined the position of described mobile electronic equipment according to described azimuth information, and obtains the positional information of described mobile electronic equipment, and
Described capture unit catches the view data of described the first coverage by the second capture velocity, described the second capture velocity is less than described the first capture velocity.
16. according to the first guiding device of claim 15, it is characterized in that,
Described communication unit receives the second switching request signal from described the 3rd guiding device, and described the second switching request signal is used for asking described the first guiding device to provide navigation information to described mobile electronic equipment, and
Described the first guiding device also comprises:
Navigation information generation unit, for generating navigation information according to described positional information, described navigation information is used for making described mobile electronic equipment to proofread and correct self-position according to described navigation information;
Transmitter unit, for providing described navigation information to described mobile electronic equipment; And
Handoff response generation unit, for generating the second handoff response signal, described the second handoff response signal designation goes out described the first guiding device successfully provides navigation information to described mobile electronic equipment, and
Described communication unit sends described the second handoff response signal to described the 3rd guiding device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210574957.8A CN103900554A (en) | 2012-12-26 | 2012-12-26 | Information processing method and guiding devices |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210574957.8A CN103900554A (en) | 2012-12-26 | 2012-12-26 | Information processing method and guiding devices |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103900554A true CN103900554A (en) | 2014-07-02 |
Family
ID=50992023
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210574957.8A Pending CN103900554A (en) | 2012-12-26 | 2012-12-26 | Information processing method and guiding devices |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103900554A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107490377A (en) * | 2017-07-17 | 2017-12-19 | 五邑大学 | Indoor map-free navigation system and navigation method |
| CN110750098A (en) * | 2019-11-27 | 2020-02-04 | 广东博智林机器人有限公司 | Robot navigation system |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101739027A (en) * | 2009-12-01 | 2010-06-16 | 蒋平 | Distributed visual sensing network-based movable navigation system |
| US20120243730A1 (en) * | 2011-03-22 | 2012-09-27 | Abdelkader Outtagarts | Collaborative camera services for distributed real-time object analysis |
| CN102754435A (en) * | 2010-03-15 | 2012-10-24 | 欧姆龙株式会社 | Surveillance camera terminal |
-
2012
- 2012-12-26 CN CN201210574957.8A patent/CN103900554A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101739027A (en) * | 2009-12-01 | 2010-06-16 | 蒋平 | Distributed visual sensing network-based movable navigation system |
| CN102754435A (en) * | 2010-03-15 | 2012-10-24 | 欧姆龙株式会社 | Surveillance camera terminal |
| US20120243730A1 (en) * | 2011-03-22 | 2012-09-27 | Abdelkader Outtagarts | Collaborative camera services for distributed real-time object analysis |
Non-Patent Citations (2)
| Title |
|---|
| 刘云浩 等: "Location,Localization,and Localizability", 《JOURNAL OF COMPUTER SCIENCE AND TECHNOLOGY》, vol. 25, no. 2, 31 March 2010 (2010-03-31), pages 274 - 297, XP019796591 * |
| 王荣本 等: "一种视觉导航的实用型AGV设计", 《机械工程学报》, vol. 38, no. 11, 30 November 2002 (2002-11-30), pages 135 - 138 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107490377A (en) * | 2017-07-17 | 2017-12-19 | 五邑大学 | Indoor map-free navigation system and navigation method |
| CN110750098A (en) * | 2019-11-27 | 2020-02-04 | 广东博智林机器人有限公司 | Robot navigation system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103885444B (en) | Information processing method, mobile electronic equipment and decision-making control equipment | |
| US11260533B2 (en) | Robot and robot system comprising same | |
| US7561884B2 (en) | System and method for automated tracking of assets using location measurements and ad-hoc routing algorithms | |
| CN105227911A (en) | Based on the large data monitoring of sweeping robot and the system and method for drawing | |
| CN103884330A (en) | Information processing method, mobile electronic device, guidance device, and server | |
| US20200245217A1 (en) | Control method, unmanned aerial vehicle, server and computer readable storage medium | |
| WO2016142045A1 (en) | Tracking in an indoor environment | |
| CN111988524A (en) | Unmanned aerial vehicle and camera collaborative obstacle avoidance method, server and storage medium | |
| CN114115289A (en) | Autonomous unmanned cluster reconnaissance system | |
| WO2018063713A1 (en) | Device for uav detection and identification | |
| CN113778132A (en) | Integrated parallel control platform for sea-air collaborative heterogeneous unmanned system | |
| US11039388B2 (en) | Cellular telecommunications network | |
| WO2022119820A1 (en) | Method and system to select a process for estimating the location of a radio device | |
| CN103900554A (en) | Information processing method and guiding devices | |
| JP2022142599A (en) | Information processing device, information processing method, and information processing system | |
| JP7218321B2 (en) | Systems and methods for generating views of unmanned aerial vehicles | |
| JP2016192693A (en) | Mobile communication device | |
| JP2007229837A (en) | Robot remote control system | |
| CN114526725B (en) | Super-fusion navigation system based on system-in-chip | |
| KR20170011755A (en) | Apparatus and Method for video surveillance based on Beacon | |
| CN113825100A (en) | Positioning and object-searching method and system | |
| Miyaki et al. | Multi-sensor fusion tracking using visual information and wi-fl location estimation | |
| Groneberg et al. | Infrastructure-free sensor platform for multidimensional object and motion analysis | |
| JP2014143477A (en) | Imaging system | |
| KR20220008947A (en) | How to control an intelligent robot device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20140702 |