【摘要】：隨著科學(xué)技術(shù)的不斷發(fā)展,家用型機器人被廣泛應(yīng)用于人們的日常生活中。與此同時,移動嵌入式視頻采集設(shè)備以其方便、快捷的特性,成為視頻采集的主流方式。近年來隨著移動互聯(lián)網(wǎng)的飛速發(fā)展,基于WIFI的定位技術(shù)以其部署成本低、定位精度高和易于擴展等優(yōu)勢,成為室內(nèi)定位技術(shù)的研究熱點。基于上述三種因素,本文設(shè)計一種基于WIFI定位的多移動機器人視頻采集系統(tǒng),其可主要用于室內(nèi)的視頻采集和安全防護中。整個系統(tǒng)通過對多個移動機器人定位以及多位置相關(guān)的視頻聯(lián)合顯示,從而實現(xiàn)對所在區(qū)域完整的視頻采集。基于上述應(yīng)用需求,本論文設(shè)計的基于WIFI定位的多移動機器人視頻采集系統(tǒng),其能夠使用多個移動機器人的攝像頭采集待測區(qū)域的圖像信息,并將這些視頻數(shù)據(jù)通過WIFI無線通信方式發(fā)送到機器人控制端;機器人控制端可以實時顯示多個移動機器人所采集的視頻數(shù)據(jù),并且可以通過按鍵實現(xiàn)對多個移動機器人的遠(yuǎn)程控制;另外,該系統(tǒng)還包括定位系統(tǒng),其中定位技術(shù)采用基于WIFI信號強度的位置指紋匹配算法。與此同時,本文還針對WIFI位置指紋定位算法的不足設(shè)計改進(jìn)方案,并將其用到了系統(tǒng)的定位模塊中,以提高定位精度。該系統(tǒng)根據(jù)設(shè)計目標(biāo)分成了三個模塊:移動機器人、機器人控制臺、WIFI定位系統(tǒng)。移動機器人總體采用Arduino控制板作為控制中心、WebCam攝像頭作為采集設(shè)備、TP-Link WR703N路由器芯片作為通信模塊;機器人控制臺采用C#WinForm進(jìn)行界面開發(fā);WIFI定位系統(tǒng)采用Java語言開發(fā),Mysql作為指紋數(shù)據(jù)庫。這三個模塊通過無線節(jié)點進(jìn)行通信,緊密結(jié)合在一起共同組成了本文所要設(shè)計的系統(tǒng)。文章最后對系統(tǒng)的硬件和軟件進(jìn)行了整體測試,驗證了機器人遠(yuǎn)程控制、視頻圖像采集、WIFI定位等功能,測試結(jié)果表明,達(dá)到了系統(tǒng)的設(shè)計目標(biāo)和要求。
[Abstract]:With the development of science and technology, household robots are widely used in people's daily life. At the same time, mobile embedded video capture device has become the mainstream of video capture because of its convenient and fast characteristics. In recent years, with the rapid development of mobile Internet, WIFI based positioning technology has become the research hotspot of indoor positioning technology because of its advantages of low deployment cost, high positioning accuracy and easy to expand. Based on the above three factors, this paper designs a multi-mobile robot video acquisition system based on WIFI positioning, which can be mainly used in indoor video capture and security protection. The whole system realizes the complete video capture of the region by locating multiple mobile robots and displaying multi-position related video jointly. Based on the above application requirements, this paper designs a multi-mobile robot video acquisition system based on WIFI positioning, which can use multiple mobile robot cameras to collect the image information of the area to be tested. These video data are transmitted to the robot control terminal through WIFI wireless communication, which can display the video data collected by multiple mobile robots in real time. In addition, the system also includes a location system, in which the location technology adopts the position fingerprint matching algorithm based on the WIFI signal intensity. At the same time, this paper also designs an improved scheme for WIFI location fingerprint location algorithm, and applies it to the positioning module of the system to improve the positioning accuracy. The system is divided into three modules according to the design goal: mobile robot, robot console and WiFi positioning system. The mobile robot uses the Arduino control board as the control center and WebCam camera as the acquisition device TP-Link WR703N router chip as the communication module. The robot console uses C#WinForm to develop the interface of WiFi positioning system. Java language is used to develop MySQL as the fingerprint database. These three modules communicate through wireless nodes, and combine closely together to form the system designed in this paper. Finally, the hardware and software of the system are tested as a whole, and the functions of robot remote control, video image acquisition and WiFi positioning are verified. The test results show that the design objectives and requirements of the system are achieved.
【學(xué)位授予單位】：電子科技大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242;TN92

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