Sensor Network based on Location estimation and Method for recognizing Doorway of Robot in Same Sensor Network

摘要

The present invention is installed, but the RF sensor nodes around the room, entrance to the indoor presence near each RF sensor installing any one of the nodes to implement the sensor network, the sensor network implemented in the mobile robot to move and estimates its own position through communication with the RF sensor node but, when moving RF sensor node is installed near the doorway If the robot is close to that of the exit detection method in the sensor nodes and the gateway via the RF communication of the position estimation based on which to detect the presence of the exit sensor network and the sensor network is installed near, installed in places of the interior doedoe, at least one for each installed near the doorway present in the room and the RF sensor node transmits the RF signal; Receiving RF signals transmitted from the RF sensor node, using the received RF signal move to estimate his or her current location, and, RF sensors installed near the doorway of the received RF signal, and transmits the RF sensor node detecting the node, by performing a one-to-one communication node and the RF sensor is installed near the entrance is detected, and continues to receive the RF signal from the RF sensor nodes are one-to-one communication, the received RF signal by using a one-to-one communication in RF sensor node and checks in less than a first reference distance by checking the street car distance from the RF sensors that are one-to-one communication with his car predetermined node with yourself constantly if applicable, confirmed that RF sensor nodes are one-to-one communication with his car distance based on when the set below the first reference distance, the written yirueojim including their mobile robot to recognize and remember that the exit in the current location, the mobile robot is detected by rapid exit, and recognizes the exit movement It can pass through, and as a result there is an effect that it is possible to perform a quick movement of the target point.