JPS6197712A - Target of infrared-ray tracking robot - Google Patents
Target of infrared-ray tracking robotInfo
- Publication number
- JPS6197712A JPS6197712A JP59217239A JP21723984A JPS6197712A JP S6197712 A JPS6197712 A JP S6197712A JP 59217239 A JP59217239 A JP 59217239A JP 21723984 A JP21723984 A JP 21723984A JP S6197712 A JPS6197712 A JP S6197712A
- Authority
- JP
- Japan
- Prior art keywords
- case
- infrared
- emitting element
- light emitting
- ball
- 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
- 230000010355 oscillation Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000003760 hair shine Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】 ［発明の技術分野］ 本発明は、赤外線追尾ロボットの目標物に関する。[Detailed description of the invention] [Technical field of invention] The present invention relates to a target for an infrared tracking robot.
〔従来技術とその問題点］
近年、工業用ロボットとして種々のロボットが実用化さ
れ、また、最近では玩具用ロボットとして種々のものが
考えられている。しかして、この玩具用ロボットにおい
て、例えば転がっているボールをロボットにより追尾さ
せることが考えられる。この追尾ロボットシステムとし
ては、まず、視竜システムを利用して転がっているボー
ルを認識し、その認識結果に基づいてボールを追掛ける
方法が考えられる。しかし、この視覚システムによりボ
ールをＷｔ識して追掛けることは非常に難しく、実用化
が困難である。[Prior art and its problems] In recent years, various robots have been put into practical use as industrial robots, and recently, various robots have been considered as toy robots. In this toy robot, it is conceivable to have the robot track a rolling ball, for example. A conceivable method for this tracking robot system is to first recognize a rolling ball using a visual dragon system, and then chase the ball based on the recognition results. However, it is very difficult to recognize and chase the ball using this visual system, making it difficult to put it into practical use.
［発明の目的］
本発明は上記の点に鑑みてなされたもので、ロボットに
より容易に追尾させることができる赤外線追尾ロボット
の目標物を提供することを目的とする。[Object of the Invention] The present invention has been made in view of the above points, and an object of the present invention is to provide a target for an infrared tracking robot that can be easily tracked by a robot.
［発明の要点］
本発明は、ボール型のケース内に赤外線発光素子を全方
向がカバーされるよう複数配置して赤外線追尾ロボット
の目標物を構成したものである。[Summary of the Invention] According to the present invention, a target object of an infrared tracking robot is constructed by arranging a plurality of infrared light emitting elements in a ball-shaped case so that all directions are covered.
［発明の実施例］
以下図面を参照して本発明の一実施例を説明する。第１
図において、Ｉｌａは半球型の上ケース、１１ｂは半球
型の下ケースで、それぞれ赤外線フィルタ材（赤外線を
よく通す）で形成される。また、上記上ケースＩｌａの
開口部外周縁及び下ケース１１ｂの開口部内周縁に−拾
ってそれぞれネジ部１２ａ、１２ｂが形成されており、
このネジ部１２ａ、１２ｂ部分を結合させることによっ
てボール状ケース１１が構成される。しかして、上記ケ
ース１１内には、例えば箱状の発振部ケース１３が収納
される。この発振部ケース１３は、各角部がケース１１
の内側面に当接するようにケース１１の内径に合せて大
きさが設定され、ケース１１を転がした際でもケース１
１内に安定して保持されるようになっている。上記発振
部ケース１３は、上板が蓋部１４門構成しており、ｉ閉
可能に形成されている。そして、上記発振部ケース１３
の各壁面には、第２図に示すようにその中心部に例えば
赤外線ＬＥＤ等の赤外線発光素子１５がそれぞれ装着さ
れる。この場合、赤外線発光素子１５は、その頭部が発
揚部ケース１３の各壁面から外側に突出して設けられる
。また、発振部ケース１３の一壁面には、赤外線発光素
子１５と同様に外部に突出するように可視光ＬＥＤ等の
可視光発光素子１６が装着される。そして、上記発振部
ケース１３は、内部に電池１７ａ、１７ｂを収納できる
ようになっており、その底部に電池接点１８ａ、１８ｂ
が設けられている。さらに、蓋部１４の内側面にスイッ
チを兼ねた電池接点１９が設けられ、蓋部１４を閉じた
時に電池１７ａ、１７ｂが負荷回路に接続されるように
なっている。また、発振部ケース１３内には、上記電池
１７ａ 、１７ｂにより赤外線発光素子１５及び可視光
発光素子１６を麹光駆肋するための回路（図示せず）が
設けられている。[Embodiment of the Invention] An embodiment of the present invention will be described below with reference to the drawings. 1st
In the figure, Ila is a hemispherical upper case, and 11b is a hemispherical lower case, each of which is made of an infrared filter material (transmits infrared rays well). Further, threaded portions 12a and 12b are formed on the outer peripheral edge of the opening of the upper case Ila and the inner peripheral edge of the opening of the lower case 11b, respectively,
The ball-shaped case 11 is constructed by combining the threaded portions 12a and 12b. For example, a box-shaped oscillator case 13 is housed within the case 11. Each corner of this oscillating unit case 13 is connected to the case 11.
The size is set according to the inner diameter of the case 11 so that it comes into contact with the inner surface of the case 11, and even when the case 11 is rolled, the case 1
It is maintained stably within 1. The oscillator case 13 has a top plate that constitutes 14 lid portions, and is configured to be able to be closed. Then, the oscillation unit case 13
As shown in FIG. 2, an infrared light emitting element 15 such as an infrared LED is mounted at the center of each wall surface. In this case, the infrared light emitting element 15 is provided with its head projecting outward from each wall surface of the lifting part case 13. Further, a visible light emitting element 16 such as a visible light LED is mounted on one wall surface of the oscillating unit case 13 so as to protrude to the outside similarly to the infrared light emitting element 15. The oscillating unit case 13 can accommodate batteries 17a and 17b inside, and battery contacts 18a and 18b are provided at the bottom of the oscillator case 13.
is provided. Further, a battery contact 19 which also serves as a switch is provided on the inner surface of the lid 14 so that the batteries 17a and 17b are connected to the load circuit when the lid 14 is closed. Further, a circuit (not shown) for driving the infrared light emitting element 15 and the visible light emitting element 16 using the batteries 17a and 17b is provided in the oscillating unit case 13.
上記のように構成された赤外線発光ボール２０は、発振
部ケース１３を下ケース１１ｂ内に入れ、その後、上ケ
ース１１ａを被せて下ケース１１ｂにネジ部１２ａ、１
２ｂにより接合させると、発振部ケース１３の蓋部１４
がケース１１により押されて電池接点１９が電池１７ａ
１１７ｂに圧接し、パワーオンの状態となる。これによ
り第３図に示すように発振部ケース１３の各壁面に設け
られている６個の赤外線発光素子１５が駆動され、球状
ケース１１の全方向に赤外線を発する。また、このとき
可視光発光素子１６も駆動され、赤外線発光素子１５が
発光動作していることを表示する。In the infrared emitting ball 20 configured as described above, the oscillating part case 13 is placed in the lower case 11b, and then the upper case 11a is placed on the lower case 11b and the threaded parts 12a, 1
2b, the cover 14 of the oscillating unit case 13
is pressed by the case 11 and the battery contact 19 is connected to the battery 17a.
117b, and the power is turned on. As a result, as shown in FIG. 3, the six infrared light emitting elements 15 provided on each wall surface of the oscillator case 13 are driven to emit infrared light in all directions of the spherical case 11. Further, at this time, the visible light emitting element 16 is also driven, indicating that the infrared light emitting element 15 is operating to emit light.
第４図は、上記赤外線追尾ロボットの目標物、すなわち
赤外線発光ボール２０を使用した赤外線追尾ロボットの
システムを示したものである。赤外線追尾ロボット２１
は、自走式のロボットで、左右に車輪２２ａ 、２２ｂ
％前後にキャスタ２３ａ 、 ２’３ｂを備えると共
に内部に電池ＢＴを備え、モータ２４ａ、２４ｂにより
車輪２２ａ 、 ２２ｂが駆動されるようになっている
。また、赤外線追尾ロボット２１は、正面の左右に一対
の赤外線受光素子２５ａ 、 ２５ｂを南え、赤外線発
光ボール２０からの赤外線を受光する。上記赤外線受光
素子２Ｓａ、２５ｂの出力信号は、アンプ２６ａ、２６
ｂを介して制御部２７へ送られる。この１１１１部２７
は、左右のアンプ２６ａ 、 ２６ｂの出力を比較して
同レベルになるようにモータ２４ａ、２４ｂの回転を制
御し、常に光の中心に赤外線追尾ロボットｉ１を向けて
上記のようなロボット制御を行なうことにより、赤外線
発光ボール２０を赤外線追尾ロボット２１により追尾さ
せることができる。FIG. 4 shows an infrared tracking robot system using the target object of the infrared tracking robot, that is, an infrared light emitting ball 20. Infrared tracking robot 21
is a self-propelled robot with wheels 22a and 22b on the left and right sides.
It is equipped with casters 23a, 2'3b at the front and back, and has a battery BT inside, and wheels 22a, 22b are driven by motors 24a, 24b. The infrared tracking robot 21 also has a pair of infrared receiving elements 25a and 25b on the left and right sides of the front, and receives infrared rays from the infrared emitting ball 20. The output signals of the infrared light receiving elements 2Sa and 25b are transmitted to the amplifiers 26a and 26.
It is sent to the control section 27 via b. This 1111 part 27
compares the outputs of the left and right amplifiers 26a and 26b, controls the rotation of the motors 24a and 24b so that they are at the same level, and always directs the infrared tracking robot i1 at the center of the light to control the robot as described above. This allows the infrared light emitting ball 20 to be tracked by the infrared tracking robot 21.
なお、上記実施例では、赤外線発光素子１５を連続的に
発光動作させるようにしたが、６個の赤外線発光素子１
５を順次１１［１ずつ繰返し発光させるようにしてもよ
い。さらに、赤外線発光素子１５に所定のパルス状の発
振信号を与えて発光駆動１、赤外線追尾ロボット２１へ
の受光に対して対ノイズ性（所定のパルス信号を検知す
ると共に目標物からのものと判別）を付加するようにし
てもよい。In the above embodiment, the infrared light emitting elements 15 are operated to emit light continuously, but the six infrared light emitting elements 1
5 and 11[1 may be repeatedly emitted in sequence. Furthermore, a predetermined pulse-shaped oscillation signal is applied to the infrared light emitting element 15 to provide noise resistance to the light received by the light emission drive 1 and the infrared tracking robot 21. ) may be added.
また、可視光発光素子１６はパワーオン時に所定時間光
った後、自動的に消えるようにしておけば、赤外線は人
間の目には見えないので、何も光っていない普通のただ
の球をロボットが追かけるので、より興趣が深い。In addition, if the visible light emitting element 16 is set to automatically turn off after it shines for a predetermined period of time when the power is turned on, infrared rays are invisible to the human eye. It's even more interesting because you're chasing after them.
［発明の効果］
以上詳記したように本発明によれば、ボール型のケース
内に赤外線発光素子を全方向がカバーされるように複数
配置して赤外線追尾ロボットの目標物を構成したので、
目標物の状態に無関係にその放射赤外線を検知でき、こ
のため赤外線追尾口ポットにより容易に目標物を追尾さ
せることができる。また、上記目標物から放射される赤
外線は、人の目には見えないので、あたかもロボット自
身が目標物を見付けて追尾しているようにみえ、見てい
る人に大きな興味を抱かせることができる。[Effects of the Invention] As detailed above, according to the present invention, the target object of the infrared tracking robot is configured by arranging a plurality of infrared light emitting elements in a ball-shaped case so that all directions are covered.
The radiated infrared rays of the target can be detected regardless of the state of the target, and therefore the target can be easily tracked by the infrared tracking port pot. In addition, since the infrared rays emitted from the target object are invisible to the human eye, it appears as if the robot itself is finding and tracking the target object, which can arouse great interest in the viewer. can.
図面は本発明の一実施例を示すもので、第１図は分解斜
視図、第２図は赤外線発光素子の装着状態を示す図、第
３図は目標物からの赤外線の発光エリアを示す図、第４
図は追尾ロボットのシステムを示す図である。
１１・・・ケース、１２ａ、１２ｂ・・・ネジ部、１３
・・・発振部ケース、１４・・・蓋部、１５・・・赤外
線発光素子、１６・・・可視光発光素子、１７ａ 、
１７ｂ ・・・電池、１８ａ、１８ｂ１１９・・・電池
接点、２０・・・赤外線発光ボール、２１・・・赤外線
追尾ロボット、２２・・・車輪、２３ａ、２３ｂ・・・
キャスタ、２４ａ 、 ２４ｂ・・・モータ、２５ａ
、 ２５ｂ ・・・赤外線受光素子、２６ａ、２６ｂ・
・・アンプ、２７・・・制御部。
出願人代理人 弁理士 鈴江武彦
第１図
第２図
第４図The drawings show one embodiment of the present invention; FIG. 1 is an exploded perspective view, FIG. 2 is a diagram showing the state in which an infrared light emitting element is attached, and FIG. 3 is a diagram showing an infrared light emitting area from a target object. , 4th
The figure shows a tracking robot system. 11...Case, 12a, 12b...Screw part, 13
... Oscillator case, 14... Lid, 15... Infrared light emitting element, 16... Visible light emitting element, 17a,
17b...Battery, 18a, 18b119...Battery contact, 20...Infrared light emitting ball, 21...Infrared tracking robot, 22...Wheel, 23a, 23b...
Caster, 24a, 24b...Motor, 25a
, 25b...Infrared receiving element, 26a, 26b.
... Amplifier, 27... Control section. Applicant's agent Patent attorney Takehiko Suzue Figure 1 Figure 2 Figure 4
Claims (2)
上記ケースの周辺の全方向をカバーするように赤外線を
放射する複数の赤外線発光素子とを具備したことを特徴
とする赤外線追尾ロボットの目標物。(1) A ball-shaped case and placed inside this case,
A target object for an infrared tracking robot, comprising a plurality of infrared light emitting elements that emit infrared light so as to cover all directions around the case.
いて構成した事を特徴とする特許請求の範囲第１項記載
の赤外線追尾ロボットの目標物。(2) A target object for an infrared tracking robot according to claim 1, wherein the ball-shaped case is constructed using an infrared filter material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59217239A JPS6197712A (en) | 1984-10-18 | 1984-10-18 | Target of infrared-ray tracking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59217239A JPS6197712A (en) | 1984-10-18 | 1984-10-18 | Target of infrared-ray tracking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6197712A true JPS6197712A (en) | 1986-05-16 |
Family
ID=16701030
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59217239A Pending JPS6197712A (en) | 1984-10-18 | 1984-10-18 | Target of infrared-ray tracking robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6197712A (en) |
Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1101514A2 (en) * | 1999-10-30 | 2001-05-23 | Korea Advanced Institute Of Science And Technology | Football robot control system using infrared modules |
| US8239992B2 (en) | 2007-05-09 | 2012-08-14 | Irobot Corporation | Compact autonomous coverage robot |
| US8253368B2 (en) | 2004-01-28 | 2012-08-28 | Irobot Corporation | Debris sensor for cleaning apparatus |
| US8368339B2 (en) | 2001-01-24 | 2013-02-05 | Irobot Corporation | Robot confinement |
| US8374721B2 (en) | 2005-12-02 | 2013-02-12 | Irobot Corporation | Robot system |
| US8380350B2 (en) | 2005-12-02 | 2013-02-19 | Irobot Corporation | Autonomous coverage robot navigation system |
| US8382906B2 (en) | 2005-02-18 | 2013-02-26 | Irobot Corporation | Autonomous surface cleaning robot for wet cleaning |
| US8386081B2 (en) | 2002-09-13 | 2013-02-26 | Irobot Corporation | Navigational control system for a robotic device |
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| US8396592B2 (en) | 2001-06-12 | 2013-03-12 | Irobot Corporation | Method and system for multi-mode coverage for an autonomous robot |
| US8412377B2 (en) | 2000-01-24 | 2013-04-02 | Irobot Corporation | Obstacle following sensor scheme for a mobile robot |
| US8417383B2 (en) | 2006-05-31 | 2013-04-09 | Irobot Corporation | Detecting robot stasis |
| US8418303B2 (en) | 2006-05-19 | 2013-04-16 | Irobot Corporation | Cleaning robot roller processing |
| US8428778B2 (en) | 2002-09-13 | 2013-04-23 | Irobot Corporation | Navigational control system for a robotic device |
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-
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- 1984-10-18 JP JP59217239A patent/JPS6197712A/en active Pending
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|---|---|---|---|---|
| EP1101514A2 (en) * | 1999-10-30 | 2001-05-23 | Korea Advanced Institute Of Science And Technology | Football robot control system using infrared modules |
| EP1101514A3 (en) * | 1999-10-30 | 2003-01-29 | Korea Advanced Institute Of Science And Technology | Football robot control system using infrared modules |
| US8412377B2 (en) | 2000-01-24 | 2013-04-02 | Irobot Corporation | Obstacle following sensor scheme for a mobile robot |
| US9446521B2 (en) | 2000-01-24 | 2016-09-20 | Irobot Corporation | Obstacle following sensor scheme for a mobile robot |
| US9144361B2 (en) | 2000-04-04 | 2015-09-29 | Irobot Corporation | Debris sensor for cleaning apparatus |
| US9582005B2 (en) | 2001-01-24 | 2017-02-28 | Irobot Corporation | Robot confinement |
| US8368339B2 (en) | 2001-01-24 | 2013-02-05 | Irobot Corporation | Robot confinement |
| US9038233B2 (en) | 2001-01-24 | 2015-05-26 | Irobot Corporation | Autonomous floor-cleaning robot |
| US9622635B2 (en) | 2001-01-24 | 2017-04-18 | Irobot Corporation | Autonomous floor-cleaning robot |
| US9104204B2 (en) | 2001-06-12 | 2015-08-11 | Irobot Corporation | Method and system for multi-mode coverage for an autonomous robot |
| US8396592B2 (en) | 2001-06-12 | 2013-03-12 | Irobot Corporation | Method and system for multi-mode coverage for an autonomous robot |
| US9128486B2 (en) | 2002-01-24 | 2015-09-08 | Irobot Corporation | Navigational control system for a robotic device |
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