CN105034011A - Infrared guide system and method - Google Patents
Infrared guide system and method Download PDFInfo
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- CN105034011A CN105034011A CN201510473156.6A CN201510473156A CN105034011A CN 105034011 A CN105034011 A CN 105034011A CN 201510473156 A CN201510473156 A CN 201510473156A CN 105034011 A CN105034011 A CN 105034011A
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- infrared
- guldance
- robot
- infrared light
- light
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Abstract
The invention discloses an infrared guide system and method. A single infrared source emitting module is used for guiding a robot to directly reach a specific position, or multiple infrared source emitting modules are used for indirectly guiding the robot to the specific position. An infrared guide starting instruction is sent to the infrared source emitting module(s), and the infrared source emitting module(s) begins/begin to emit infrared guide signals. An infrared collecting module searches for the position of an infrared source. The position of the infrared source is determined through the rotation angle of a servo motor and an infrared image collected by a camera, the robot is guided to reach the corresponding position, and guide of the robot moving indoors is realized.
Description
Technical field
The present invention relates to infrared light application, particularly relate to infrared guldance system and bootstrap technique.
Background technology
In prior art, robot is more and more applied in actual life, and the worldwide navigation navigation systems such as current GPS are only applicable to outdoor extensive area location, indoor mobile robot navigation realizes precise positioning needs to lay corresponding guide tracks mostly, need take limited space resources.Indoor Robot guides, the difficulty of location: 1) indoor particulate matter complicated, there is the interference such as sound, optical, electrical magnetic wave; 2) interior space pilot signal is subject to the stop of the buildings such as wall.
Therefore, prior art has yet to be improved and developed.
Summary of the invention
In view of above-mentioned the deficiencies in the prior art, the object of the present invention is to provide a kind of infrared guldance system and bootstrap technique, be intended to the booting problem solving Indoor Robot.
Technical scheme of the present invention is as follows:
A kind of infrared guldance system, wherein, comprising:
For sending the infrared light emission module of IR;
For receiving IR, and according to the robot module walked in the path of light;
Described robot module is connected by infrared signal with infrared light emission module.
Described infrared guldance system, wherein, described infrared light emission module comprises:
For generation of the infrared generating unit of IR;
The ZigBee radio-cell for there is infrared guldance signal be connected with infrared generating unit;
Described infrared generating unit comprises infrared circuit for generating.
Described infrared guldance system, wherein, described robot module comprises:
For gathering the infrared light collecting unit of IR;
Be connected with infrared light collecting unit signal, for exporting the singlechip controller unit of control signal to the camera signals process gathered;
For the speed control unit of control translational speed and start and stop;
For the direction controlling unit of control moving direction.
Described infrared guldance system, wherein, described infrared light collecting unit comprises:
For obtaining the camera of light, described camera front end is provided with the optical filter of the light beyond for filtering ruddiness.
Described infrared guldance system, wherein, described direction controlling unit comprises servomotor, and described servomotor connection robot is controlled deflecting roller, the direction of control.
Described infrared guldance system, wherein, described speed control unit comprises motor and encoder carrys out the control speed of travel.
A kind of infrared guldance method, wherein, comprises step:
A, infrared light supply send IR;
B, robot receive the guiding of IR, and to infrared light supply, place moves.
Described infrared guldance method, wherein, described steps A comprises:
A1, infrared circuit for generating are communicated with, and produce IR;
A2, according to produce IR, send infrared guldance signal.
Described infrared guldance method, wherein, described step B comprises:
B1, acquisition light, the light outside filtering infrared light;
B2, the IR information control drawn according to filtering are walked according to opticpath.
Beneficial effect: the present invention directly arrives assigned address by single infrared light supply transmitter module guided robot, or arrive destination by the indirect guided robot of multiple infrared light supply transmitter module, send to infrared light supply transmitter module and start infrared guldance instruction, infrared light supply transmitter module starts to send infrared guldance signal, infrared light acquisition module search infrared light supply position, and by infrared light image determination infrared light supply position that servomotor corner and camera collection arrive, guided robot arrives relevant position, solve the booting problem of robot in indoor sport.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of infrared guldance system of the present invention.
Fig. 2 is the schematic diagram that multiple infrared light supplies of infrared guldance system of the present invention guide.
Fig. 3 is the structured flowchart of the infrared light emission module of infrared guldance system of the present invention.
Fig. 4 is the structured flowchart of the robot module of infrared guldance system of the present invention.
Fig. 5 is the flow chart of infrared guldance method of the present invention.
Fig. 6 is the flow chart of the step S1 of infrared guldance method of the present invention.
Fig. 7 is the flow chart of the step S2 of infrared guldance method of the present invention.
Detailed description of the invention
The invention provides a kind of infrared guldance system and bootstrap technique, for making object of the present invention, technical scheme and effect clearly, clearly, the present invention is described in more detail below.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
Refer to Fig. 1, be the structured flowchart of infrared guldance system of the present invention, wherein, comprise:
For sending the infrared light emission module 100 of IR;
For receiving IR, and according to the robot module 200 walked in the path of light;
Described robot module 200 is connected by infrared signal with infrared light emission module 100.
Described infrared guldance system of the present invention, infrared guldance signal is sent by infrared light emission module, robot module is according to the infrared guldance signal received, move to infrared light supply, described system of the present invention, described infrared light emission module can be one and also can be multiple, single infrared light emission module, robot can be guided to move towards a fixed-direction, as shown in Figure 2, the indirect pilot trolley of multiple infrared light supply arrives the problem that assigned address solves indoor light space obstacle and route planning.
Further, as shown in Figure 3, be the structured flowchart of the infrared light emission module of infrared guldance system of the present invention, wherein, described infrared light emission module 100 comprises:
For generation of the infrared generating unit 101 of IR;
The ZigBee radio-cell 102 for there is infrared guldance signal be connected with infrared generating unit 101;
Described infrared generating unit 101 comprises infrared circuit for generating.Described infrared guldance system of the present invention, in infrared light emission module, first, produce IR, produce IR by infrared light generating unit, ZigBee radio-cell is by the IR of described generation, send infrared guldance signal, robot module is according to infrared guldance signal, and the position towards infrared light supply is moved, and realizes the guiding of robot.
Further, as shown in Figure 4, be the structured flowchart of the robot module of infrared guldance system of the present invention, wherein, described robot module 200 comprises:
For gathering the infrared light collecting unit 201 of IR;
Be connected with infrared light collecting unit 201 signal, for exporting the singlechip controller unit 202 of control signal to the camera signals process gathered;
For the speed control unit 203 of control translational speed and start and stop;
For the direction controlling unit 204 of control moving direction.
Described infrared guldance system of the present invention, after described robot module receives infrared guldance signal, move according to infrared guldance signal, there is infrared light collecting unit in robot module, because what light indoor has, in infrared light collecting unit, infrared light is extracted, single chip control unit, according to the infrared guldance signal got, sending controling instruction, the position that control sends towards infrared signal is moved, in described robot module of the present invention, also comprise speed and the control direction of control, the convenient guiding carrying out robot fast.
Further, described infrared guldance system, wherein, described infrared light collecting unit 201 comprises:
For obtaining the camera of light, described camera front end is provided with the optical filter of the light beyond for filtering ruddiness.Described infrared guldance system of the present invention, described infrared light collecting unit needs to obtain light, extract infrared guldance signal, therefore described infrared light collecting unit comprises the camera obtaining light, and camera obtains light, optical filter is provided with in camera front end, filtering is carried out to the light beyond infrared light, obtains IR, and then from IR, extracting infrared guldance signal, control moves.
Further, described infrared guldance system, wherein, described direction controlling unit 203 comprises servomotor, and described servomotor connection robot is controlled deflecting roller, the direction of control.Described infrared guldance system of the present invention, in described direction controlling unit, there is servomotor, the rotation of Serve Motor Control deflecting roller, by controlling deflecting roller, camera being aimed at towards the direction of infrared light emission, the position of Obtaining Accurate infrared light supply, ensures the accuracy of robot movement.
Further, described infrared guldance system, wherein, described speed control unit 204 comprises motor and encoder carrys out the control speed of travel.Described infrared guldance system of the present invention, further, also carrys out the speed of travel of control by motor and encoder, can according to the demand of user, the speed of travel of adjustment robot.
Further, the present invention also provides a kind of infrared guldance method, as shown in Figure 5, is the flow chart of described method, wherein, comprises step:
S1, infrared light supply send IR;
S2, robot receive the guiding of IR, and to infrared light supply, place moves.
The enforcement of concrete steps, describes in detail in systems in which, therefore does not repeat at this.
Further, as shown in Figure 6, the flow chart of steps that the IR for described infrared guldance method produces, wherein, described step S1 comprises:
S101, infrared circuit for generating are communicated with, and produce IR;
S102, according to produce IR, send infrared guldance signal.
Further, as shown in Figure 7, be the flow chart of the step S2 of described infrared guldance method, wherein, described step S2 comprises:
S201, acquisition light, the light outside filtering infrared light;
S202, the IR information control drawn according to filtering are walked according to opticpath.
In sum, the present invention directly arrives assigned address by single infrared light supply transmitter module guided robot, or arrive destination by the indirect guided robot of multiple infrared light supply transmitter module, send to infrared light supply transmitter module and start infrared guldance instruction, infrared light supply transmitter module starts to send infrared guldance signal, infrared light acquisition module search infrared light supply position, and by infrared light image determination infrared light supply position that servomotor corner and camera collection arrive, guided robot arrives relevant position, solve the booting problem of robot in indoor sport.
Should be understood that, application of the present invention is not limited to above-mentioned citing, for those of ordinary skills, can be improved according to the above description or convert, and all these improve and convert the protection domain that all should belong to claims of the present invention.
Claims (9)
1. an infrared guldance system, is characterized in that, comprising:
For sending the infrared light emission module of IR;
For receiving IR, and according to the robot module walked in the path of light;
Described robot module is connected by infrared signal with infrared light emission module.
2. infrared guldance system according to claim 1, is characterized in that, described infrared light emission module comprises:
For generation of the infrared generating unit of IR;
The ZigBee radio-cell for there is infrared guldance signal be connected with infrared generating unit;
Described infrared generating unit comprises infrared circuit for generating.
3. infrared guldance system according to claim 1, is characterized in that, described robot module comprises:
For gathering the infrared light collecting unit of IR;
Be connected with infrared light collecting unit signal, for exporting the singlechip controller unit of control signal to the camera signals process gathered;
For the speed control unit of control translational speed and start and stop;
For the direction controlling unit of control moving direction.
4. infrared guldance system according to claim 3, is characterized in that, described infrared light collecting unit comprises:
For obtaining the camera of light, described camera front end is provided with the optical filter of the light beyond for filtering ruddiness.
5. infrared guldance system according to claim 3, is characterized in that, described direction controlling unit comprises servomotor, and described servomotor connection robot is controlled deflecting roller, the direction of control.
6. infrared guldance system according to claim 3, is characterized in that, described speed control unit comprises motor and encoder carrys out the control speed of travel.
7. an infrared guldance method, is characterized in that, comprises step:
A, infrared light supply send IR;
B, robot receive the guiding of IR, and to infrared light supply, place moves.
8. infrared guldance method according to claim 7, is characterized in that, described steps A comprises:
A1, infrared circuit for generating are communicated with, and produce IR;
A2, according to produce IR, send infrared guldance signal.
9. infrared guldance method according to claim 7, is characterized in that, described step B comprises:
B1, acquisition light, the light outside filtering infrared light;
B2, the IR information control drawn according to filtering are walked according to opticpath.
Priority Applications (1)
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| CN201510473156.6A CN105034011A (en) | 2015-08-05 | 2015-08-05 | Infrared guide system and method |
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| CN201510473156.6A CN105034011A (en) | 2015-08-05 | 2015-08-05 | Infrared guide system and method |
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| CN106313021A (en) * | 2016-10-31 | 2017-01-11 | 苏州立源信智能科技有限公司 | Truss manipulator having rail calibration function |
| CN106826821A (en) * | 2017-01-16 | 2017-06-13 | 深圳前海勇艺达机器人有限公司 | The method and system that robot auto-returned based on image vision guiding charges |
| CN108646750A (en) * | 2018-06-08 | 2018-10-12 | 杭州电子科技大学 | Based on UWB non-base station portables factory AGV follower methods |
| CN109375628A (en) * | 2018-11-28 | 2019-02-22 | 南京工程学院 | A kind of Intelligent Mobile Robot air navigation aid positioned using laser orientation and radio frequency |
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| CN108646750A (en) * | 2018-06-08 | 2018-10-12 | 杭州电子科技大学 | Based on UWB non-base station portables factory AGV follower methods |
| CN108646750B (en) * | 2018-06-08 | 2021-05-07 | 杭州电子科技大学 | Portable factory AGV following method based on UWB non-base station |
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