CN108508890A - The signal processing method of robot charging technique of alignment based on infrared signal - Google Patents
The signal processing method of robot charging technique of alignment based on infrared signal Download PDFInfo
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- CN108508890A CN108508890A CN201810207274.6A CN201810207274A CN108508890A CN 108508890 A CN108508890 A CN 108508890A CN 201810207274 A CN201810207274 A CN 201810207274A CN 108508890 A CN108508890 A CN 108508890A
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- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
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- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Power Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of signal processing method of the robot charging technique of alignment based on infrared signal.The method includes：First determine signal projector signal emission parameter and robot signal sampling parameter；It determines signal projector signal transmitting function and robot signal receiver function and carries out convolution algorithm；The maximum value in convolution algorithm result is extracted to judge the location of robot relative signal transmitter.The signal processing method provided by the invention is initiative to be applied to convolution algorithm the robot charging technique of alignment based on infrared signal, provide a kind of standardized omnipotent processing method of signal processing, the integrated signal that the robot based on infrared signal can be calculated in this way greatly facilitates operation and the programmed process of signal processing.
Description
Technical field
The present invention relates to charging technique of alignment, specifically a kind of robot charging alignment skill being applied to based on infrared signal
The signal processing method of art.
Background technology
In the prior art, the alignment methods employed in the robot charging technique of alignment based on infrared signal, it is infrared
Registration signal is sent out according to certain period by signal projector built-in sensors, and robot C PU then carries out signal and connects successively
Analysis is received, stored and compared one by one, can determine robot present position.For example, in Fig. 1, if signal projector is sent out
Go out signal a and signal b, 1/,2/3 3 kinds of regions are formd in front of it.In the transmit cycle of signal projector, there is letter in 1st area
Number a, 2 area presence signal a and b, 3 area presence signal b；When robot only receives signal b within the sampling period, illustrate that it is in
3rd area；If robot has received signal a and b, illustrate that it is in 2nd area.When sensor there are many signal when, sensor still according to
Secondary to send out signal according to certain period, robot still connects the reception of a signal according to next signal, and storage compares and divides
Analysis, this method will take complicated very much, this just needs a kind of standard treatment methods to carry out guidance machine people in the sampling period
Signal progress is rapid integrated, to judge the region residing for robot according to the signal integrated.
Invention content
The purpose of the present invention is to provide a kind of standardized signal processing methods to come to the signal progress in the sampling period
It is rapid integrated, to judge the position where robot according to signal synthesis result.
A kind of signal processing method of the robot charging technique of alignment based on infrared signal, includes the following steps：
S1：Specify the sampling parameter that signal projector signal emission parameter and robot signal receive；
S2：Signal projector signal transmitting function and robot signal are determined according to the parameter in S1
Receiver function；
S3：By described in S2 signal projector signal transmitting function and robot signal receiver function into
Row convolution algorithm；
S4：Extract the maximum value in S3 convolution algorithm results.
Robot provided by the invention based on infrared signal charge the signal processing method of technique of alignment it is a kind of compared with
In good embodiment, in step S1：
Emission parameter includes：Emit number of signals n, signal transmission time interval t；
Signal projector is to emit signal successively according to fixed frequency when emitting signal；
It is specially to determine sampling parameter, sampling parameter according to emission parameter：Sampling time interval T and sampling number N；Its
In, T<T/2, N=n*t/T.
Robot provided by the invention based on infrared signal charge the signal processing method of technique of alignment it is a kind of compared with
In good embodiment, in the step S2：
The signal projector signal emits function as periodic function f (x), and the expression formula of f (x) is in a cycle：
F (x)=∑ δ (x-k*t) * (1<<(k-1))
Wherein δ is Dirac function, 0≤x≤n*t；K is signal label, k=1,2 ... .n, and the corresponding signal quilts of k
Robot actually receives；Signal data is 1<<(k-1)；When k=0, f (x)=0；
The robot signal receiver function is periodic function g (x), and the expression formula of g (x) is in a cycle：
G (x)=δ (x-k*T)
Wherein δ be Dirac function, k=1,2 ... .N；When k=0, g (x)=0；
Wherein 0≤x≤N*T.
Robot provided by the invention based on infrared signal charge the signal processing method of technique of alignment it is a kind of compared with
In good embodiment, the convolution results of step S3 are sampled result of the robot within the time in sampling period N*T, the sampled result
Interior maximum value is signal synthesis as a result, analyzing the location of judgement robot relative signal transmitter according to signal results.
Compared to the prior art, the signal of the robot charging technique of alignment based on infrared signal provided by the invention
Processing method has the advantages that：
The present invention is initiative to be applied to the robot charging technique of alignment based on infrared signal by convolution algorithm, provides
A kind of robot charges the standardized omnipotent processing method of infrared registration signal processing, has summed up signal projector signal hair
Penetrate function and robot signal receiver function, i.e., the common parameters of infrared registration signal processing.
The method can be applied to different types of signal projector and robot, as long as the letter of signal projector is determined
The sampling time interval parameter T of number transmission time interval parameter t, the maximum value of signal transmitting quantity n and robot, you can with
The integrated signal for calculating robot in this way greatly facilitates operation and the programmed process of signal processing.
In addition, when signal projector sensor there are multiple signals, the prior art can be overcome to compare one by one using the method
To complicated time-consuming defect of analysis, quickly the signal in the robot sampling period is integrated, and according to the letter integrated
Region residing for number result accurate judgement robot.For example, when emission maximum number of signals is 1000, it is practical to receive number of signals
When being 900, according to general way, need to be 1000*900=900000 times relatively, and the method for using this patent, it is only necessary to it is right
Greatest measure in convolution results compares 900 times, you can the comprehensive condition for determining received signal greatly reduces operation time
Number.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, used in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure, wherein：
Fig. 1 is each regional signal distribution map immediately ahead of signal projector；
Fig. 2 is the signal processing method flow of the robot charging technique of alignment provided by the invention based on infrared signal
Figure；
Fig. 3 is signal projector signal transmitting function cycle figure；
Fig. 4 is robot signal receiver function figure；
Fig. 5 is 1 signal projector signal of example transmitting function cycle figure provided by the invention；
Fig. 6 is 1 robot signal receiver function figure of example provided by the invention；
Fig. 7 is 1 convolution results period of example image provided by the invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that the described embodiments are merely a part of the embodiments of the present invention, instead of all the embodiments.
Referring to Fig. 2, being the signal processing side of the robot charging technique of alignment provided by the invention based on infrared signal
Method flow chart.The signal processing method for the robot charging technique of alignment based on infrared signal that the present invention provides a kind of, specifically
Include the following steps：
S1：Determine emission parameter and sampling parameter；
S2：Determine that signal projector signal emits function f (x) and robot signal receiver function g (x)；
S3：F (x) and g (x) is subjected to convolution algorithm；
S4：Extract the maximum value in convolution algorithm result.
In specific implementation mode, the parameter in S1 includes signal projector emission parameter and robot sampling parameter, transmitting
Parameter includes：Emit number of signals n, signal transmission time interval t, then the signal projector full transmitting period is n*t；Signal emits
Device built-in sensors are to emit each signal successively according to fixed frequency when emitting signal, and being transmitting signal in the present embodiment is
Infrared signal.
Robot sampling parameter is determined according to signal projector emission parameter, specially：Sampling time interval T and sampling time
Number N；Wherein, T<T/2, N=n*t/T.
In specific implementation mode, signal projector signal transmitting function is periodic function f (x), f in a cycle
(x) expression formula is：F (x)=∑ δ (x-k*t) * (1<<(k-1)), wherein δ be Dirac function, k=1,2 ... .n, and k
Corresponding signal is actually received by robot；When k=0, f (x)=0；X is more than or equal to 0, is less than or equal to n*t；K is signal label
(k=1 ..., n), signal data 1<<(k-1)；The signal projector signal transmitting function cycle image is as shown in Figure 3.
In specific implementation mode, the robot signal receiver function is periodic function g (x), g (x) in a cycle
Expression formula is：G (x)=δ (x-k*T), wherein δ be Dirac function, k=1,2 ... .N；When k=0, g (x)=0；Wherein x is big
In equal to 0, it is less than or equal to N*T, the period image of the robot signal receiver function is as shown in Figure 4.
The then convolution knot of signal projector signal transmitting function f (x) and the robot signal receiver function g (x)
Fruit is sampled result of the robot within the time in sampling period N*T, and the maximum value in the sampled result is signal synthesis
As a result, can judge the location of robot relative signal transmitter according to signal results.
This method provides the standardized omnipotent processing methods of infrared registration signal processing before a kind of charging of robot, always
Signal projector signal transmitting function and robot signal receiver function, i.e., the general character ginseng of infrared registration signal processing are born
Number, as long as the sampling time of the signal transmission interval parameter t of signal projector, signal transmitting quantity n and robot is determined
Spacing parameter T, you can quickly to calculate the integrated signal of robot in this way, greatly facilitate the fortune of signal processing
Calculation and programmed process.
In addition, when signal projector sensor there are multiple signals, the prior art can be overcome to compare one by one using the method
To complicated time-consuming defect of analysis, quickly the signal in the robot sampling period is integrated, and according to the signal integrated
As a result the region residing for accurate judgement robot.
Example 1
Please refer to Fig.1, it is assumed that the number of signals of existing signal projector built-in sensors transmitting is 2, respectively a signals and
B signals, signal transmission interval t are 2 seconds.Robot sampling time interval is 1 second, while assuming that robot is in shown in FIG. 1
In region 2.
Then corresponding signal projector signal transmitting function is：
F (x)=δ (x-2k) * (1<<K) (wherein δ is Dirac function, k=1,2)
F (x)=0；(k=0)
Its period image is as shown in Figure 5.
The numerical value of signal a is 0x01, and the numerical value of signal b is 0x02.
Corresponding robot signal receiver function is：
G (x)=δ (x-k) wherein δ is Dirac function, k=1,2,3,4)
G (x)=0；(k=0)
Its functional image is as shown in Figure 6.
Then f (x) and g (x) convolution results period images are as shown in Figure 7.
Because its maximum value is 0x03, it is signal a (0x01) and signal b's (0x02) or operation result, illustrates robot
2 kinds of signals are had received in transmit cycle, you can be in region 2 to be inferred to robot, be true to life, illustrate to use this method
Integrated signal is effective, and accurate strong foundation is provided to judgement robot relative signal transmitter present position.
Example 2
It is 1000 when charging pile signal projector emits number of signals, when the practical reception number of signals of robot is 900, presses
According to the way of the prior art, will receive 900 signals are needed each all to be compared one by one with 1000 signals of transmitter, in total
It is 1000*900=900000 times relatively, and the method for using this patent, it is only necessary to the maximum number in f (x) g (x) convolution results
Value compares 900 times, you can the comprehensive condition for quickly determining received signal, to judge residing for robot relative signal transmitter
Position.
Example the above is only the implementation of the present invention is not intended to limit the scope of the invention, every to utilize this hair
Equivalent structure or equivalent flow shift made by bright description is applied directly or indirectly in other relevant technology necks
Domain is similarly included within the scope of patent protection of the present invention.
Claims (4)
1. a kind of signal processing method of the robot charging technique of alignment based on infrared signal, it is characterised in that：Including as follows
Step：
S1：Specify the sampling parameter that signal projector signal emission parameter and robot signal receive；
S2：Signal projector signal transmitting function and robot signal receiver function are determined according to the parameter in S1；
S3：Signal projector signal transmitting function and robot signal receiver function described in S2 are subjected to convolution algorithm；
S4：Extract the maximum value in S3 convolution algorithm results.
2. the signal processing method of the robot charging technique of alignment according to claim 1 based on infrared signal, special
Sign is：In step S1：
Emission parameter includes：Emit number of signals n, signal transmission time interval t；
Signal projector is to emit signal successively according to fixed frequency when emitting signal；
It is specially to determine sampling parameter, sampling parameter according to emission parameter：Sampling time interval T and sampling number N；Wherein, T
<T/2, N=n*t/T.
3. the signal processing method of the robot charging technique of alignment according to claim 2 based on infrared signal, special
Sign is, in step S2：
The signal projector signal emits function as periodic function f (x), and the expression formula of f (x) is in a cycle：
F (x)=∑ δ (x-k*t) * (1<<(k-1))
Wherein δ is Dirac function, 0≤x≤n*t；K is signal label, k=1,2 ... .n, and the corresponding signals of k are by machine
People actually receives；Signal data is 1<<(k-1)；When k=0, f (x)=0；
The robot signal receiver function is periodic function g (x), and the expression formula of g (x) is in a cycle：
G (x)=δ (x-k*T)
Wherein δ be Dirac function, k=1,2 ... .N；When k=0, g (x)=0；
Wherein 0≤x≤N*T.
4. the signal processing method of the robot charging technique of alignment according to claim 3 based on infrared signal, special
Sign is：The convolution results of step S3 are sampled result of the robot within the time in sampling period N*T, in the sampled result
Maximum value is signal synthesis as a result, analyzing the location of judgement robot relative signal transmitter according to signal results.
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| CN201810207274.6A CN108508890A (en) | 2018-03-14 | 2018-03-14 | The signal processing method of robot charging technique of alignment based on infrared signal |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105809944A (en) * | 2014-12-30 | 2016-07-27 | Tcl集团股份有限公司 | Robot, charging device, charging alignment method and charging system |
| CN106664265A (en) * | 2014-07-17 | 2017-05-10 | 欧利景无线有限公司 | Wireless positioning systems |
| FR3046305A1 (en) * | 2015-12-24 | 2017-06-30 | Partnering 3 0 | METHOD FOR RECHARGING THE BATTERY OF A MOBILE ROBOT, SYSTEM, RECEPTION STATION AND MOBILE ROBOT FOR IMPLEMENTING THE METHOD |
| CN107703933A (en) * | 2016-08-09 | 2018-02-16 | 深圳光启合众科技有限公司 | Charging method, device and the equipment of robot |
| CN207051978U (en) * | 2017-06-12 | 2018-02-27 | 炬大科技有限公司 | A kind of system for reaching indoor task object position determination by image recognition mode |
-
2018
- 2018-03-14 CN CN201810207274.6A patent/CN108508890A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106664265A (en) * | 2014-07-17 | 2017-05-10 | 欧利景无线有限公司 | Wireless positioning systems |
| CN105809944A (en) * | 2014-12-30 | 2016-07-27 | Tcl集团股份有限公司 | Robot, charging device, charging alignment method and charging system |
| FR3046305A1 (en) * | 2015-12-24 | 2017-06-30 | Partnering 3 0 | METHOD FOR RECHARGING THE BATTERY OF A MOBILE ROBOT, SYSTEM, RECEPTION STATION AND MOBILE ROBOT FOR IMPLEMENTING THE METHOD |
| CN107703933A (en) * | 2016-08-09 | 2018-02-16 | 深圳光启合众科技有限公司 | Charging method, device and the equipment of robot |
| CN207051978U (en) * | 2017-06-12 | 2018-02-27 | 炬大科技有限公司 | A kind of system for reaching indoor task object position determination by image recognition mode |
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Application publication date: 20180907 |