CN108972542A - A kind of control method based on color identification - Google Patents
A kind of control method based on color identification Download PDFInfo
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- CN108972542A CN108972542A CN201810621137.7A CN201810621137A CN108972542A CN 108972542 A CN108972542 A CN 108972542A CN 201810621137 A CN201810621137 A CN 201810621137A CN 108972542 A CN108972542 A CN 108972542A
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000012545 processing Methods 0.000 claims abstract description 38
- 238000013507 mapping Methods 0.000 claims abstract description 5
- 230000003287 optical effect Effects 0.000 claims description 16
- 230000010365 information processing Effects 0.000 claims description 9
- 230000006870 function Effects 0.000 description 25
- 238000004040 coloring Methods 0.000 description 17
- 238000010586 diagram Methods 0.000 description 10
- 239000011324 bead Substances 0.000 description 6
- 238000011022 operating instruction Methods 0.000 description 4
- 230000019771 cognition Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005286 illumination Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000003760 hair shine Effects 0.000 description 2
- 230000003137 locomotive effect Effects 0.000 description 2
- 230000033764 rhythmic process Effects 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 230000002028 premature Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J3/00—Spectrometry; Spectrophotometry; Monochromators; Measuring colours
- G01J3/46—Measurement of colour; Colour measuring devices, e.g. colorimeters
- G01J3/463—Colour matching
Abstract
The invention discloses a kind of control methods based on color identification, the following steps are included: (1) pre-establishes semantic base in central processing unit, the semantic base includes that color database and the function according to corresponding to application establish mapping and associated functional interpretation library；(2) color recognition unit is set on application, exterior color information is captured by color recognition unit, and the exterior color information of capture is converted into color data information；(3) the color data information that color recognition unit is converted to is compared with the semantic base pre-established, if comparing successfully, corresponding function control is carried out to application by the matching instruction in functional interpretation library.The present invention carries out color identification by color recognition unit, to realize the control to product, improves study interest.
Description
Technical field
The invention belongs to intelligent science and technology fields, and in particular to a kind of control method based on color identification.
Background technique
As social science and technology and expanding economy, robot have been applied to numerous areas, such as industry, military, service, doctor
Treat etc., especially more robot products is then developed around intelligent toy field recently.Traditional robot toy such as machine
Dog, Doraemon, story robot etc., form content is single or operation is excessively complicated, and child just loses after the short time entertains
Interest has been gone, while also just having lost its value.Secondly, popularizing with mobile phone, many in order to avoid complicated program development
Producer has selected based on certain simple APP come using robot, but in face of age, intelligence etc. all for mature child for,
Premature contact mobile phone will affect cognition of the child to reality at a variety of aspects, or even indulge in mobile phone games, this be also be assorted
Many parents attempt to look for a kind of robot product taught through lively activities that can have both got rid of plate or mobile phone；It is similar simultaneously happy high
Etc robot product again because part it is broken it is small, installation is complicated, has to the machine that specific modelling is risked according to fixed drawing
For people's product, user takes the excessive time in assembly, without really learning knowledge relevant to robot.
In robot field, for more universities of foreign countries all in research modularization robot, the AA including Britain builds connection at present
Institute of alliance, Cornell University, Harvard University and Zurich Polytechnics of federation etc., such as Britain AA building institute of alliance
ANTI-BOT project, the SuperBot of USC university of the U.S., the Molecubes of Cornell University, the The of Harvard University
Kilobot etc. uses the mentality of designing of modularization robot.In the field of toys, modular application not only greatly enriches
The interest of toy, further increases its expansion, this continuously attempts to user by way of being transformed and expanding
New playing method, then by the abundant of robot function, so that its application value greatly promotes.
In robot teaching field, age lower child's study get up be it is very difficult, ought especially be related to class
It is both uninteresting for the children that psychology is not yet mature and lacks rationality cognition when being similar to the programming languages such as JAVA, C, PYTHON
Again it is dull, in many educational institutions and school using such method to allow children to learn when effect it is all undesirable.Due to face
Color belongs to the scope of perceptual recognition, even also understanding differentiation color, therefore child by the child that experiment discovery can't talk
To the cognition of color just set up in infant period.And how can be by this category of perceptual recognition using color
Property, and be combined with the function of the flogic system of robot complexity, multiplicity, it can allow children on the basis of perceptual recognition
Learn and take exercise multinomial ability.Existing robot is many by the thing that color identification is done, but there is no color is real
Go to consider as a kind of language of robot, thus in face of many demands and future developing trend now it is required to design
A kind of robot product not only having solved above-mentioned technical problem but also meet demand.
Summary of the invention
To solve the above-mentioned problems, it the present invention provides a kind of control method based on color identification, is identified by color
Function controls the operation of product.
The technical solution of the present invention is as follows: a kind of control method based on color identification, comprising the following steps:
(1) semantic base is pre-established in central processing unit, the semantic base includes color database and according to answering
The function corresponding to object establishes mapping and associated functional interpretation library；
(2) color recognition unit is set on application, exterior color information is captured by color recognition unit, and will
The exterior color information of capture is converted to color data information；
(3) the color data information that color recognition unit is converted to is compared with the semantic base pre-established, if
It compares successfully, then corresponding function control is carried out to application by the matching instruction in functional interpretation library.
The present invention can establish semantic base in advance, and wherein semantic base includes being based on color category, color sequences and color
The color database of pattern etc. and the function according to corresponding to application establish mapping and associated functional interpretation library, this hair
Application in bright can be existing a variety of machines or robot, and color recognition unit is set on application, is passed through
The identification of color recognition unit captures exterior color information, and the exterior color information of capture is converted to color data information, then
Color data information is compared with the semantic base pre-established, if color data information and semantic base grow semanteme and compare into
Function, then central processing unit carries out corresponding function to the controlled cell on application by the matching instruction in functional interpretation library
It can control.
Such as when application is tracking robot, tracking robot can be identified on ground by color recognition unit
Colouring information, and be compared with semantic base, if comparing successfully, control electric-motor drive unit driving tracking robot and make
Corresponding movement, to realize corresponding mobile tracking function；If application is music robot, it can be known by color
Other unit identifies color, and is compared with semantic base, such as can show as different sound light functions.In the present invention
Color recognition unit can use existing multiple structural forms, preferably, the color recognition unit includes sensor information
Processing unit and at least one optical sensor.Multiple optical sensors can be set in the present invention, are known by optical sensor
Other different direction or different types of color database.
Existing a variety of common optical sensors are used in the present invention, preferably, the optical sensor includes
At least one of ambient light sensor, Tansducer For Color Distiguishing, gray-scale sensor, infrared sensor and camera.This
In invention there are many design of color database, for example, can according to color category, color sequences and color pattern into
Row setting, thus the type for the optical sensor that color is identified can also there are many, such as can be passed by environment light
Sensor identifies light information, and Tansducer For Color Distiguishing identifies color category information etc..
Preferably, further including the input unit being set on the application, the input unit is outer for receiving
Portion's information and received external information is delivered to the central processing unit.Input unit can also be designed in the present invention, connect
External information is received, then corresponding control instruction is sent to output unit by central processing unit.
Preferably, further including the storage unit being connect with central processing unit signal.Semantic base in the present invention can also
To be stored in the memory unit, the rule in the present invention in semantic base can be added by program, changed or be deleted.
Preferably, the application includes the electric-motor drive unit for being controlled by the central processing unit.
Preferably, further including being set on application and for providing the LED light optical module of light.
Preferably, further including providing module for providing the power of electric energy.Power provides the type of module in the present invention
There are many, module is provided using existing a variety of power, such as it can be clockwork spring, battery and the sun that power, which provides module,
Energy battery etc..
Compared with prior art, the beneficial effects of the present invention are embodied in:
The present invention carries out color identification by color recognition unit, to realize the control to product, improves study entertaining
Property, child is improved for the interest of Learning machine operation logic, learns to understand convenient for children.
Detailed description of the invention
Fig. 1 is flow diagram of the invention.
Fig. 2 is the signal connection schematic diagram of another embodiment in the present invention.
Fig. 3 is the schematic diagram of control method in the present invention.
Fig. 4 is the structural schematic diagram of tracking robot in the present invention.
Fig. 5 is tracking robot bottom substance schematic diagram in the present invention.
Schematic diagram when Fig. 6 is tracking robot tracking identification in the present invention.
Fig. 7 is the structural schematic diagram of music robot in the present invention.
Structural schematic diagram when Fig. 8 is music robot color recognition unit progress color identification in the present invention.
Fig. 9 is color type schematic diagram in the present invention.
Figure 10 is the schematic diagram of color database in the present invention.
Specific embodiment
As depicted in figs. 1 and 2, the present invention includes:
Color recognition unit 1, for carrying out color identification to exterior object；
Central processing unit 2 receives the colouring information that color recognition unit 1 identifies, and semantic with pre-stored color
Information is compared；
Controlled cell is controlled by central processing unit 2, and central processing unit 2 is according to color semantic information comparison result pair
Output unit 4 issues corresponding control instruction.
Input unit 3, input unit 3 is for receiving external information and received external information being delivered to central processing list
Member 2.Input unit 3 can also be designed in the present invention, receive external information, then send out to output unit 4 by central processing unit 2
Send corresponding control instruction.
The present invention can establish semantic base in advance, and wherein semantic base includes being based on color category, color sequences and color
The color database of pattern etc. and the function according to corresponding to application establish mapping and associated functional interpretation library, this hair
Application in bright can be existing a variety of machines or robot, and color recognition unit 1 is set on application, is passed through
The identification of color recognition unit 1 captures exterior color information, and the exterior color information of capture is converted to color data information, then
Color data information is compared with the semantic base pre-established, if comparing successfully, central processing unit 2 passes through function solution
The matching instruction released in library carries out corresponding function control to the controlled cell on application, such as when application is tracking
When robot, tracking robot can identify the colouring information on ground by color recognition unit 1, and be compared with semantic base
It is right, if comparing successfully, controls electric-motor drive unit 6 and tracking robot is driven to make corresponding movement, to realize corresponding
Mobile tracking function；If application be music robot, can by color recognition unit 1 identify color, and with semanteme
Library is compared, such as can show as different sound light functions.
As depicted in figs. 1 and 2, the invention also includes the storage units 5 connecting with 2 signal of central processing unit.The present invention
In semantic base can establish and stored in storage unit 5, the rule in the present invention in semantic base can by program into
Row add, change, or delete.
As shown in figure 4, the present embodiment be a kind of tracking robot, the semantic base of tracking robot can instruct its advance,
Back leg acceleration, slows down, turns around, the motor patterns such as crossroad direction selection.As shown in fig. 7, the present embodiment is a kind of music machine
Device people, the corresponding functional interpretation library of the semantic base of music robot is the sound for making it issue different rhythm, tone color and frequency etc.
Happy function.
The light that color database can be emitted or be emitted based on object to be detected in the present invention is established, such as tracking machine
The testee of people can be a white paper jam with colored line segment, wherein there are many forms of expression for colored line segment, such as
The straight-line segment of color A, B, C, the combination line segment of color BC or color ABC and color ABC of different shapes combination line segment etc.,
The colouring information that wherein color A, B, C can be detected under certain illumination condition by color recognition unit 1 is A ', B ', C ', is based on
The information can establish color database, see Figure 10.
As shown in Figure 8 and Figure 9, music robot object to be detected can be self luminous bead 10, the light of bead transmitting
It is divided into tri- kinds of A, B, C, light is by the colouring information that color recognition unit 1 can detect under certain illumination condition or non-illuminated conditions
A ', B ', C ' also can establish color database based on the information.Color database can also be with colour sequential or figure in the present invention
Case, colour sequential or pattern for based on colouring information A ', B ', C ' institute component color alignment mode, order change or pattern.Example
Such as tracking robot, the colour line segment one of which form of expression detected can combine ABC for color line segment, by
Line segment A, the line segment B of one fixed width of one fixed width are connected with the line segment C of one fixed width, when tracking robot passes through, the face
Colo(u)r streak section combines included all colours and can arrive within a certain period of time by its sequence detection of walking, and can establish color based on this
Sequence library.For music robot, detected object is the bead that shines, and the small club that shines is within a certain period of time by color
A changes to color B and changes to color C again, when color recognition unit 1 detects the color change sequence that bead is luminous in certain time
When, colour sequential library can be established based on this.
In the present invention functional interpretation library according to machine or robot it needs to be determined that different function commands, such as tracking
For robot, locomotive function can be carried out, therefore can be by different locomotive function and colour sequential or figure in functional interpretation library
Case library is mapped, such as functional interpretation corresponding to color line segment combination BC is that tracking robot is made to give it the gun one periodically
Between.For music robot, the music function of different rhythm, tone color, frequency etc., such as colour sequential can be issued by A '
Changing to B ' and changing to functional interpretation corresponding to C ' again can be the music function that frame drum tone color is switched to from piano sound.
Based on the method for building up of above-mentioned semantic base, the present invention object to be detected is issued by color recognition unit 1 or
The light of reflection detect and detected colouring information is matched and compared with semantic base by central processing unit 2
Compared with matching result will be used to control the function of controlled cell.
Object to be detected is respectively can not self luminous object (the reflective paper jam with colored line segment) and self-luminous
Object (such as self luminous bead), can also be just to self-luminous bead even if color recognition unit 1 under the insufficient environment of illumination
Often work, and to can not self luminous paper jam just need by control tracking robot LED light optical module 7 carry out light filling to reach
To recognition effect.Wherein object to be detected may be and with color object, the picture of LCD screen presentation, paper jam and shine
Object etc..
Color recognition unit 1 includes at least one optical sensor 11 in the present invention.Multiple optics can be set in the present invention
Sensor 11 identifies different direction or different types of color database by optical sensor 11.As shown in Figure 5 and Figure 6,
Optical sensor 11 includes that 4 infrared sensors and 1 Tansducer For Color Distiguishing are placed in robot in the present embodiment
Bottom is arranged in a line, and infrared sensor is uniformly distributed in the two sides of Tansducer For Color Distiguishing two-by-two, and color identification passes
Sensor is fixed on the position among robot bottom, and the wheel 13 that electric-motor drive unit 6 controls is fixed on robot bottom rearward
Two sides, power provide module 8 be 7.4v lithium battery.
When robot operation, if optical sensor 11, which is detected, has colored line segment without self light emission function
When, as shown in fig. 6, infrared sensor 112 is respectively in line segment if Tansducer For Color Distiguishing 111 is in colored line segment middle position
Left side and right side, and robot towards label direction advance when, into operating status shown in Fig. 10.
Situation 1, if line segment is color A:
Step 1, the colouring information that Tansducer For Color Distiguishing detects is acquired by sensor information processing unit 12.
Step 2, by central processing unit 2 by the color database in collected colouring information and preset semantic base into
Row compare, if find with saved in color database matched color A ' when.
Step 3, central processing unit 2 then by colouring information and semantic base colour sequential or color pattern library carry out
It compares, if find the scheme with colour sequential or color pattern storehouse matching.
Step 4, central processing unit 2 then maps matching scheme and the functional interpretation library in semantic base, obtains
Operating instruction A.
Step 5, central processing unit 2 controls 4 infrared sensors and works, and opens infrared ray tracking function, control
Electric-motor drive unit 6 processed moves forward robot integrally.
Situation 2, if line segment is color line segment C:
Step 1, the colouring information that optical sensor 11 detects is acquired by sensor information processing unit 12.
It step 2, will be in collected colouring information and the semantic base of 5 internal preset of storage unit by central processing unit 2
Color database be compared, if find with saved in color database matched color C ' when.
Step 3, central processing unit 2 then by colouring information and semantic base colour sequential or color pattern library carry out
It compares, if find the scheme with colour sequential or color pattern storehouse matching.
Step 4, central processing unit 2 then maps matching scheme and the functional interpretation library in semantic base, obtains
Operating instruction C.
Step 5, central processing unit 2 controls 4 infrared sensors in the sensor unit of input unit 3 and carries out work
Make, opens infrared ray tracking function, while controlling electric-motor drive unit 6 makes robot integrally move backward.
Situation 3, if line segment is that color line segment combines BC and robot moving direction as by B to C:
Step 1, it is recorded within a certain period of time by sensor information processing unit 12 collected by color recognition unit 1
Colouring information, and its variation pattern is recorded, the data that sensor information processing unit 12 records in the case are that color has B '
Change to C '.
Step 2, by central processing unit 2 by the color data in collected color change B ' to C ' and color semantic base
Library is compared, if find with saved in color database matching color B ' and C ' when.
Step 3, central processing unit 2 is then by the colour sequential or color in color change B ' to C ' and color semantic base
Pattern library is compared, if find with colour sequential B ' C '.
Step 4, central processing unit 2 then maps matching scheme B ' C ' and the functional interpretation library in semantic base,
Obtain operating instruction BC.Step 5, central processing unit 2, which controls electric-motor drive unit 6, makes robot u-turn traveling.
Situation 4, if line segment is that color combines BC and robot moving direction as by C to B:
Step 1, it is recorded within a certain period of time by sensor information processing unit 12 collected by color recognition unit 1
Colouring information, and its variation pattern is recorded, the data that sensor information processing unit 12 records in the case are that color has C '
Change to B '.
Step 2, by central processing unit 2 by the color data in collected color change C ' to B ' and color semantic base
Library is compared, if find with saved in color database matching color B ' and C ' when.
Step 3, central processing unit 2 is then by the colour sequential or color in color change C ' to B ' and color semantic base
Pattern library is compared, if find with colour sequential C ' B '.
Step 4, central processing unit 2 then maps matching scheme C ' B ' and the functional interpretation library in semantic base,
Obtain operating instruction CB.
Step 5, the control of central processing unit 2 electric-motor drive unit 6 travels after so that robot is rotated in place 480 °.
Situation 5, if line segment is that color combines D:
Step 1, sensor information processing unit 12 acquires the colouring information that Tansducer For Color Distiguishing detects.
Step 2, by central processing unit 2 that the color of collected colouring information and 5 internal preset of storage unit is semantic
Color database in library is compared, if do not find with saved in color database matched color D ' when.
Step 3, central processing unit 2 is judged as that invalid information continues to control Tansducer For Color Distiguishing capture as shown in Figure 5
The color of corresponding line segment and the processing mode for keeping input unit 3 and output unit 4.
Claims (6)
1. a kind of control method based on color identification, which comprises the following steps:
(1) semantic base is pre-established in central processing unit, the semantic base includes color database and according to application pair
As corresponding function establishes mapping and associated functional interpretation library；
(2) color recognition unit is set on application, exterior color information is captured by color recognition unit, and will capture
Exterior color information be converted to color data information；
(3) the color data information that color recognition unit is converted to is compared with the semantic base pre-established, if comparing
Success then carries out corresponding function control to application by the matching instruction in functional interpretation library.
2. the control method as described in claim 1 based on color identification, which is characterized in that the color recognition unit includes
Sensor information processing unit and at least one optical sensor.
3. the control method as claimed in claim 2 based on color identification, which is characterized in that the optical sensor includes ring
At least one of border optical sensor, Tansducer For Color Distiguishing, gray-scale sensor, infrared sensor and camera.
4. the control method as described in claim 1 based on color identification, which is characterized in that further include being set to the application
Input unit on object, the input unit is for receiving external information and received external information being delivered to the center
Processing unit.
5. the control method as described in claim 1 based on color identification, which is characterized in that further include and central processing unit
The storage unit of signal connection.
6. the control method as described in claim 1 based on color identification, which is characterized in that the application includes controlled
In the electric-motor drive unit of the central processing unit.
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| CN201810621137.7A CN108972542A (en) | 2018-06-15 | 2018-06-15 | A kind of control method based on color identification |
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Application publication date: 20181211 |