CN110116412A - Stealthy Detecting Robot and invisible method - Google Patents
Stealthy Detecting Robot and invisible method Download PDFInfo
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- CN110116412A CN110116412A CN201910516704.7A CN201910516704A CN110116412A CN 110116412 A CN110116412 A CN 110116412A CN 201910516704 A CN201910516704 A CN 201910516704A CN 110116412 A CN110116412 A CN 110116412A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
-
- 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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The present invention discloses a kind of stealthy Detecting Robot and invisible method, wherein, the stealth Detecting Robot includes robot body, photographing module, motor control module, data transmission module, main control chip, color sensor and three-primary color LED module, and the color sensor and three-primary color LED module are electrically connected with main control chip respectively；The color sensor is used to acquire the color value of ambient enviroment, and the main control chip carries out identifying processing to color value, and generates the first control pulse, the second control pulse and third according to recognition result and control pulse；And control red LED lamp in three-primary color LED module, green light LED lamp and blue LED lamp respectively according to the first control pulse, the second control pulse and third control pulse and work at the same time, mixed light corresponding with ambient enviroment is shown by three-primary color LED module.The present invention, which can be realized, incorporates robot self color in ambient enviroment, realizes stealthy function, meets the needs of investigation.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of stealthy Detecting Robots and invisible method.
Background technique
With the development of social progress and science and technology, robot is gradually coming into our life, wherein it increases
The intelligence and characterization of strong type are increasingly becoming the distinct characteristic of robot.Since the middle of last century, robot skill
Art has achieved significant progress, based on the competitiveness and high efficiency of the industry of raising.Not only have on industrial circle extensively
Application, and the speed for answering its surprising is constantly extended to nonindustrial fields such as military affairs, service, medical treatment, Detecting Robot
Then available and processing identifies more information, can complete more complicated operation task excessively independently.In scout
When device people executes task, since Detecting Robot cannot incorporate in ambient enviroment, Detecting Robot is caused to be easy to be found by people, it is difficult
To meet the requirement of stealthy investigation.
In view of this, it is necessary to which current robot architecture is further improved.
Summary of the invention
To solve an above-mentioned at least technical problem, the main object of the present invention is to provide a kind of stealthy Detecting Robot and hidden
Body method.
To achieve the above object, first technical solution that the present invention uses are as follows: a kind of stealthy Detecting Robot, packet are provided
Robot body, photographing module, motor control module, data transmission module are included, and controls mould with photographing module, steering engine respectively
Block and the main control chip of data transmission module electrical connection, further includes: color sensor and three-primary color LED module, the color pass
Sensor and three-primary color LED module are electrically connected with main control chip respectively；
The color sensor is used to acquire the color value of ambient enviroment and is transmitted to main control chip, the main control chip pair
Color value carries out identifying processing, and generates the first control pulse, the second control pulse and third according to recognition result and control pulse；
And red-light LED in three-primary color LED module is controlled according to the first control pulse, the second control pulse and third control pulse respectively
Lamp, green light LED lamp and blue LED lamp work at the same time, and show mixed light corresponding with ambient color.
Wherein, the color sensor includes that silicon photoelectric diode and the power frequency being electrically connected with silicon photoelectric diode turn
Change device.
Wherein, the three-primary color LED module is equipped with the R pin being electrically connected with red LED lamp, is electrically connected with green light LED lamp
G pin, the B pin being electrically connected with blue LED lamp, and for the V pin of ground connection, the R pin, G pin and B pin difference
It is electrically connected with three road PWM output terminals of main control chip.
It wherein, further include wireless remote control module, the wireless remote control module is electrically connected with main control chip.
Wherein, the wireless remote control module is NRF24L01 radio-cell, and the NRF24L01 radio-cell includes built-in
2.4GHz antenna and SPI interface.
It wherein, further include ultrasonic wave obstacle module, the ultrasonic wave obstacle module is electrically connected with main control chip.
Wherein, the ultrasonic wave obstacle module is two C-SR04 ultrasound units, and two C-SR04 ultrasound units are set
It is placed in robot body two sides.
It wherein, further include display screen, the display screen is electrically connected with main control chip.
To achieve the above object, second technical solution that the present invention uses are as follows: it is hidden to provide a kind of stealthy Detecting Robot
Body method includes:
When Detecting Robot is stealthy, feux rouges, green light, blue light are carried out to the light of ambient enviroment respectively and are filtered, is prolonged
When for a period of time after, obtain the feux rouges of ambient enviroment, the umber of pulse of green light and blue light；
Statistics pulse data obtains ring around when the umber of pulse of the feux rouges of statistics, green light and blue light is respectively greater than 255
The RGB color value in border；
Identifying processing is carried out to the RGB color value of ambient enviroment and generates the first control pulse, the second control pulse and third
Pulse is controlled, controls red LED lamp, green light respectively to control pulse by the first control pulse, the second control pulse and third
LED light and blue LED lamp work at the same time；
Show mixed light corresponding with the color of ambient enviroment.
Wherein, the statistics pulse data is obtained when the umber of pulse of the feux rouges of statistics, green light and blue light is respectively greater than 255
To after the RGB color value of ambient enviroment, further includes:
RGB color value is converted to according to HSV algorithm the numerical value of coloration, saturation degree and lightness.
Technical solution of the present invention mainly includes color sensor, three-primary color LED module and main control chip.Specifically, face
Colour sensor can acquire the color value of ambient enviroment and be transmitted to main control chip；Main control chip carries out at identification color value
Reason, and the first control pulse, the second control pulse and third are generated according to recognition result and control pulse, and according to the first control
Pulse, the second control pulse and third control pulse control red LED lamp in three-primary color LED module, green light LED lamp and indigo plant respectively
Light LED light works at the same time, and shows mixed light corresponding with ambient color finally by three-primary color LED module, can will detect
The color of itself can be changed according to surrounding enviroment by looking into robot, itself is incorporated in ambient enviroment, realizes stealthy function, full
The demand investigated enough.
Detailed description of the invention
Fig. 1 is the block diagram of one embodiment of the invention stealth Detecting Robot；
Fig. 2 is the flow chart of one embodiment of the invention stealth Detecting Robot invisible method.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
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 description, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
It is to be appreciated that the description of " first ", " second " involved in the present invention etc. is used for description purposes only, and should not be understood as
Its relative importance of indication or suggestion or the quantity for implicitly indicating indicated technical characteristic.Define as a result, " first ",
The feature of " second " can explicitly or implicitly include at least one of the features.In addition, the technical side between each embodiment
Case can be combined with each other, but must be based on can be realized by those of ordinary skill in the art, when the combination of technical solution
Conflicting or cannot achieve when occur will be understood that the combination of this technical solution is not present, also not the present invention claims guarantor
Within the scope of shield.
Fig. 1 is please referred to, Fig. 1 is the block diagram of one embodiment of the invention stealth Detecting Robot.Implement in the present invention
In example, the stealth Detecting Robot, including robot body, photographing module 20, motor control module 30, data transmission module
40, and the main control chip 10 being electrically connected respectively with photographing module 20, steering engine control module and data transmission module 40, also wrap
Include: color sensor 50 and three-primary color LED module 60, the color sensor 50 and three-primary color LED module 60 respectively with master control
Chip 10 is electrically connected；
The color sensor 50 is used to acquire the color value of ambient enviroment and is transmitted to main control chip 10, the master control core
Piece 10 carries out identifying processing to color value, and generates the first control pulse, the second control pulse and third control according to recognition result
Pulse processed；And three-primary color LED module 60 is controlled according to the first control pulse, the second control pulse and third control pulse respectively
Middle red LED lamp, green light LED lamp and blue LED lamp work at the same time, and show mixed light corresponding with ambient color.
Detecting Robot in the present embodiment can acquire the color data of ambient enviroment, color by color sensor 50
Data can be identified by main control chip 10, and generated the first control pulse, the second control pulse and third and controlled pulse, be led to
Crossing the first control pulse, the second control pulse and third control pulse can be controlled separately the work of three-primary color LED module 60.Specifically
, the first control pulse can control red LED lamp work, and the second control pulse green light LED lamp work, third controls pulse can
To control blue LED lamp work.Red LED lamp, green light LED lamp and blue LED lamp can generate corresponding RGB when working
The mixed light adapted to environment can be obtained after three coloured light mixing in three coloured light, in this way, itself is incorporated in ambient enviroment, realizes investigation
The stealth of robot.In addition, also there are photographing module 20, motor control module 30 and data for Detecting Robot
Transmission module 40, the photographing module 20 can acquire image data, and image data can be exported by data transmission module 40.It can
With understanding, Audio Input Modules can also be set, to realize the acquisition of sound.It, can by Audio Input Modules and camera
To realize the acquisition of video-audio data.
Technical solution of the present invention mainly includes color sensor 50, three-primary color LED module 60 and main control chip 10.Specifically
, color sensor 50 can acquire the color value of ambient enviroment and be transmitted to main control chip 10；Main control chip 10 is to color value
Identifying processing is carried out, and the first control pulse, the second control pulse and third are generated according to recognition result and control pulse, Yi Jigen
According to first control pulse, second control pulse and third control pulse control respectively red LED lamp in three-primary color LED module 60,
Green light LED lamp and blue LED lamp work at the same time, and show finally by three-primary color LED module 60 corresponding with ambient color
Detecting Robot can be changed the color of itself according to surrounding enviroment, and itself is incorporated ambient enviroment by mixed light
In, it realizes stealthy function, meets the needs of investigation.
Above-mentioned main control chip 10 is SMT32 chip, high, at low cost, low in energy consumption with performance, and is suitable for embedded
The characteristics of using design, wherein there are three types of low-power consumption modes: suspend mode, standby and stop mode for the STM32 tool of 103 series；It is built-in
12 DMA channel controllers support the peripheral hardwares such as timer, ADC, SPI；The maximum of up to 112 quick ports I/O, at most up to
11 timers, 4 16 bit timing devices；At maximum up to 13 communication interfaces.All GPIO mouthfuls may map to 16 outsides
Interrupt vector, other than simulation input, each GPIO mouthfuls input supported in 5V.Above-mentioned data transmission module 40 uses
Wireless transmission method.By the leg signal of BX, CH1, CH2, CH3 of main control chip 10 to select different channel frequencies,
For the design using the channel frequency of 2.468G, i.e. the level of BX, CH1, CH2, CH3 pin is respectively 0,1,1,1.Above-mentioned
Motor control module 30 can control the different duties in each channel by four channels of the timer on main control chip 10
Than to controlling the different rotating speeds of each motor, and different rotating manners is controlled, to control the action of robot.
Specifically, the color sensor 50 includes silicon photoelectric diode and the electric current being electrically connected with silicon photoelectric diode frequency
Rate converter.In the present embodiment, the model TCS230, TCS230 of color sensor 50 are a programmable converters, can
To realize that colourama to the conversion between frequency, is built-in with the silicon photoelectric diode of PLC technology, there are also with two pole of silicon photoelectricity
The power frequency converter of pipe connection, is both integrated in a cmos circuit.
Further, the three-primary color LED module 60 is equipped with the R pin being electrically connected with red LED lamp and green light LED lamp
The G pin of electrical connection, the B pin being electrically connected with blue LED lamp, and for the V pin of ground connection, the R pin, G pin and B draw
Foot is electrically connected with three road PWM output terminals of main control chip 10 respectively.In the present embodiment, above-mentioned three-primary color LED module 60 is adopted
For 5050 all-colour LEDs, the light intensity of 5050 all-colour LED patches can achieve 6000MCD, and there are four draw 5050 all-colour LEDs tool
Foot is respectively as follows: R, G, B, V, and the port R, G, B is coupled with the general control I/O port of single-chip microcontroller, exports three tunnels by main control chip 10
Pwm signal, according to three primary colors mixing principle, can mix different proportion so that the color of 5050 all-colour LEDs of control is shown
RGB is then shown as white to blend all colors, while when being added.
It in a specific embodiment, further include wireless remote control module 70, the wireless remote control module 70 and main control chip
10 electrical connections.Specifically, the wireless remote control module 70 is NRF24L01 radio-cell, the NRF24L01 radio-cell includes
Built-in 2.4GHz antenna and SPI interface.
In the present embodiment, wireless remote control module 70 is using NRF24L01 radio-cell, NRF24L01 radio-cell branch
The data transmission in six channels is held, the time transmitted in the sky is very short, and maximum can achieve the high-speed of 2Mbps, there are 125 frequencies
Point, can satisfy the needs of multi-point or frequency modulation communication, and the built-in antenna of 2.4GHz；Low-power consumption when work；
NRF24L01 radio-cell has SPI interface, and built-in FIFO can have automatic with the high low speed microprocessor interface of various kinds
The function of repeating transmission can automatically detect and retransmit the data packet lost, after having received effective data,
NRF24L01 radio-cell can send answer signal automatically, it is not necessary that be programmed the detection of carrier wave.
It in a specific embodiment, further include ultrasonic wave obstacle module 80, the ultrasonic wave obstacle module 80 and master control
Chip 10 is electrically connected.Specifically, the ultrasonic wave obstacle module 80 is two C-SR04 ultrasound units, two C-SR04 ultrasounds
Wave unit is set to robot body two sides.
In the present solution, using two HC-SR04 avoiding obstacles by supersonic wave modules, it is individually placed to the left and right two in front of robot
Side carries out obstacle function.Avoiding obstacles by supersonic wave module also has the function of ranging, when encountering barrier, and distance be less than it is certain
When in range, the duty ratio of motor control module 30 can control with main control chip 10 to control the action of robot and walk
To, such as when the ultrasound examination on the left side is to barrier, and not detecting for the right, then robot is controlled toward the right row
It is dynamic；When both sides all detect barrier, control robot takes action backward.
It in a specific embodiment, further include display screen 90, the display screen 90 is electrically connected with main control chip 10.
The display screen 90 is TFT liquid crystal display 90, the colouring information on color sensor 50TCS230 acquisition ground
Afterwards, corresponding color can be shown.
Referring to figure 2., Fig. 2 is the flow chart of one embodiment of the invention stealth Detecting Robot invisible method.Of the invention
In embodiment, which includes:
Step S10, when Detecting Robot is stealthy, feux rouges, green light, blue light is carried out to the light of ambient enviroment respectively and filtered
Processing is delayed after a period of time, obtains the feux rouges of ambient enviroment, the umber of pulse of green light and blue light；
Step S20, statistics pulse data is obtained when the umber of pulse of the feux rouges of statistics, green light and blue light is respectively greater than 255
To the RGB color value of ambient enviroment；
Step S30, identifying processing is carried out to the RGB color value of ambient enviroment and generates the first control pulse, the second control arteries and veins
Punching and third control pulse, control red-light LED respectively to control pulse by the first control pulse, the second control pulse and third
Lamp, green light LED lamp and blue LED lamp work at the same time；
Step S40, display mixed light corresponding with the color of ambient enviroment.
Specifically, the invisible method of Detecting Robot, as follows:
1, the initialization of advanced line program is triggered using external interrupt in this programme, when external interrupt failing edge touches
When hair, into external interrupt service routine, and start to carry out the counting of pulse.
2, by using three kinds of different filters of red blue green, and using certain same time that is delayed, red blue green is obtained
The different pulse number of three kinds of colors.
3, pulse data is counted, if the umber of pulse got is greater than 255, it is 255 that we, which enable it, through the above way
The numerical value of corresponding RGB three can be obtained.
4, rgb value is transformed by HSV value according to HSV algorithm, obtains the numerical value of form and aspect, saturation degree, lightness.
5, according to three primary color theory, confirm the color recognized, finally generate the first control further according to the color recognized
Pulse, the second control pulse and third control pulse.
6, pulse PWM is controlled by the first control pulse, the second control pulse and third to control in three-primary color LED module 60
Red LED lamp, green light LED lamp and blue LED lamp work at the same time, to issue corresponding color；
7, finally, display mixed light corresponding with the color of ambient enviroment, Detecting Robot is incorporated in ambient enviroment,
Realize stealthy function.
The above description is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all at this
Under the inventive concept of invention, using equivalent structure transformation made by description of the invention and accompanying drawing content, or directly/use indirectly
It is included in other related technical areas in scope of patent protection of the invention.
Claims (10)
1. a kind of stealth Detecting Robot, including robot body, photographing module, motor control module, data transmission module, with
And the main control chip being electrically connected respectively with photographing module, steering engine control module and data transmission module, which is characterized in that described hidden
Shape Detecting Robot further include: color sensor and three-primary color LED module, the color sensor and three-primary color LED module point
It is not electrically connected with main control chip；
The color sensor is used to acquire the color value of ambient enviroment and is transmitted to main control chip, and the main control chip is to color
Value carries out identifying processing, and generates the first control pulse, the second control pulse and third according to recognition result and control pulse, and
According to first control pulse, second control pulse and third control pulse control respectively red LED lamp in three-primary color LED module,
Green light LED lamp and blue LED lamp work at the same time, and show mix corresponding with ambient color by three-primary color LED module
Light.
2. stealth Detecting Robot as described in claim 1, which is characterized in that the color sensor includes two pole of silicon photoelectricity
Pipe and the power frequency converter being electrically connected with silicon photoelectric diode.
3. stealth Detecting Robot as claimed in claim 2, which is characterized in that the three-primary color LED module is equipped with and feux rouges
The R pin of LED light electrical connection, the G pin being electrically connected with green light LED lamp, the B pin being electrically connected with blue LED lamp, and for connecing
The V pin on ground, the R pin, G pin and B pin are electrically connected with three road PWM output terminals of main control chip respectively.
4. stealth Detecting Robot as claimed in claim 3, which is characterized in that it further include wireless remote control module, it is described wireless
Remote control module is electrically connected with main control chip.
5. stealth Detecting Robot as claimed in claim 4, which is characterized in that the wireless remote control module be NRF24L01 without
Line unit, the NRF24L01 radio-cell include built-in 2.4GHz antenna and SPI interface.
6. stealth Detecting Robot as claimed in claim 5, which is characterized in that it further include ultrasonic wave obstacle module, it is described super
Sound wave obstacle module is electrically connected with main control chip.
7. stealth Detecting Robot as claimed in claim 6, which is characterized in that the ultrasonic wave obstacle module is two C-
SR04 ultrasound unit, two C-SR04 ultrasound units are set to robot body two sides.
8. stealth Detecting Robot as claimed in claim 7, which is characterized in that it further include display screen, the display screen and master
Control chip electrical connection.
9. a kind of stealth Detecting Robot invisible method, which is characterized in that the stealth Detecting Robot invisible method includes:
When Detecting Robot is stealthy, feux rouges, green light, blue light are carried out to the light of ambient enviroment respectively and are filtered, delay one
After the section time, the feux rouges of ambient enviroment, the umber of pulse of green light and blue light are obtained；
Statistics pulse data obtains ambient enviroment when the umber of pulse of the feux rouges of statistics, green light and blue light is respectively greater than 255
RGB color value；
Identifying processing is carried out to the RGB color value of ambient enviroment and generates the first control pulse, the second control pulse and third control
Pulse controls red LED lamp, green light LED lamp to control pulse by the first control pulse, the second control pulse and third respectively
And blue LED lamp works at the same time；
Show mixed light corresponding with the color of ambient enviroment.
10. stealth Detecting Robot invisible method as claimed in claim 9, which is characterized in that the statistics pulse data,
When the umber of pulse of the feux rouges of statistics, green light and blue light is respectively greater than 255, after obtaining the RGB color value of ambient enviroment, also wrap
It includes:
RGB color value is converted to according to HSV algorithm the numerical value of coloration, saturation degree and lightness.
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| CN201910516704.7A CN110116412A (en) | 2019-06-14 | 2019-06-14 | Stealthy Detecting Robot and invisible method |
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| CN201910516704.7A CN110116412A (en) | 2019-06-14 | 2019-06-14 | Stealthy Detecting Robot and invisible method |
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| CN201910516704.7A Pending CN110116412A (en) | 2019-06-14 | 2019-06-14 | Stealthy Detecting Robot and invisible method |
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| CN113536934A (en) * | 2021-06-17 | 2021-10-22 | 杭州电子科技大学 | Active hiding method for patrol robot in executing tracking task |
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Application publication date: 20190813 |
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