CN111230846A - Light following robot - Google Patents
Light following robot Download PDFInfo
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- CN111230846A CN111230846A CN202010121044.5A CN202010121044A CN111230846A CN 111230846 A CN111230846 A CN 111230846A CN 202010121044 A CN202010121044 A CN 202010121044A CN 111230846 A CN111230846 A CN 111230846A
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- gear
- power structure
- disc
- light
- shaped platform
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Abstract
The invention discloses a light following robot, wherein the bottom of a cube circuit board is connected with a disc-shaped platform through a central shaft, the bottom of the disc-shaped platform is provided with a horizontal power structure for driving the disc-shaped platform to rotate circumferentially, the horizontal power structure is positioned on a control main board, a vertical power structure is positioned on the disc-shaped platform, an arm is connected with the vertical power structure, and the vertical power structure drives the arm to rotate in a vertical plane; the top and four sides of square circuit board all are provided with photoelectric sensor, and each photoelectric sensor's output is connected with the input of computer, and the output of computer is connected through the control end of control mainboard with horizontal power structure and the control end of perpendicular power structure, and this robot can continuously point to the light source direction.
Description
Technical Field
The invention belongs to the technical field of robots, and relates to a light following robot.
Background
In nature, the young stems of sunflowers are bent due to uneven distribution of auxin, and thus there is a scene that sunflowers follow the sun. In human activities, there are many situations in which the direction of light incidence needs to be known, for example, the solar panel needs to adjust the angle according to the movement of the sun to obtain a larger power generation amount. The existing optical detection technology is mature in light intensity detection and relatively few in detection of the incidence direction of special light. Taking ultraviolet rays as an example, ultraviolet rays are high-energy electromagnetic waves and are widely used in the industrial field. At the same time, however, the excessive ultraviolet light also promotes the canceration of cells and accelerates the aging of equipment, and the invisible characteristic of the ultraviolet light also increases the difficulty for detecting the ultraviolet light, and the leakage of the ultraviolet light is difficult to detect. If the detection of the incident direction of the ultraviolet rays is realized, the method can be applied to the fields of cultural relic protection, industrial flaw detection, solar cells, smart home and the like on a large scale.
On the other hand, the generation and rapid development of robotics provides assistance and convenience for human activities. The combination of robotics and optoelectronics has found widespread use in recent years. For example: the photoelectric sensor can be applied to the detection of the robot motion, so that the precision and the accuracy of the photoelectric sensor are improved; photosensitive robots in the market sense the light intensity by using photosensitive elements, so that the aims of turning on the light with weak light and turning off the light with strong light are fulfilled.
However, the existing robot has a disadvantage in detecting the incident direction of the light. For example, in the case of ultraviolet light detection, the large-scale application of the ultraviolet air disinfection method has hidden dangers, and improper operation or instrument problems can cause ultraviolet leakage. The long-term irradiation of ultraviolet rays can cause cell growth death and regenerative death, and cause damage to human bodies. However, no related detection robot can be used for early warning at present, and the safety of the robot is not guaranteed.
Disclosure of Invention
The object of the present invention is to overcome the above mentioned drawbacks of the prior art and to provide a light following robot which is able to continuously point in the direction of the light source.
In order to achieve the purpose, the light-following robot comprises a computer, a control main board, a cube circuit board, a middle shaft, a disc-shaped platform, a vertical power structure and arms;
the bottom of the square circuit board is connected with the disc-shaped platform through a middle shaft, a horizontal power structure for driving the disc-shaped platform to rotate circumferentially is arranged at the bottom of the disc-shaped platform, the horizontal power structure is located on the control main board, the vertical power structure is located on the disc-shaped platform, the arm is connected with the vertical power structure, and the arm is driven to rotate in a vertical plane through the vertical power structure;
photoelectric sensors are arranged on the top and four sides of the square circuit board, the output end of each photoelectric sensor is connected with the input end of the computer, and the output end of the computer is connected with the control end of the horizontal power structure and the control end of the vertical power structure through the control main board.
Horizontal power structure includes first electric simulation steering wheel, second electric simulation steering wheel, first gear and cylinder, wherein, all cup jointed the second gear on the output shaft of first electric simulation steering wheel and the output shaft of second electric simulation steering wheel, first gear meshes with second gear on first electric simulation steering wheel output shaft and the second gear on the second electric simulation steering wheel output shaft mutually, the lower extreme of cylinder is fixed in the middle part of first gear, the upper end of cylinder is fixed in the bottom of discoid platform.
A bearing is arranged between the bottom of the first gear and the bottom of the control main board.
The vertical power structure comprises a third electric simulation steering engine, a third gear, a fourth gear and a fifth gear, an output shaft of the third electric simulation steering engine is connected with the third gear, the third gear is meshed with the fourth gear, the fourth gear is meshed with the fifth gear, and the end part of the arm is connected with the fifth gear.
The mounting planes of adjacent photosensors are orthogonal.
The horizontal power structure drives the disc-shaped platform to rotate 0-360 degrees in the horizontal plane.
The vertical power structure drives the arm to rotate by 0-90 degrees in a vertical plane.
The invention has the following beneficial effects:
when the light-following robot is in specific operation, the top and four sides of the square circuit board are respectively provided with the photoelectric sensors, the computer detects the direction of a light source through the five photoelectric sensors, the disc-shaped platform is driven to rotate circumferentially through the horizontal hydraulic structure, and the arm is driven to rotate in the vertical plane through the vertical power structure, so that the arm continuously points to the direction of the light source.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic view of the internal structure of the present invention;
FIG. 3 is a schematic structural diagram of the horizontal power structure 5 and the vertical power structure 4 according to the present invention;
FIG. 4 is a top view of the vertical power structure 4 of the present invention;
fig. 5 is a schematic structural diagram of the square circuit board 2 according to the present invention.
Wherein, 1 is photoelectric sensor, 2 is square circuit board, 3 is the axis, 4 is vertical power structure, 5 is horizontal power structure, 6 is the control mainboard, 7 is third electronic simulation steering wheel, 8 is discoid platform, 9 is third gear, 10 is fourth gear, 11 is fifth gear, 12 is the arm, 13 is the cylinder, 14 is first gear, 15 is first electronic simulation steering wheel, 16 is second electronic simulation steering wheel, 17 is the bearing.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings:
referring to fig. 1 to 4, the light following robot of the present invention includes a computer, a control motherboard 6, a cube circuit board 2, a central axis 3, a disc-shaped platform 8, a vertical power structure 4, and an arm 12; the bottom of the square circuit board 2 is connected with a disc-shaped platform 8 through a middle shaft 3, a horizontal power structure 5 for driving the disc-shaped platform 8 to rotate circumferentially is arranged at the bottom of the disc-shaped platform 8, the horizontal power structure 5 is located on a control main board 6, a vertical power structure 4 is located on the disc-shaped platform 8, an arm 12 is connected with the vertical power structure 4, and the vertical power structure 4 drives the arm 12 to rotate in a vertical plane; the top and four sides of the square circuit board 2 are provided with photoelectric sensors 1, the output end of each photoelectric sensor 1 is connected with the input end of a computer, and the output end of the computer is connected with the control end of a horizontal power structure 5 and the control end of a vertical power structure 4 through a control main board 6.
Horizontal power structure 5 includes first electronic simulation steering wheel 15, second electronic simulation steering wheel 16, first gear 14 and cylinder 13, wherein, all cup jointed the second gear on the output shaft of first electronic simulation steering wheel 15 and the output shaft of second electronic simulation steering wheel 16, first gear 14 meshes with second gear on 15 output shafts of first electronic simulation steering wheel and the second gear on 16 output shafts of second electronic simulation steering wheel mutually, the lower extreme of cylinder 13 is fixed in the middle part of first gear 14, the upper end of cylinder 13 is fixed in the bottom of discoid platform 8, be provided with bearing 17 between the bottom of first gear 14 and the bottom of control mainboard 6.
The vertical power structure 4 comprises a third electric simulation steering engine 7, a third gear 9, a fourth gear 10 and a fifth gear 11, an output shaft of the third electric simulation steering engine 7 is connected with the third gear 9, the third gear 9 is meshed with the fourth gear 10, the fourth gear 10 is meshed with the fifth gear 11, and the end part of an arm 12 is connected with the fifth gear 11.
The mounting planes of the adjacent photoelectric sensors 1 are orthogonal, the horizontal power structure 5 drives the disc-shaped platform 8 to rotate 0-360 degrees in the horizontal plane, and the vertical power structure 4 drives the arm 12 to rotate 0-90 degrees in the vertical plane.
The working principle of the invention is as follows:
referring to fig. 5, let A, B, C, D, A ', B', C ', D' denote eight vertexes of the square circuit board 2, respectively, four sides and top of the square circuit board 2 are provided with the photoelectric sensors 1 to form a three-dimensional comprehensive detector, with point D as the origin of coordinates,
the direction is the positive direction of the x-axis,
the direction is the positive direction of the y axis,
a rectangular space coordinate system is established in the positive direction of the z axis, the space above the XOY plane is divided into five parts (four trigrams and the z axis), if light rays irradiate to the comprehensive detector along the reverse direction of the z axis, only the upper photoelectric sensor 1 can receive illumination, the photoelectric sensor 1 has larger current output, and the currents of other four photoelectric sensors 1 are almost zero, so that the illumination direction can be judged; if light is emitted to the comprehensive detector from other four trigrams, the output currents of the corresponding three photoelectric sensors 1 are obviously changed, and the accurate direction of the light can be judged by only looking at the current changes of the three photoelectric sensors 1. Because of the rotational symmetry of the four hexagrams, taking the first hexagram as an example, only the case where light is directed from the first hexagram to the integrating detector will be discussed herein.
After any one of the photoelectric sensors 1 is irradiated by light, the obtained unique information is the output current of the photoelectric sensor 1.
Therefore, a quantitative relationship between the incident direction of light and the output current of the photosensor 1 is first established, and if a photoresistor is used as the photosensor 1 (the resistance value decreases with the increase of light intensity), the method is based on the cosine law of irradiance:
E'＝Ecosθ
wherein, E is the irradiance (radiant flux per unit area) of vertical irradiation, E' is the irradiance when the included angle between the light and the normal of the surface is θ, and the resistance of the photoelectric sensor 1 decreases with the increase of the received light intensity, so that the resistance of the photoelectric sensor 1 decreases with the decrease of the included angle between the incident direction of the light and the normal of the irradiated surface, the output current increases, and the change is continuous. Therefore, when light with constant light intensity is emitted to the comprehensive detector from different directions, the functional relation between the current flowing through the photoelectric sensor 1 on a certain surface and the included angle between the light and the surface is a continuous monotonous function in one-to-one correspondence.
Since the intensity of light in the same direction also varies from time to time in practice, the output current I of one photosensor 1 is a binary function related to E and θ, and if I ═ f (E, θ) is set, in order to ensure that the incident direction of light can be determined under different illumination intensities, a photosensor 1 with a resistance value having a good linear relationship with the illumination intensity is selected, and the current flowing through the photosensor 1 is set to be in a direct proportion relationship with the irradiance E
The output current of the photoelectric sensor 1 (the front, top, and right sensor currents are denoted as I1、I2、I3) Calculating to obtain the included angles between the illumination and the three surfaces (the included angles with the front, the upper and the right are recorded as α respectively1、α2、α3) The relationship between them is:
I1:I2:I3＝g(α1):g(α2):g(α3)
the geometrical relationship shows that:
cos2α1+cos2α2+cos2α3＝2
obtaining the included angles between the incident direction of the light and the front, upper and right surfaces;
let the incident direction of the light ray be in a spherical coordinate system
Wherein β is the included angle between the projection of the light ray in the XOY plane and the x-axis,
the included angle between the light and the z-axis is within the first diagram
From the geometric relationship:
combining the above two formulas to obtain the final incident direction angle of light
Claims (7)
1. A light-following robot is characterized by comprising a computer, a control main board (6), a cube circuit board (2), a middle shaft (3), a disc-shaped platform (8), a vertical power structure (4) and an arm (12);
the bottom of the cube circuit board (2) is connected with a disc-shaped platform (8) through a middle shaft (3), a horizontal power structure (5) used for driving the disc-shaped platform (8) to rotate circumferentially is arranged at the bottom of the disc-shaped platform (8), the horizontal power structure (5) is located on a control main board (6), a vertical power structure (4) is located on the disc-shaped platform (8), an arm (12) is connected with the vertical power structure (4), and the vertical power structure (4) drives the arm (12) to rotate in a vertical plane;
the top and four sides of square circuit board (2) all are provided with photoelectric sensor (1), and the output of each photoelectric sensor (1) is connected with the input of computer, and the output of computer is connected with the control end of horizontal power structure (5) and the control end of vertical power structure (4) through control mainboard (6).
2. The robot of following spot according to claim 1, characterized in that horizontal power structure (5) includes first electronic simulation steering wheel (15), second electronic simulation steering wheel (16), first gear (14) and cylinder (13), wherein, the second gear has all been cup jointed on the output shaft of first electronic simulation steering wheel (15) and on the output shaft of second electronic simulation steering wheel (16), second gear on first gear (14) and first electronic simulation steering wheel (15) output shaft and the second gear on second electronic simulation steering wheel (16) output shaft mesh mutually, the lower extreme of cylinder (13) is fixed in the middle part of first gear (14), the upper end of cylinder (13) is fixed in the bottom of discoid platform (8).
3. A robot as claimed in claim 2, characterized in that a bearing (17) is arranged between the bottom of the first gear wheel (14) and the bottom of the control main plate (6).
4. The light-following robot is characterized in that the vertical power structure (4) comprises a third electric simulation steering engine (7), a third gear (9), a fourth gear (10) and a fifth gear (11), an output shaft of the third electric simulation steering engine (7) is connected with the third gear (9), the third gear (9) is meshed with the fourth gear (10), the fourth gear (10) is meshed with the fifth gear (11), and the end part of an arm (12) is connected with the fifth gear (11).
5. A light following robot according to claim 1, characterized in that the mounting planes of adjacent photosensors (1) are orthogonal.
6. The light-following robot according to claim 1, characterized in that the horizontal power structure (5) drives the disc-shaped platform (8) to rotate 0-360 ° in the horizontal plane.
7. A light-following robot according to claim 1, characterized in that the vertical power structure (4) drives the arm (12) to rotate 0-90 ° in the vertical plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010121044.5A CN111230846B (en) | 2020-02-26 | 2020-02-26 | Light following robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010121044.5A CN111230846B (en) | 2020-02-26 | 2020-02-26 | Light following robot |
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| Publication Number | Publication Date |
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| CN111230846A true CN111230846A (en) | 2020-06-05 |
| CN111230846B CN111230846B (en) | 2022-06-14 |
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| CN202010121044.5A Active CN111230846B (en) | 2020-02-26 | 2020-02-26 | Light following robot |
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| JP2012204471A (en) * | 2011-03-24 | 2012-10-22 | Daido Steel Co Ltd | Photovoltaic generation device |
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| CN107070385A (en) * | 2017-04-14 | 2017-08-18 | 安徽理工大学 | The double freedom photovoltaic power generation apparatus and its method for tracing of a kind of automatic sun-tracking light |
| CN107398914A (en) * | 2017-08-11 | 2017-11-28 | 汕头市快畅机器人科技有限公司 | A kind of automatic light tracking robot and its method of following spot |
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| CN207151479U (en) * | 2017-08-11 | 2018-03-30 | 汕头市快畅机器人科技有限公司 | A kind of automatic watering function mechanism of automatic light tracking robot |
| CN207937883U (en) * | 2018-03-30 | 2018-10-02 | 常州工程职业技术学院 | A kind of portable robot of following spot |
| KR20190086828A (en) * | 2018-01-15 | 2019-07-24 | 권병운 | Photovoltaic power generation system |
-
2020
- 2020-02-26 CN CN202010121044.5A patent/CN111230846B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201174671Y (en) * | 2008-03-25 | 2008-12-31 | 杨亮 | Solar panel automatic regulating device |
| CN101930237A (en) * | 2010-08-24 | 2010-12-29 | 薛恩达 | Automatic sun tracking method and device |
| JP2012204471A (en) * | 2011-03-24 | 2012-10-22 | Daido Steel Co Ltd | Photovoltaic generation device |
| CN103151962A (en) * | 2013-03-22 | 2013-06-12 | 哈尔滨工业大学 | Solar power system with light-tracking sensor |
| CN107070385A (en) * | 2017-04-14 | 2017-08-18 | 安徽理工大学 | The double freedom photovoltaic power generation apparatus and its method for tracing of a kind of automatic sun-tracking light |
| CN107398914A (en) * | 2017-08-11 | 2017-11-28 | 汕头市快畅机器人科技有限公司 | A kind of automatic light tracking robot and its method of following spot |
| CN207151479U (en) * | 2017-08-11 | 2018-03-30 | 汕头市快畅机器人科技有限公司 | A kind of automatic watering function mechanism of automatic light tracking robot |
| CN107479582A (en) * | 2017-09-25 | 2017-12-15 | 内蒙古工业大学 | A kind of turnover plate type solar energy dolly automatic light tracking system and control method |
| KR20190086828A (en) * | 2018-01-15 | 2019-07-24 | 권병운 | Photovoltaic power generation system |
| CN207937883U (en) * | 2018-03-30 | 2018-10-02 | 常州工程职业技术学院 | A kind of portable robot of following spot |
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| CN111230846B (en) | 2022-06-14 |
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