KR20110135887A - Remote controler finder using bluetooth - Google Patents

Remote controler finder using bluetooth Download PDF

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Publication number
KR20110135887A
KR20110135887A KR1020100055712A KR20100055712A KR20110135887A KR 20110135887 A KR20110135887 A KR 20110135887A KR 1020100055712 A KR1020100055712 A KR 1020100055712A KR 20100055712 A KR20100055712 A KR 20100055712A KR 20110135887 A KR20110135887 A KR 20110135887A
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image processing
avr
finder
screen
circle
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KR1020100055712A
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Korean (ko)
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백선우
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백선우
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
    • H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
    • H02S40/30—Electrical components
    • H02S40/38—Energy storage means, e.g. batteries, structurally associated with PV modules
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/004—Artificial life, i.e. computing arrangements simulating life
    • G06N3/008—Artificial life, i.e. computing arrangements simulating life based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/56—Extraction of image or video features relating to colour
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/50—Photovoltaic [PV] energy
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E70/00—Other energy conversion or management systems reducing GHG emissions
    • Y02E70/30—Systems combining energy storage with energy generation of non-fossil origin
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/50—Energy storage in industry with an added climate change mitigation effect

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Biophysics (AREA)
  • General Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Biomedical Technology (AREA)
  • Robotics (AREA)
  • Computational Linguistics (AREA)
  • Data Mining & Analysis (AREA)
  • Evolutionary Computation (AREA)
  • Health & Medical Sciences (AREA)
  • Molecular Biology (AREA)
  • Computing Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Toys (AREA)
  • Manipulator (AREA)

Abstract

PURPOSE: A remote controller finder using a blue tooth is provided to automatically perform a charge function using a green energy, in other word a solar energy. CONSTITUTION: Two cameras, serve as human eyes, measure a distance between objects and object location information on a screen. The cameras transmit measured information to an AVR(Automatic Voltage Regulator). A window program is made of a MFC(Microsoft Foundation Class) for image processing and communications with an AVR. The image processing uses functions within an open source library for the image processing called OpenCV. A color is classified through subtracting the other two channels from one channel. The location of a circle is searched from the processed image using cvHoughCircles which is an OpenCV function. A searched circle is marked on the screen.

Description

블루투스를 이용한 리모컨 파인더{Remote controler finder using bluetooth}Remote controler finder using bluetooth

태양광 발전을 이용하여 최근 이슈가 되고 있는 그린에너지의 기술을 우리가 필요한 로봇제작에 접목시킴으로서 앞으로의 신기술을 체험하고 이해하고 이해할 수 있다.By integrating the technology of green energy, which is becoming an issue recently, with photovoltaic power generation, we can experience, understand, and understand new technologies in the future.

영상 처리에선 사람의 눈의 역할을 하는 두 대의 카메라가 물체 간의 거리와 화면상의 물체 위치정보 등을 측정하여 AVR로 전송한다.In image processing, two cameras, which act as human eyes, measure the distance between objects and object position information on the screen and transmit them to the AVR.

현재 탐사 로봇이나 실생활에 필요한 심부름 로봇 등 여러 가지 로봇산업분야에 1차 전지를 이용하여 장시간으로 작동할 수 없는 문제점이 있다.Currently there is a problem that can not operate for a long time by using a primary battery in various robot industries, such as exploration robot or errand robot for real life.

로봇산업분야에서 쓰이는 로봇에 태양판넬을 설치하여 그린에너지인 태양에너지를 자체 충전이 가능하도록 한다.Solar panels are installed in robots used in the robot industry to enable the self-charging of green energy, solar energy.

이 발명을 통한 기대효과는 탐사 로봇이나 실생활에 필요한 심부름 로봇 등 여러 가지 로봇산업 분야에 응용할 수 있을 뿐만 아니라 그린에너지인 태양에너지를 이용하여 자체 충전이 가능하여 무궁한 발전이 기대된다.The expected effect of this invention is not only applicable to various robotic industries such as exploration robots and errand robots for real life, but also self-charging using green energy, which is expected to be endlessly expected.

도 1은 전체적인 순서도1 is an overall flow chart

일단 영상처리에서는 사람의 눈의 역활을 하는 두 대의 카메라가 물체간의 거리와 화면상의 물체 위치정보 등을 측정하여 AVR로 전송한다.영상처리와 AVR과 통신을 위해서 MFC로 원도우 프로그램을 제작하였다. 영상처리는 OpenCV라는 영상처리를 위한 오픈소스 라이브러리 내의 함수들을 이용하였다. 빛은 빨강, 초록, 파랑 이 세 개 채널로 구성이 되는데 색상을 추출하기 위해 한 채널에서 다른 두 채널을 감산하는 방법을 통해 색을 구분하는 방법을 사용했다. 이렇게 처리된 이미지로부터 OpenCV함수인 cvHoughCircles를 사용하여 원의 위치를 찾고, cvCircle을 이용, 찾은 원을 화면에 표시하는 과정을 수행한다. 양 카메라 모두 이 과정을 거쳐 didWHr 카메라에서 렌즈로 부터의 원까지의 거리를 계산할 수 있게 된다. 임의로 정한 프로토콜을 이용 RS232방식 시리얼통신으로 AVR로 송신하는 동작을 하게 된다. 두번째로 물체 추적으로는 카메라로부터 수신받은 정보를 인식하여 물체에 접근하여 AX-12 즉 로봇팔을 구동하여 물체를 잡을 수 있도록 한다. AX-12 다이나믹셀은 Half Duplexqkdtlr으로 통신을 수행하므로 송신, 수신상태를 제어할 수 있게 삼상태 버퍼를 이용하여 통신회로를 구성하였다. 동작을 하다가 PC로부터 공을 발견했다는 정보를 수신하면서부터 공을 추적하고, 공의 위치에 적당히 접근하게 되면 공을 잡는 동작을 수행하게 된다. 마지막으로 태양열 충전으로는 로봇 본체 양면에 부착되어 있는 태양판넬로 인해 자체 충전 가능 하도록 설계한다. In image processing, two cameras, which act as human eyes, measure the distance between objects and object position information on the screen and transmit them to the AVR. A window program was produced by MFC for image processing and communication with AVR. Image processing uses functions in the open source library for image processing called OpenCV. The light consists of three channels: red, green, and blue. To extract the color, the color is subtracted by subtracting two channels from one channel. From the processed image, the openCV function cvHoughCircles is used to find the position of the circle, and the found circle is displayed on the screen using the cvCircle. Both cameras use this process to calculate the distance from the lens to the circle in the didWHr camera. It transmits to AVR through RS232 serial communication using a randomly designated protocol. Secondly, the object tracking recognizes the information received from the camera and approaches the object to drive the AX-12, or robot arm, to catch the object. Since AX-12 Dynamixel communicates with Half Duplexqkdtlr, it uses three-state buffer to control transmission and reception. The player tracks the ball while receiving information that the ball is found from the PC, and catches the ball when the ball is properly approached. Lastly, solar charging is designed to be self-charging by solar panels attached to both sides of the robot body.

Claims (2)

태양에너지를 이용하여 밧데리를 충전하는 방법.How to charge the battery using solar energy. 카메라를 이용하여 색을 인식하는 방법.How to recognize color using camera.
KR1020100055712A 2010-06-12 2010-06-12 Remote controler finder using bluetooth KR20110135887A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102751762A (en) * 2012-07-12 2012-10-24 广东电网公司汕头供电局 Line inspection robot as well as charging method, charging device and parameter collocation method thereof
CN107516126A (en) * 2017-07-22 2017-12-26 东莞理工学院 The Group Robots Area Coverage Searching system of imitative Physarum Polycephalum foraging behavior
CN112580574A (en) * 2020-12-28 2021-03-30 北京翰立教育科技有限公司 Intelligent learning method and device based on handwritten character recognition

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102751762A (en) * 2012-07-12 2012-10-24 广东电网公司汕头供电局 Line inspection robot as well as charging method, charging device and parameter collocation method thereof
CN107516126A (en) * 2017-07-22 2017-12-26 东莞理工学院 The Group Robots Area Coverage Searching system of imitative Physarum Polycephalum foraging behavior
CN107516126B (en) * 2017-07-22 2020-06-05 东莞理工学院 Colony robot area coverage search system imitating foraging behavior of multi-headed aphanodermia villosa
CN112580574A (en) * 2020-12-28 2021-03-30 北京翰立教育科技有限公司 Intelligent learning method and device based on handwritten character recognition

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