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Night patrol robot automatic tracking method

A patrol robot and automatic tracking technology, applied in two-dimensional position/channel control and other directions, can solve the problems of missed detection, misjudgment, and unreliability of tracking lines

Active Publication Date: 2015-09-23
BEIJING UNION UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Compared with a certain range of gray value tracking signals collected by analog gray scale sensors, this infrared line inspection method may cause missing detection and misjudgment of tracking lines, so it is not reliable enough

Method used

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  • Night patrol robot automatic tracking method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0038] Such as figure 1 As shown, the method includes the following steps:

[0039] robot initialization;

[0040] The grayscale sensor installed at the bottom of the robot and the lighting device contained in the grayscale sensor itself complete the detection of the matching tracking line;

[0041] The robot obtains the moving result according to the tracking algorithm according to the detection data, and the robot performs automatic patrol movement according to the moving result. In the tracking algorithm, the average value of black and white gray values ​​is taken as the black and white critical value for identifying black and white. It is determined that when the gray value is higher than the black and white critical value, it is recognized as white, and when the gray value is lower than the black and white critical value, it is recognized as black. The movement results include left deviation, right deviation, straight line, left turn, right turn .

[0042] In this meth...

Embodiment 2

[0044] Such as figure 2 , 3 As shown, in this embodiment, a method for laying black and white line tracks for robot tracking is reasonably designed, which is designed as a white line in the middle and black lines on both sides. The specific design method is as follows:

[0045] On the straight line, the ratio of the width of the black line to the width of the white line is designed as: black: white: black = 1:1:1. (The actual width of the black and white lines can be adjusted depending on the width of the robot chassis and the installation position of the grayscale sensor.) The design schematic diagram of the ratio between the width of the black line and the width of the white line on the straight road is as follows figure 2 shown.

[0046] When the road has a 90-degree turn, in order to avoid the gray sensor at the bottom exceeding the tracking line too much due to the excessive rotation of the robot, the trajectory at the turn is laid in two 145-degree obtuse angles. I...

Embodiment 3

[0058] In this embodiment, on the straight line, the width of the black line and the width of the white line are designed as: black:white:black=10cm:10cm:10cm. When the road has a 90-degree turn, in order to avoid the gray sensor at the bottom exceeding the tracking line too much due to the excessive rotation of the robot, the trajectory at the turn is laid in two 145-degree obtuse angles. In addition, at the turn, the width of the black lines on both sides should be extended as far as possible. The width of the black line and the width of the white line are designed as follows: black: white: black = 20cm: 10cm: 20cm, so as to ensure that the bottom grayscale sensor will not exceed the cycle when the robot turns. Too many traces.

[0059] This embodiment adopts the MultiFLEX of Beijing Bochuang Shanghe Technology Co., Ltd. TM 2- AVR controller as robot controller. The controller uses AVR series ATmega128 single-chip microcomputer as the main processor. The controller functio...

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Abstract

The invention relates to a night patrol robot automatic tracking method, by which the robot performs automatic patrol along a matching tracking line paved on a ground. The night patrol robot automatic tracking method comprises: the robot performs initialization; a grayscale sensor installed on the bottom of the robot and an illumination device contained by the grayscale sensor finish the detection for the matching tracking line; the robot obtains a moving result according to the detection data and a tracking algorithm; the robot performs automatic patrol moving according to the moving result; the average value of a black-white grayscale value is picked as an identification black-white critical value in the tracking algorithm; and white is identified when the grayscale value is higher than the black-white critical value, and the black is identified when the grayscale value is lower than the black-white critical value. The moving result comprises left advertence, right advertence, going straight, left turning and right turning. Through reasonable design of the black-white track pavement method and gray sensor installed on the bottom of the robot, and by combining with the corresponding tracking algorithm, the night patrol robot automatic tracking method enables the robot to accurately and stably track in the night environment.

Description

technical field [0001] The invention relates to the technical field of robot applications, in particular to an automatic tracking method for a night patrol robot. Background technique [0002] At present, night security patrols in museums, convention centers, and parks mainly rely on security patrols or fixed-point camera monitoring, which requires a lot of manpower and material resources. How to improve the efficiency of nighttime security in the case of insufficient manpower is a major problem that plagues security management. It will be an ideal solution if the night patrol robot and security manpower patrol are combined. To realize robot patrol at night, it is usually based on the automatic tracking method of the robot. Some of the currently disclosed patent documents relate to the automatic tracking method of the robot. [0003] The application number is 201210454395.3, and the patent publication number is CN103019237A, which discloses a smart car that uses sensors t...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 张军刘元盛鲍泓章学静袁汝诚李英杰梁晓云
Owner BEIJING UNION UNIVERSITY
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