JPS6197712A - Target of infrared-ray tracking robot - Google Patents

Abstract

PURPOSE:To facilitate easy tracking of infrared rays with a robot by providing plural infrared-ray emitting element into a ball-shaped case so that all directions can be covered. CONSTITUTION:The size of a case 13 of oscillation part is set in response to the inner diameter of a ball-shaped case 11 so that each corner part of the case 13 has a contact with the inner surface of the case 11. Thus the case 13 can be held stably within the case 11 even though the case 11 is rolled. An infrared-ray emitting element 15 such as an infrared-ray LED, etc. is attached to the center part of each wall surface of the case 13. These six elements 15 are driven to emit the infrared rays in all directions of the case 11. In this case, a visible light emitting element 16 is also driven to show that the element 15 is actuated. The infrared rays are invisible to human eyes and therefore it seems as if a robot itself detected and tracked a target.

Description

[Detailed description of the invention] [Technical field of invention] The present invention relates to a target for an infrared tracking robot.

[Prior art and its problems] In recent years, various robots have been put into practical use as industrial robots, and recently, various robots have been considered as toy robots. In this toy robot, it is conceivable to have the robot track a rolling ball, for example. A conceivable method for this tracking robot system is to first recognize a rolling ball using a visual dragon system, and then chase the ball based on the recognition results. However, it is very difficult to recognize and chase the ball using this visual system, making it difficult to put it into practical use.

[Object of the Invention] The present invention has been made in view of the above points, and an object of the present invention is to provide a target for an infrared tracking robot that can be easily tracked by a robot.

[Summary of the Invention] According to the present invention, a target object of an infrared tracking robot is constructed by arranging a plurality of infrared light emitting elements in a ball-shaped case so that all directions are covered.

[Embodiment of the Invention] An embodiment of the present invention will be described below with reference to the drawings. 1st
In the figure, Ila is a hemispherical upper case, and 11b is a hemispherical lower case, each of which is made of an infrared filter material (transmits infrared rays well). Further, threaded portions 12a and 12b are formed on the outer peripheral edge of the opening of the upper case Ila and the inner peripheral edge of the opening of the lower case 11b, respectively,
The ball-shaped case 11 is constructed by combining the threaded portions 12a and 12b. For example, a box-shaped oscillator case 13 is housed within the case 11. Each corner of this oscillating unit case 13 is connected to the case 11.
The size is set according to the inner diameter of the case 11 so that it comes into contact with the inner surface of the case 11, and even when the case 11 is rolled, the case 1
It is maintained stably within 1. The oscillator case 13 has a top plate that constitutes 14 lid portions, and is configured to be able to be closed. Then, the oscillation unit case 13
As shown in FIG. 2, an infrared light emitting element 15 such as an infrared LED is mounted at the center of each wall surface. In this case, the infrared light emitting element 15 is provided with its head projecting outward from each wall surface of the lifting part case 13. Further, a visible light emitting element 16 such as a visible light LED is mounted on one wall surface of the oscillating unit case 13 so as to protrude to the outside similarly to the infrared light emitting element 15. The oscillating unit case 13 can accommodate batteries 17a and 17b inside, and battery contacts 18a and 18b are provided at the bottom of the oscillator case 13.
is provided. Further, a battery contact 19 which also serves as a switch is provided on the inner surface of the lid 14 so that the batteries 17a and 17b are connected to the load circuit when the lid 14 is closed. Further, a circuit (not shown) for driving the infrared light emitting element 15 and the visible light emitting element 16 using the batteries 17a and 17b is provided in the oscillating unit case 13.

In the infrared emitting ball 20 configured as described above, the oscillating part case 13 is placed in the lower case 11b, and then the upper case 11a is placed on the lower case 11b and the threaded parts 12a, 1
2b, the cover 14 of the oscillating unit case 13
is pressed by the case 11 and the battery contact 19 is connected to the battery 17a.
117b, and the power is turned on. As a result, as shown in FIG. 3, the six infrared light emitting elements 15 provided on each wall surface of the oscillator case 13 are driven to emit infrared light in all directions of the spherical case 11. Further, at this time, the visible light emitting element 16 is also driven, indicating that the infrared light emitting element 15 is operating to emit light.

FIG. 4 shows an infrared tracking robot system using the target object of the infrared tracking robot, that is, an infrared light emitting ball 20. Infrared tracking robot 21
is a self-propelled robot with wheels 22a and 22b on the left and right sides.
It is equipped with casters 23a, 2'3b at the front and back, and has a battery BT inside, and wheels 22a, 22b are driven by motors 24a, 24b. The infrared tracking robot 21 also has a pair of infrared receiving elements 25a and 25b on the left and right sides of the front, and receives infrared rays from the infrared emitting ball 20. The output signals of the infrared light receiving elements 2Sa and 25b are transmitted to the amplifiers 26a and 26.
It is sent to the control section 27 via b. This 1111 part 27
compares the outputs of the left and right amplifiers 26a and 26b, controls the rotation of the motors 24a and 24b so that they are at the same level, and always directs the infrared tracking robot i1 at the center of the light to control the robot as described above. This allows the infrared light emitting ball 20 to be tracked by the infrared tracking robot 21.

In the above embodiment, the infrared light emitting elements 15 are operated to emit light continuously, but the six infrared light emitting elements 1
5 and 11[1 may be repeatedly emitted in sequence. Furthermore, a predetermined pulse-shaped oscillation signal is applied to the infrared light emitting element 15 to provide noise resistance to the light received by the light emission drive 1 and the infrared tracking robot 21. ) may be added.

In addition, if the visible light emitting element 16 is set to automatically turn off after it shines for a predetermined period of time when the power is turned on, infrared rays are invisible to the human eye. It's even more interesting because you're chasing after them.

[Effects of the Invention] As detailed above, according to the present invention, the target object of the infrared tracking robot is configured by arranging a plurality of infrared light emitting elements in a ball-shaped case so that all directions are covered.
The radiated infrared rays of the target can be detected regardless of the state of the target, and therefore the target can be easily tracked by the infrared tracking port pot. In addition, since the infrared rays emitted from the target object are invisible to the human eye, it appears as if the robot itself is finding and tracking the target object, which can arouse great interest in the viewer. can.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention; FIG. 1 is an exploded perspective view, FIG. 2 is a diagram showing the state in which an infrared light emitting element is attached, and FIG. 3 is a diagram showing an infrared light emitting area from a target object. , 4th
The figure shows a tracking robot system. 11...Case, 12a, 12b...Screw part, 13
... Oscillator case, 14... Lid, 15... Infrared light emitting element, 16... Visible light emitting element, 17a,
17b...Battery, 18a, 18b119...Battery contact, 20...Infrared light emitting ball, 21...Infrared tracking robot, 22...Wheel, 23a, 23b...
Caster, 24a, 24b...Motor, 25a
, 25b...Infrared receiving element, 26a, 26b.
... Amplifier, 27... Control section. Applicant's agent Patent attorney Takehiko Suzue Figure 1 Figure 2 Figure 4

Claims (2)

[Claims] (1) A ball-shaped case and placed inside this case,
A target object for an infrared tracking robot, comprising a plurality of infrared light emitting elements that emit infrared light so as to cover all directions around the case. (2) A target object for an infrared tracking robot according to claim 1, wherein the ball-shaped case is constructed using an infrared filter material.