Intelligent bionic robot infrared following method and system

Abstract

The invention discloses an infrared following method and system for an intelligent bionic robot, and the method comprises the steps: enabling a remote control ball to start an infrared transmitting module, and transmitting infrared signals to the surrounding in all directions through at least four paths of infrared transmitting units; the robot dog receives the infrared signals through at least four infrared receiving units distributed in front of the head, behind the head, on the left side in front of the chest and on the right side in front of the chest; a built-in processor of the robot dog compares the intensity of each path of received infrared signal, and determines the azimuth information of the remote control ball relative to the robot dog; the remote control ball sends an instruction of entering a following mode to the robot dog through the 2.4 G wireless communication module, and the robot dog is switched to the following mode after receiving the instruction; the robot dog drives the movement mechanism to move in the direction where the remote control ball is located according to the determined azimuth information, so that the robot dog automatically follows the remote control ball. The technical scheme of the invention aims to solve the technical problems that visual identification is easily influenced by ambient light and shielding and the following stability is poor.

Description

Technical Field

[0001] This invention relates to the field of intelligent bionic robot technology, and in particular to an infrared following method and system for intelligent bionic robots. Background Technology

[0002] In recent years, pet-type robotic dogs, as a type of service robot integrating entertainment, companionship, and intelligent interaction, have gradually gained market recognition. To enhance the interactive experience between robotic dogs and users, how to enable robotic dogs to autonomously follow users or guiding objects has become a key focus in related technological fields.

[0003] In existing technologies, the following function of some robotic dogs mainly relies on visual recognition or single-point infrared signal detection. For example, some solutions use cameras to capture real-time images of the user and track the target, determining the target's location through image recognition and driving the robotic dog to move in that direction. However, visual recognition is easily interfered with in low-light or occluded indoor environments and requires high processing power and algorithms, resulting in relatively high costs. Furthermore, the field of view acquired by cameras is limited, and when the robotic dog is facing away or to the side, it may have difficulty recognizing the target's position in a timely manner, affecting the stability of the following.

[0004] Another existing solution uses a combination of single-channel infrared signal transmission and reception to achieve simple following. For example, a single infrared transmitter is placed on the user's handheld device, and an infrared receiver is placed on the robot dog's head. The robot dog controls its direction of movement based on the strength of the received signal. However, the single-point infrared solution has the problem of limited detection angle. When the infrared transmitter is not directly facing the receiver or the holding angle changes, the infrared signal may be blocked or deviated, causing the robot dog to be unable to accurately obtain orientation information, making the following action prone to interruption and affecting the user experience. Summary of the Invention

[0005] The purpose of this application is to propose an infrared following method and system for intelligent bionic robots to solve the technical problems of visual recognition being easily affected by ambient light and occlusion and poor following stability.

[0006] To address the aforementioned technical problems, this application provides an infrared following method for intelligent bionic robots, employing the following technical solution:

[0007] An infrared following method for intelligent bionic robots includes the following steps:

[0008] The remote control ball activates the infrared emitting module, which emits infrared signals omnidirectionally to the surroundings through at least four infrared emitting units.

[0009] The robot dog receives the infrared signal through at least four infrared receiving units distributed in front of its head, behind its head, on the left side of its chest, and on the right side of its chest;

[0010] The robot dog's built-in processor compares the strength of the received infrared signals to determine the orientation of the remote control ball relative to the robot dog.

[0011] The remote control ball sends a command to the robot dog to enter follow mode via a 2.4G wireless communication module. After receiving the command, the robot dog switches to follow mode.

[0012] Based on the determined location information, the robot dog drives the motion mechanism to move in the direction of the remote-controlled ball, so as to realize the robot dog's automatic following of the remote-controlled ball.

[0013] In one possible implementation, the step of activating the infrared emitting module of the remote-controlled ball and emitting infrared signals omnidirectionally to the surroundings through at least four infrared emitting units includes:

[0014] The at least four infrared emitting units are symmetrically or evenly distributed inside the remote control ball, and each emitting unit covers an adjacent area;

[0015] The remote control ball is equipped with a transmission control circuit for controlling each infrared transmitting unit, ensuring that each transmitting unit can transmit infrared signals simultaneously or in turn.

[0016] The infrared signal is a preset modulation signal, which is used to facilitate the robot dog's receiver to filter and identify different interference sources.

[0017] In one possible implementation, the step of the robot dog receiving the infrared signal through at least four infrared receiving units distributed in front of its head, behind its head, on the left side of its chest, and on the right side of its chest includes:

[0018] The at least four infrared receiving units are respectively fixedly installed in front of the robot dog's head, behind its head, on the left side of its chest, and on the right side of its chest.

[0019] The infrared receiving unit simultaneously receives infrared signals through a multi-channel sampling method and converts the received analog signals into digital signals;

[0020] The converted digital signal is transmitted via bus to the processor module inside the robot dog for further processing.

[0021] In one possible implementation, the step of the processor built into the robot dog comparing the strength of the received infrared signals to determine the orientation information of the remote-controlled ball relative to the robot dog includes:

[0022] The processor reads the signal strength values ​​of each infrared receiving unit;

[0023] The signal strength values ​​are normalized, and the relative differences in signal strength are calculated.

[0024] Based on the preset orientation judgment algorithm, the difference results are mapped to relative orientations, including at least front, back, left, right, left front, right front, or close position.

[0025] When the signal strength reaches a preset threshold, it is determined that the remote-controlled ball is within the effective range that the robot dog can follow.

[0026] In one possible implementation, the robot dog drives a motion mechanism to move in the direction of the remote-controlled ball based on determined orientation information, thereby achieving automatic following of the remote-controlled ball by the robot dog, including:

[0027] The processor generates motion instructions based on the currently determined orientation information;

[0028] The motion commands include the direction of travel, speed, and attitude adjustment parameters;

[0029] The robot dog's motion mechanism adjusts its gait or wheel drive mode according to the motion commands to move towards the location of the remote control ball;

[0030] When the remote-controlled ball is detected to be within the preset minimum safe distance range, the robot dog automatically slows down or stops moving to avoid collision.

[0031] To address the aforementioned technical problems, this application also provides an intelligent bionic robot infrared following system, which employs the following technical solution:

[0032] An intelligent bionic robot infrared following system includes:

[0033] The transmitter module, activated by the remote control ball, emits infrared signals omnidirectionally to the surroundings through at least four infrared transmitter units.

[0034] The receiving module allows the robot dog to receive infrared signals through at least four infrared receiving units distributed in front of its head, behind its head, on the left side of its chest, and on the right side of its chest.

[0035] The comparison module, built into the robot dog, compares the strength of the received infrared signals to determine the orientation information of the remote control ball relative to the robot dog.

[0036] The switching module allows the remote control ball to send a command to the robot dog to enter follow mode via the 2.4G wireless communication module. After receiving the command, the robot dog switches to follow mode.

[0037] The following module allows the robot dog to automatically follow the remote-controlled ball by driving the motion mechanism to move in the direction of the remote-controlled ball based on the determined orientation information.

[0038] To address the aforementioned technical problems, this application also provides a computer device that employs the following technical solution:

[0039] A computer device includes a memory and a processor, the memory storing computer-readable instructions, the processor executing the computer-readable instructions to implement the steps of an infrared following method for an intelligent bionic robot as described above.

[0040] To address the aforementioned technical problems, this application also provides a computer-readable storage medium, employing the technical solution described below:

[0041] A computer-readable storage medium storing computer-readable instructions, which, when executed by a processor, implement the steps of an infrared following method for an intelligent bionic robot as described above.

[0042] Compared with the prior art, the embodiments of this application have the following main advantages:

[0043] This application discloses an infrared following method for intelligent bionic robots. By using a multi-channel infrared emitting unit to emit infrared signals omnidirectionally at the remote-controlled ball end, and using a multi-channel infrared receiving unit at the robot dog end to synchronously receive infrared signals from different directions, the method combines a processor to compare and judge the signal strength and switch working modes with a 2.4G wireless communication module. Finally, it drives the robot dog's motion mechanism to move in real time towards the remote-controlled ball, thereby achieving the goal of autonomous, stable and efficient following of the remote-controlled ball by the robot dog in multiple scenarios. This effectively overcomes the problems of limited detection angle, easy failure due to occlusion and poor environmental adaptability of existing single-point infrared or simple vision solutions. Attached Figure Description

[0044] To more clearly illustrate the solutions in this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 This is a flowchart of an embodiment of an infrared following method for an intelligent bionic robot according to this application;

[0046] Figure 2 This is a schematic diagram of a structure of an embodiment of an intelligent bionic robot infrared following system according to this application;

[0047] Figure 3 This is a schematic diagram of the structure of one embodiment of the computer device according to this application. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0049] refer to Figure 1 The diagram illustrates a flowchart of an embodiment of an infrared following method for an intelligent bionic robot according to this application. The infrared following method for an intelligent bionic robot includes the following steps:

[0050] Step S101: The remote control ball activates the infrared emitting module and emits infrared signals omnidirectionally to the surroundings through at least four infrared emitting units.

[0051] In this embodiment, the electronic device running on the intelligent bionic robot infrared following method can send or receive data via wired or wireless connection. It should be noted that the aforementioned wireless connection methods may include, but are not limited to, 3G / 4G / 5G connections, WiFi connections, Bluetooth connections, WiMAX connections, Zigbee connections, UWB (ultrawideband) connections, and other currently known or future-developed wireless connection methods.

[0052] In this embodiment, the remote-controlled ball integrates at least four infrared emitting units. These units are distributed within the ball's body through a reasonable spatial layout, enabling them to uniformly emit infrared signals in all directions when the user holds or swings the ball. This ensures that the robot dog can receive sufficiently strong infrared signals from different locations regardless of how the user holds or rotates the ball, avoiding the signal loss problem caused by the limited emission direction of traditional single-point infrared emission. Furthermore, to ensure the stability and anti-interference capabilities of the emitted infrared signals, the emitting units can be combined with a modulation circuit to output infrared pulses of specific frequencies or encoding patterns, making subsequent reception and identification more reliable.

[0053] In step S102, the robot dog receives the infrared signal through at least four infrared receiving units distributed in front of its head, behind its head, on the left side of its chest, and on the right side of its chest.

[0054] In this embodiment, while the remote-controlled ball continuously emits infrared signals, at least four infrared receiving units are installed on the robot dog's body, located at the front of the head, the back of the head, the left side of the chest, and the right side of the chest. This multi-point distribution allows the robot dog to simultaneously receive infrared signals from different directions and achieve circumferential coverage perception through multi-channel signal sampling. Each infrared receiving unit may include an infrared sensor, a signal amplification circuit, and an analog-to-digital conversion circuit, enabling the received analog signal to be quickly converted into a digital signal and transmitted in real time to the internal processor for subsequent calculations.

[0055] In step S103, the processor built into the robot dog compares the strength of the received infrared signals to determine the orientation information of the remote control ball relative to the robot dog.

[0056] In this embodiment, the processor inside the robot dog reads and compares the infrared signal strength from each receiving unit. Through normalization and difference calculation, it comprehensively analyzes the signal strength differences from four or even more receiving ends to determine the specific orientation information of the remote-controlled ball relative to the robot dog. In practical applications, the processor can preset judgment thresholds and multiple sets of orientation partitioning algorithms to divide the space into multiple regions such as front, rear, left, right, left front, and right front. It can even combine multiple sampling results to calculate the relative distance of the remote-controlled ball, achieving a rough distance determination and providing more accurate input data for subsequent motion control.

[0057] In step S104, the remote control ball sends a command to the robot dog to enter the follow mode via the 2.4G wireless communication module. After receiving the command, the robot dog switches to the follow mode.

[0058] In this embodiment, to enable the robot dog's autonomous state switching, the 2.4G wireless communication module built into the remote control ball can send a command signal to the robot dog to enter follow mode via button or gesture operation. Upon receiving this command, the robot dog's control unit switches to follow mode, automatically activating the infrared receiving system and the corresponding motion control program, ensuring that subsequent orientation judgment and motion execution are synchronized. Simultaneously, 2.4G communication can also be used for subsequent status feedback or mode switching, such as switching from follow mode to other interactive modes, ensuring the flexibility and stability of user operation.

[0059] In step S105, the robot dog drives the motion mechanism to move in the direction of the remote-controlled ball based on the determined orientation information, so as to realize the robot dog's automatic following of the remote-controlled ball.

[0060] In this embodiment, after the processor determines the location based on the acquired orientation information, the robot dog outputs motion commands in real time to its internal motion execution mechanisms, such as drive wheel sets, servos, rudder adjustment mechanisms, or multi-joint gait units. The motion mechanisms automatically adjust the robot dog's direction of travel, speed, and posture according to the motion commands, ensuring continuous and stable movement along the location of the remote-controlled ball, thus achieving autonomous following of the ball. As the robot dog gradually approaches the remote-controlled ball, it can also dynamically adjust its speed or stop moving based on the real-time detected infrared signal intensity and its changing trend, thereby avoiding collisions caused by excessive proximity and ensuring the safety and comfort of the following behavior.

[0061] This application employs a multi-channel infrared transmitting unit at the remote-controlled ball end to emit infrared signals omnidirectionally, and a multi-channel infrared receiving unit at the robot dog end to synchronously receive infrared signals from different directions. The processor then compares and judges the signal strength and switches the working mode in conjunction with the 2.4G wireless communication module, ultimately driving the robot dog's motion mechanism to move in real time towards the remote-controlled ball. This achieves the goal of enabling the robot dog to autonomously, stably, and efficiently follow the remote-controlled ball in multiple scenarios, effectively overcoming the problems of limited detection angle, easy failure due to occlusion, and poor environmental adaptability of existing single-point infrared or simple vision solutions.

[0062] In some optional implementations of this embodiment, the step of activating the infrared emitting module of the remote control ball and emitting infrared signals omnidirectionally to the surroundings through at least four infrared emitting units includes:

[0063] The at least four infrared emitting units are symmetrically or evenly distributed inside the remote control ball, and each emitting unit covers an adjacent area;

[0064] The remote control ball is equipped with a transmission control circuit for controlling each infrared transmitting unit, ensuring that each transmitting unit can transmit infrared signals simultaneously or in turn.

[0065] The infrared signal is a preset modulation signal, which is used to facilitate the robot dog's receiver to filter and identify different interference sources.

[0066] In this embodiment, when the remote-controlled ball activates its infrared emitting module and emits infrared signals omnidirectionally through at least four infrared emitting units, preferably, these at least four infrared emitting units are symmetrically or evenly distributed inside the remote-controlled ball. For example, they can be evenly arranged around the horizontal plane or three-dimensional coordinate axis of the ball, so that each emitting unit covers the local spatial area it faces. The coverage areas of multiple emitting units are adjacent to each other and partially overlap, thereby achieving infrared signal coverage without blind spots throughout the entire space. When the user holds or rotates the remote-controlled ball, no matter which emitting unit is blocked by the finger, at least one or more emitting units will still work normally, ensuring that the robot dog can receive identifiable infrared signals in all circumferential directions.

[0067] To ensure the coordinated operation of four or more infrared transmitting units, the remote control ball is equipped with a transmission control circuit. This circuit centrally controls the start / stop status and transmission mode of each transmitting unit, allowing the units to choose to transmit simultaneously to enhance signal strength coverage, or to transmit in turn to reduce power consumption and avoid mutual interference. This control method can be implemented using a microcontroller (MCU) or a dedicated infrared driver chip, and can be combined with external buttons or mode selection switches on the remote control ball to flexibly control the transmission logic.

[0068] In addition, to avoid interference from other infrared light sources in the environment, the infrared signal emitted by each infrared transmitting unit can be pre-set to a modulated pulse signal, such as 38kHz or other standard carrier frequencies. Through infrared modulation technology, the receiver of the robot dog can accurately identify the target signal through filtering, demodulation and other methods, and effectively suppress false triggering caused by stray infrared light, sunlight or infrared remote control signals of other indoor appliances, thereby improving the stability and reliability of the following function.

[0069] This application achieves omnidirectional infrared signal coverage without blind spots by distributing at least four infrared transmitting units symmetrically or evenly inside the remote control ball and managing each transmitting unit uniformly through a transmission control circuit. Combined with the use of preset modulation signals, it ensures that the infrared signal can still cover all directions without blind spots when the user holds or swings the remote control ball at will. At the same time, it enhances the robot dog's accuracy in recognizing target signals and its resistance to external stray infrared interference, further improving the continuity and stability of the following function.

[0070] In some optional implementations of this embodiment, the step of the robot dog receiving the infrared signal through at least four infrared receiving units distributed in front of its head, behind its head, on the left side of its chest, and on the right side of its chest includes:

[0071] The at least four infrared receiving units are respectively fixedly installed in front of the robot dog's head, behind its head, on the left side of its chest, and on the right side of its chest.

[0072] The infrared receiving unit simultaneously receives infrared signals through a multi-channel sampling method and converts the received analog signals into digital signals;

[0073] The converted digital signal is transmitted via bus to the processor module inside the robot dog for further processing.

[0074] In this embodiment, to achieve omnidirectional reception and positioning of infrared signals, at least four infrared receiving units of the robot dog are fixedly installed in front of the head, behind the head, on the left side of the chest, and on the right side of the chest. This distribution structure can cover multiple main directions around the robot dog to the greatest extent, ensuring that the emitted infrared signals can still be effectively detected by at least one or more receiving units when the remote control ball is located on any side or back of the robot dog. When installing each receiving unit, the robot dog's shape and structure can be taken into account, and reasonable wiring and protective cover design can be used to avoid affecting the normal reception effect due to mechanical collisions or dust obstruction.

[0075] During operation, each infrared receiving unit can work simultaneously using a multi-channel sampling method. This means each receiving unit synchronously acquires the detected infrared analog signals and converts them into digitally processable signal values ​​via an integrated analog-to-digital converter (ADC). The sampling results can be transmitted to the main processor module inside the robot dog via a bus (such as I2C, SPI, or other serial buses), ensuring that signals received from different directions can be processed simultaneously and analyzing the differences in signal strength in each direction in real time. Compared to single-channel polling sampling, this multi-channel parallel sampling design effectively improves the real-time performance of signal detection and the accuracy of azimuth determination.

[0076] This application installs at least four infrared receiving units in front of the head, behind the head, on the left side of the chest, and on the right side of the chest of the robot dog. By adopting a multi-channel synchronous sampling and signal conversion method, the signal is transmitted to the processor in real time to obtain infrared signals from different directions and ensure the integrity of signal sampling and the accuracy of comparison. This significantly improves the robot dog's perception coverage of the spatial position of the remote control ball and the timeliness of orientation positioning, providing a reliable detection basis for subsequent precise motion control.

[0077] In some optional implementations of this embodiment, the step of the processor built into the robot dog comparing the strength of the received infrared signals to determine the orientation information of the remote control ball relative to the robot dog includes:

[0078] The processor reads the signal strength values ​​of each infrared receiving unit;

[0079] The signal strength values ​​are normalized, and the relative differences in signal strength are calculated.

[0080] Based on the preset orientation judgment algorithm, the difference results are mapped to relative orientations, including at least front, back, left, right, left front, right front, or close position.

[0081] When the signal strength reaches a preset threshold, it is determined that the remote-controlled ball is within the effective range that the robot dog can follow.

[0082] In this embodiment, to accurately determine the orientation of the remote-controlled ball relative to the robot dog, the robot dog's built-in processor first reads the signal strength values ​​after receiving the sampling signals from each infrared receiving unit. The read signal strength values ​​are usually normalized to eliminate deviations caused by differences in hardware characteristics, distance, or ambient light between different receiving channels, ensuring the objectivity and repeatability of the comparison results.

[0083] After normalization, the processor compares the relative strength differences between the signals of each channel and, in conjunction with the preset orientation judgment algorithm, maps these differences to the relative orientation within the robot dog's own coordinate system. The mapped orientation information can at least distinguish typical orientations such as front, back, left, right, left front, or right front. If necessary, it can be expanded into multiple segments to form more refined angle ranges, so that the control unit can make smoother adjustments to the direction of movement.

[0084] In addition, the processor can be set with a preset signal strength threshold. When the received infrared signal strength reaches or exceeds this threshold, it can be determined that the remote-controlled ball is within the effective detection range for the robot dog to perform following actions. If the signal strength is insufficient, the robot dog can remain in place or perform search actions, such as rotating in place or waving its head slightly, to recapture the infrared signal, ensuring the continuity and robustness of the following behavior.

[0085] This application normalizes the infrared signal intensity values ​​of each receiving channel, calculates the difference, and maps them using a preset orientation judgment algorithm. Combined with an effective range threshold judgment, it achieves rapid and accurate determination of various orientation information such as the remote control ball's position relative to the robot dog, including its front, rear, left and right sides, forward oblique, or close proximity. This significantly improves the robot dog's accuracy in judging the target's orientation in complex scenarios and its adaptability to close-range dynamic following.

[0086] In some optional implementations of this embodiment, the step of the robot dog driving the motion mechanism to move in the direction of the remote-controlled ball based on the determined orientation information, so as to realize the robot dog's automatic following of the remote-controlled ball, includes:

[0087] The processor generates motion instructions based on the currently determined orientation information;

[0088] The motion commands include the direction of travel, speed, and attitude adjustment parameters;

[0089] The robot dog's motion mechanism adjusts its gait or wheel drive mode according to the motion commands to move towards the location of the remote control ball;

[0090] When the remote-controlled ball is detected to be within the preset minimum safe distance range, the robot dog automatically slows down or stops moving to avoid collision.

[0091] In this embodiment, after the robot dog determines the relative orientation of the remote-controlled ball, the processor generates corresponding motion commands based on the determined orientation. These motion commands may include the robot dog's direction of travel, speed, and attitude adjustment parameters required for different orientations, ensuring that the robot dog's trajectory is consistent with the remote-controlled ball's position and that the movement is smooth.

[0092] The generated motion commands are sent in real time to the robot dog's motion mechanisms, such as the motor drive unit, gait control servo, or wheel drive module. The robot dog adjusts its gait or wheel rotation angle accordingly, allowing it to continuously move along the direction of the remote-controlled ball. During movement, the robot dog can dynamically correct its direction and speed by combining real-time detection of infrared signal strength and its changing trends, avoiding directional deviations caused by signal jitter.

[0093] Furthermore, when the processor detects that the current infrared signal strength has reached the preset minimum safe distance threshold, the robot dog can automatically perform actions such as deceleration, slowing down, or retreating to avoid collisions or excessive proximity with the remote-controlled ball. This safe distance logic can be achieved through continuous sampling and dynamic comparison of signal strength thresholds, further improving the robot dog's safety and interactive comfort in follow mode.

[0094] This application uses a processor to generate motion commands containing travel direction, speed, and attitude parameters based on the currently determined orientation information. The motion mechanism then performs real-time adjustments to the gait or wheel drive. Simultaneously, it automatically decelerates or stops when a close approach is detected, thereby ensuring continuous following while avoiding collisions with the remote-controlled ball. This improves the safety, interactive comfort, and user experience of the robot dog during the following process.

[0095] The embodiments of this application can acquire and process relevant data based on artificial intelligence technology. Artificial intelligence (AI) refers to the theories, methods, technologies, and application systems that use digital computers or machines controlled by digital computers to simulate, extend, and expand human intelligence, perceive the environment, acquire knowledge, and use that knowledge to obtain optimal results.

[0096] Foundational technologies for artificial intelligence generally include sensors, dedicated AI chips, cloud computing, distributed storage, big data processing, operating / interactive systems, and mechatronics. AI software technologies mainly encompass computer vision, robotics, biometrics, speech processing, natural language processing, and machine learning / deep learning.

[0097] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing related hardware with computer-readable instructions. These computer-readable instructions can be stored in a computer-readable storage medium. When executed, the program can include the processes of the embodiments of the above methods. The aforementioned storage medium can be a non-volatile storage medium such as a magnetic disk, optical disk, or read-only memory (ROM), or random access memory (RAM).

[0098] It should be understood that although the steps in the flowcharts of the accompanying figures are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the accompanying figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0099] Further reference Figure 2 As a response to the above Figure 1 The implementation of the method shown in this application provides an embodiment of an intelligent bionic robot infrared following system, which is similar to... Figure 1 Corresponding to the method embodiments shown, the system can be specifically applied to various electronic devices.

[0100] like Figure 2 As shown, the intelligent bionic robot infrared following system 200 described in this embodiment includes: a transmitting module 201, a receiving module 202, a comparison module 203, a switching module 204, and a following module 205. Wherein:

[0101] Transmitting module 201: The remote control ball activates the infrared transmitting module, which transmits infrared signals omnidirectionally to the surroundings through at least four infrared transmitting units;

[0102] The receiving module 202 allows the robot dog to receive infrared signals through at least four infrared receiving units distributed in front of its head, behind its head, on the left side of its chest, and on the right side of its chest.

[0103] The comparison module 203, the processor built into the robot dog, compares the strength of the received infrared signals to determine the orientation information of the remote control ball relative to the robot dog.

[0104] Switching module 204: The remote control ball sends a command to the robot dog to enter follow mode via the 2.4G wireless communication module. After receiving the command, the robot dog switches to follow mode.

[0105] The following module 205 enables the robot dog to automatically follow the remote-controlled ball by driving the motion mechanism to move in the direction of the remote-controlled ball based on the determined orientation information.

[0106] The intelligent bionic robot infrared following system provided in this embodiment of the invention can realize all the processes of the intelligent bionic robot infrared following method of the above embodiment. The functions and technical effects of each module in the device are the same as the functions and technical effects of the intelligent bionic robot infrared following method of the above embodiment, and will not be repeated here.

[0107] To address the aforementioned technical problems, embodiments of this application also provide a computer device. Please refer to [link / reference needed]. Figure 3 , Figure 3 This is a basic structural block diagram of the computer device in this embodiment.

[0108] The computer device 3 includes a memory 31, a processor 32, and a network interface 33 that are interconnected via a system bus. It should be noted that only the computer device 3 with components 31-33 is shown in the figure; however, it should be understood that it is not required to implement all the shown components, and more or fewer components can be implemented alternatively. Those skilled in the art will understand that the computer device described here is a device capable of automatically performing numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes, but is not limited to, microprocessors, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), embedded devices, etc.

[0109] The computer device can be a desktop computer, laptop, handheld computer, or cloud server, etc. The computer device can interact with the user via a keyboard, mouse, remote control, touchpad, or voice control.

[0110] The memory 31 includes at least one type of readable storage medium, including flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory 31 may be an internal storage unit of the computer device 3, such as the hard disk or memory of the computer device 3. In other embodiments, the memory 31 may also be an external storage device of the computer device 3, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the computer device 3. Of course, the memory 31 may also include both the internal storage unit and its external storage device of the computer device 3. In this embodiment, the memory 31 is typically used to store the operating system and various application software installed on the computer device 3, such as computer-readable instructions for an infrared following method for an intelligent bionic robot. In addition, the memory 31 can also be used to temporarily store various types of data that have been output or will be output.

[0111] In some embodiments, the processor 32 may be a central processing unit (CPU), controller, microcontroller, microprocessor, or other data processing chip. The processor 32 is typically used to control the overall operation of the computer device 3. In this embodiment, the processor 32 is used to execute computer-readable instructions stored in the memory 31 or to process data, for example, to execute computer-readable instructions for the aforementioned intelligent bionic robot infrared following method.

[0112] The network interface 33 may include a wireless network interface or a wired network interface, which is typically used to establish communication connections between the computer device 3 and other electronic devices.

[0113] The computer device provided in this application uses a multi-channel infrared transmitting unit to emit infrared signals omnidirectionally at the remote control ball end, and a multi-channel infrared receiving unit at the robot dog end to synchronously receive infrared signals from different directions. Then, the processor compares and judges the signal strength and switches the working mode in conjunction with the 2.4G wireless communication module, ultimately driving the robot dog's motion mechanism to move in real time towards the direction of the remote control ball. This achieves the goal of enabling the robot dog to autonomously, stably and efficiently follow the remote control ball in multiple scenarios, effectively overcoming the problems of limited detection angle, easy failure due to occlusion and poor environmental adaptability of existing single-point infrared or simple vision solutions.

[0114] This application also provides another embodiment, namely, providing a computer-readable storage medium storing computer-readable instructions that can be executed by at least one processor to cause the at least one processor to perform the steps of the above-described intelligent bionic robot infrared following method.

[0115] The computer-readable storage medium provided in this application uses a multi-channel infrared transmitting unit to emit infrared signals omnidirectionally at the remote control ball end, and a multi-channel infrared receiving unit at the robot dog end to synchronously receive infrared signals from different directions. Then, the processor compares and judges the signal strength and switches the working mode in conjunction with the 2.4G wireless communication module, ultimately driving the robot dog's motion mechanism to move in real time towards the remote control ball. This achieves the goal of enabling the robot dog to autonomously, stably and efficiently follow the remote control ball in multiple scenarios, effectively overcoming the problems of limited detection angle, easy failure due to occlusion and poor environmental adaptability of existing single-point infrared or simple vision solutions.

[0116] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0117] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An infrared following method for an intelligent bionic robot, characterized in that, Includes the following steps: The remote control ball activates the infrared emitting module, which emits infrared signals omnidirectionally to the surroundings through at least four infrared emitting units. The robot dog receives the infrared signal through at least four infrared receiving units distributed in front of its head, behind its head, on the left side of its chest, and on the right side of its chest. The robot dog's built-in processor compares the strength of the received infrared signals to determine the orientation of the remote control ball relative to the robot dog. The remote control ball sends a command to the robot dog to enter follow mode via a 2.4G wireless communication module. After receiving the command, the robot dog switches to follow mode. Based on the determined location information, the robot dog drives the motion mechanism to move in the direction of the remote-controlled ball, so as to realize the robot dog's automatic following of the remote-controlled ball.

2. The infrared following method for intelligent bionic robots according to claim 1, characterized in that, The step of the remote control ball activating the infrared emitting module and emitting infrared signals omnidirectionally to the surroundings through at least four infrared emitting units includes: The at least four infrared emitting units are symmetrically or evenly distributed inside the remote control ball, and each emitting unit covers an adjacent area; The remote control ball is equipped with a transmission control circuit for controlling each infrared transmitting unit, ensuring that each transmitting unit can transmit infrared signals simultaneously or in turn. The infrared signal is a preset modulation signal, which is used to facilitate the robot dog's receiver to filter and identify different interference sources.

3. The infrared following method for intelligent bionic robots according to claim 1, characterized in that, The robot dog receives infrared signals through at least four infrared receiving units distributed in front of its head, behind its head, on the left side of its chest, and on the right side of its chest, including the following steps: The at least four infrared receiving units are respectively fixedly installed in front of the robot dog's head, behind its head, on the left side of its chest, and on the right side of its chest. The infrared receiving unit simultaneously receives infrared signals through a multi-channel sampling method and converts the received analog signals into digital signals; The converted digital signal is transmitted via bus to the processor module inside the robot dog for further processing.

4. The infrared following method for intelligent bionic robots according to claim 1, characterized in that, The step of the processor built into the robot dog comparing the strength of the received infrared signals to determine the orientation information of the remote control ball relative to the robot dog includes: The processor reads the signal strength values ​​of each infrared receiving unit; The signal strength values ​​are normalized, and the relative differences in signal strength are calculated. Based on the preset orientation judgment algorithm, the difference results are mapped to relative orientations, including at least front, back, left, right, left front, right front, or close position. When the signal strength reaches a preset threshold, it is determined that the remote-controlled ball is within the effective range that the robot dog can follow.

5. The infrared following method for intelligent bionic robots according to claim 1, characterized in that, The robot dog, based on determined location information, drives a motion mechanism to move in the direction of the remote-controlled ball, thereby achieving automatic following of the remote-controlled ball by the robot dog. This includes the following steps: The processor generates motion instructions based on the currently determined orientation information; The motion commands include the direction of travel, speed, and attitude adjustment parameters; The robot dog's motion mechanism adjusts its gait or wheel drive mode according to the motion commands to move towards the location of the remote control ball; When the remote-controlled ball is detected to be within the preset minimum safe distance range, the robot dog automatically slows down or stops moving to avoid collision.

6. An intelligent bionic robot infrared following system, characterized in that, include: The transmitter module, activated by the remote control ball, emits infrared signals omnidirectionally to the surroundings through at least four infrared transmitter units. The receiving module allows the robot dog to receive infrared signals through at least four infrared receiving units distributed in front of its head, behind its head, on the left side of its chest, and on the right side of its chest. The comparison module, built into the robot dog, compares the strength of the received infrared signals to determine the orientation information of the remote control ball relative to the robot dog. The switching module allows the remote control ball to send a command to the robot dog to enter follow mode via the 2.4G wireless communication module. After receiving the command, the robot dog switches to follow mode. The following module allows the robot dog to automatically follow the remote-controlled ball by driving the motion mechanism to move in the direction of the remote-controlled ball based on the determined orientation information.

7. A computer device, characterized in that, The system includes a memory and a processor, wherein the memory stores computer-readable instructions, and the processor executes the computer-readable instructions to implement the steps of the infrared following method for an intelligent bionic robot as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-readable instructions, which, when executed by a processor, implement the steps of the infrared following method for an intelligent bionic robot as described in any one of claims 1 to 5.

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