Line patrol sensor capable of identifying intersection
By installing a line patrol sensor with Linux video processing chip on the educational robot, and using visual recognition technology to identify routes and intersections, the problem that grayscale sensors cannot recognize complex routes is solved, achieving more reliable and flexible route recognition.
Patent Information
- Application Number
- CN202422170701.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-05
- Publication Date
- 2025-06-10
- Estimated Expiration
- 2034-09-05
AI Technical Summary
Existing grayscale sensors cannot identify complex routes such as intersections, T-junctions, sharp turns and dotted sections.
A line patrol sensor is designed. By installing a bracket on the top of the robot body, a PCB board equipped with an on-board Linux video processing chip, it is equipped with a camera, display screen, serial port, operation button and USB interface, and uses visual recognition technology and object classification recognition algorithm to identify and process photo training materials at different intersections.
It realizes reliable identification of routes and intersections, has stronger flexibility and functional expansion, and can identify multiple complex routes and intersections.
Smart Images
Figure CN222964656U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of educational robot cruise sensing, and specifically, it is a line-tracing sensor that can identify intersections. Background Art
[0002] Currently, automated robots such as educational robots usually use grayscale sensors installed at the bottom of the robot to find routes along black lines. However, the grayscale sensor can only recognize the function of a single line and cannot recognize routes such as intersections, T-junctions, sharp turns, and dotted line sections. How to make the line-tracing sensor achieve intersection recognition is a problem that needs to be solved currently. Summary of the Utility Model
[0003] The purpose of the utility model is to provide a line-tracing sensor that can identify intersections and solve the problem that the grayscale sensor cannot identify intersections.
[0004] The utility model is realized through the following technical solutions: A line-tracing sensor that can identify intersections is installed on the top of the vehicle body through a mounting bracket, and includes a PCB board with a Linux video processing chip on board. On the PCB board, there are a display screen, a serial port, an operation button, a USB interface, and a camera.
[0005] Among them, the on-board camera is used to collect route images.
[0006] The Linux video processing chip on board the PCB board is used to perform visual recognition on the images collected by the camera. Since the Linux video processing chip has built-in object classification and recognition algorithms of existing technologies, by adding training materials of photos of different intersections, the recognition of routes and intersections can be achieved.
[0007] The display screen, which is a color display screen, is used to display the real-time image of the current camera.
[0008] The serial port (UART interface) and the USB interface are used to realize communication with the robot.
[0009] To better implement the line-tracing sensor that can identify intersections described in the utility model, the following setting structure is particularly adopted: The line-tracing sensor is installed on the mounting bracket through mounting and fixing screws.
[0010] To better implement the line-tracing sensor that can identify intersections described in the utility model, the following setting structure is particularly adopted: On the PCB board, the display screen, the serial port, the operation button, and the USB interface are located on the same side; the camera is located on the opposite side of the display screen installation.
[0011] To better implement the line-tracking sensor capable of identifying intersections described in the present utility model, the following specific structural settings are particularly adopted: On the PCB board, the operation buttons are located on the left and right sides of the display screen, and the serial port and USB interface are located below the display screen.
[0012] Compared with the prior art, the present utility model has the following advantages and beneficial effects:
[0013] (1) The present utility model uses a visual method to identify routes and intersections, with a more reliable identification effect.
[0014] (2) The present utility model is installed on the top of the robot car, which has stronger flexibility than the conventional installation of the grayscale sensor at the bottom of the car.
[0015] (3) The present utility model adopts the working principle of the visual method, which has stronger function extensibility than the conventional grayscale sensor. Description of the Drawings
[0016] Figure 1 It is a structural diagram of the robot installed with the present utility model.
[0017] Figure 2 It is a diagram of the present utility model cooperating with the mounting bracket (display screen side).
[0018] Figure 3 It is a diagram of the present utility model cooperating with the mounting bracket (sensor side).
[0019] Figure 4 It is a schematic diagram of the detection points on a smooth road section.
[0020] Figure 5 It is a schematic diagram of the detection points on a sharp-turn road section.
[0021] Figure 6 It is a schematic diagram of the detection points on a T-junction road section.
[0022] Figure 7 It is a schematic diagram of the detection points on a crossroads road section.
[0023] Figure 8 It is a schematic diagram of the detection points on a dotted-line road section. Detailed Embodiment
[0024] The present utility model will be further described in detail below in conjunction with the embodiments, but the implementation manners of the present utility model are not limited thereto.
[0025] To make the objectives, technical solutions, and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are some, but not all, of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts belong to the scope of protection of the present utility model. Therefore, the detailed description of the embodiments of the present utility model provided in the accompanying drawings is not intended to limit the scope of the present utility model to be protected, but merely represents the selected embodiments of the present utility model.
[0026] It should be noted that like reference numerals and letters denote like items in the following drawings. Therefore, once an item is defined in one drawing, it does not require further definition and explanation in subsequent drawings. At the same time, in the description of the present application, relational terms such as "first", "second", etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Furthermore, the term "and / or" in the present application is only a description of the associated relationship of the associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone.
[0027] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by terms such as etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present utility model.
[0028] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present utility model, "a plurality" means two or more, and "a plurality of bits" means two or more bits, unless otherwise specifically defined.
[0029] In the description of the present application, it should also be noted that unless otherwise clearly specified and defined, the terms "connected" and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can also be an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.
[0030] It should be noted that in some embodiments, the MOS transistors or MOSFETs in the circuit can be replaced by other transistors that implement the same function. For example, MOS transistors can be replaced by bipolar transistors, silicon carbide (SiC) transistors, gallium nitride (GaN) transistors, cubic indium phosphide (InP) transistors, gallium arsenide (GaAs) transistors, field effect transistors (FETs), junction field effect transistors (JFETs), heterojunction bipolar transistors (HBTs), or insulated gate bipolar transistors (IGBTs). Therefore, the MOS transistor structure in the above examples should not be construed as a limitation to the present application.
[0031] An electronic device can be a device including a circuit or apparatus containing semiconductor devices, such as a mobile phone, a computer, a television, a communication device, etc. The implementation principle and the technical effects generated by the electronic device provided in the embodiments of the present application are the same as those of the following high data stream transmission interface structure circuit embodiments. For the sake of brief description, for the parts not mentioned in the electronic device embodiments, reference can be made to the corresponding content in the high data stream transmission interface structure circuit embodiments.
[0032] Furthermore, in each embodiment of the present application, the various functional modules can be integrated together to form an independent part, or each module can exist alone, or two or more modules can be integrated to form an independent part.
[0033] Alternatively, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present invention are generated in whole or in part.
[0034] In this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, principle, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, principle, article or device. Without further limitation, an element defined by the statement "comprising..." does not exclude the presence of additional identical elements in the process, principle, article or device comprising the said element.
[0035] Embodiment 1:
[0036] The utility model designs a line-tracking sensor 5 capable of identifying intersections, solving the problem that a grayscale sensor cannot identify intersections, and in combination with Figures 1 to 3 As shown, it is installed on the top of the vehicle body 10 through a mounting bracket 3, and includes a PCB board 9 with an on-board Linux video processing chip. A display screen 1, a serial port 2, an operation button 6, a USB interface 7 and a camera 8 are arranged on the PCB board 9.
[0037] As a preferred design, the line-tracking sensor 5 is installed on the top of the vehicle body 10 through a mounting bracket 3, and is provided with a PCB board 9 with an on-board Linux video processing chip. A display screen 1, a serial port 2, an operation button 6, a USB interface 7 and a camera 8 are installed on the PCB board 9.
[0038] Among them, the on-board camera is used to collect route images.
[0039] The Linux video processing chip on-board the PCB board 9 is used to perform visual recognition on the images collected by the camera. Since the Linux video processing chip incorporates an object classification and recognition algorithm of the prior art, by adding photo training materials of different intersections, it is possible to achieve the recognition of the route and intersections.
[0040] The display screen, which is a color display screen, is used to display the real-time image of the current camera.
[0041] The serial port (UART interface) and the USB interface are used to communicate with the robot.
[0042] Embodiment 2:
[0043] This embodiment is a further optimization based on the above embodiment, and the same parts as the foregoing technical solution will not be described herein again. For example, Figures 1 to 3As shown in the figure, to better implement a line-tracking sensor capable of identifying intersections according to the present utility model, the following installation structure is specifically adopted: The line-tracking sensor 5 is installed on the mounting bracket 3 through mounting and fixing screws 4.
[0044] As a preferred design, the lower part of the line-tracking sensor 5 is installed on the mounting bracket 3 through mounting and fixing screws 4, and the mounting bracket 3 is installed on the top of the robot body 10 by means of a threaded structure or a threaded auxiliary structure or clamping or interference fit, etc.
[0045] The lower part of the line-tracking sensor 5 and the mounting bracket 3 can also be installed and connected together by means of a hinge, so that the line-tracking sensor 5 can rotate and face the top of the robot body 10.
[0046] Embodiment 3:
[0047] This embodiment is further optimized on the basis of any of the above embodiments, and the same parts as the foregoing technical solutions will not be described herein again. As Figures 1 to 3 shown in the figure, to better implement a line-tracking sensor capable of identifying intersections according to the present utility model, the following installation structure is specifically adopted: On the PCB board 9, the display screen 1, the serial port 2, the operation button 6 and the USB interface 7 are located on the same side; the camera 8 is located on the opposite side of the installation of the display screen 1.
[0048] As a preferred design, the PCB board 9 is divided into two sides, the front and the back, according to the perspective of the robot. Among them, the camera 8 is installed on the front side (front panel) of the PCB board 9, and the display screen 1, the serial port 2, the operation button 6 and the USB interface 7 are installed on the back side (back panel) of the PCB board 9.
[0049] Embodiment 4:
[0050] This embodiment is further optimized on the basis of any of the above embodiments, and the same parts as the foregoing technical solutions will not be described herein again. As Figures 1 to 3 shown in the figure, to better implement a line-tracking sensor capable of identifying intersections according to the present utility model, the following installation structure is specifically adopted: On the PCB board 9, the operation button 6 is located on the left and right sides of the display screen 1, and the serial port 2 and the USB interface 7 are located below the display screen 1.
[0051] As a preferred design, on the back panel of the PCB board 9, the operation button 6 is located on the left and right sides of the display screen 1, and the serial port 2 and the USB interface 7 are located below the display screen 1.
[0052] Embodiment 5:
[0053] A line-tracking sensor 5 capable of identifying intersections, in combination with Figures 1 to 3As shown, it includes a PCB board 9 with an on-board Linux video processing chip, a display screen 1, a serial port 2, operation buttons 6, a USB interface 7, and a camera 8. The line-tracking sensor 5 is installed on the top of the vehicle body 10 through a mounting bracket 3.
[0054] During the design and installation, the lower part of the line-tracking sensor 5 is installed on the mounting bracket 3 through mounting and fixing screws 4. The mounting bracket 3 is installed on the top of the robot's vehicle body 10 by means of a threaded structure or a threaded auxiliary structure or clamping or interference fit, etc.
[0055] According to the robot's perspective, the PCB board 9 is divided into two sides, namely the front panel and the back panel. Among them, the camera 8 is installed on the front panel side of the PCB board 9, and the display screen 1, the serial port 2, the operation buttons 6, and the USB interface 7 are installed on the back panel side of the PCB board 9; on the back panel of the PCB board 9, the operation buttons 6 are located on the left and right sides of the display screen 1, and the serial port 2 and the USB interface 7 are located below the display screen 1.
[0056] Among them, the on-board camera is used to collect route images.
[0057] The on-board Linux video processing chip on the PCB board 9 is used to perform visual recognition on the images collected by the camera. Since the Linux video processing chip has built-in object classification and recognition algorithms of existing technologies, by adding photo training materials of different intersections, the recognition of the route and intersections can be achieved.
[0058] The display screen, which is a color display screen, is used to display the real-time images of the current camera.
[0059] The serial port (UART interface) and the USB interface are used to realize communication with the robot.
[0060] The following is an analysis and description of how the robot equipped with this line-tracking sensor turns at different sections or intersections:
[0061] Combined with Figure 4 As shown, on a smooth section, only the coordinate values of two points are required to complete the route turning function of the robot.
[0062] Combined with Figure 5 As shown, on a sharp-turn section, only the coordinate values of two points are also required to complete the sharp-turn route turning function of the robot.
[0063] Combined with Figure 6 As shown, at a T-junction, only the coordinate values of three points are required to inform the robot that there is a T-junction ahead, and the robot can freely choose to turn left or right according to the coordinate values of these three points.
[0064] Combined with Figure 7As shown, at an intersection, by simply providing the coordinate values of four points, the robot can be informed that there is an intersection ahead, and the robot can freely choose to turn left, turn right, or go straight based on the coordinate values of these four points.
[0065] Combined with Figure 8 As shown, on a dotted line section, by simply providing the coordinate values of two points and the turning function of the route to inform the robot that the section ahead is a dotted line section, the robot can then make appropriate actions.
[0066] The above description is only a preferred embodiment of the present invention and does not impose any form of limitation on the present invention. Any simple modification or equivalent change made to the above embodiments based on the technical essence of the present invention shall fall within the protection scope of the present invention.
Claims
1. A line patrol sensor (5) capable of identifying intersections, characterized in that: The device is mounted on the top of a robot body (10) via a mounting bracket (3), and comprises a PCB board (9) on which a Linux video processing chip is mounted. A display screen (1), a serial port (2), an operation button (6), a USB interface (7) and a camera (8) are arranged on the PCB board (9).
2. A line patrol sensor capable of identifying intersections according to claim 1, characterized in that: The line patrol sensor (5) is mounted on the mounting bracket (3) by means of mounting fixing screws (4).
3. A line patrol sensor capable of identifying intersections according to claim 2, characterized in that: On the PCB board (9), the display screen (1), the serial port (2), the operation button (6) and the USB interface (7) are located on the same side; and the camera (8) is located on the opposite side to where the display screen (1) is installed.
4. A line patrol sensor capable of identifying intersections according to claim 3, characterized in that: On the PCB board (9), the operation buttons (6) are located on the left and right sides of the display screen (1), and the serial port (2) and the USB port (7) are located below the display screen (1).