CN103838241B - Intelligent control machine people and its method for being moved to bright light place - Google Patents
Intelligent control machine people and its method for being moved to bright light place Download PDFInfo
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- CN103838241B CN103838241B CN201210492535.6A CN201210492535A CN103838241B CN 103838241 B CN103838241 B CN 103838241B CN 201210492535 A CN201210492535 A CN 201210492535A CN 103838241 B CN103838241 B CN 103838241B
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Abstract
The invention belongs to household small electric appliance manufacturing technology field, a kind of be related to intelligent control machine people and its be moved to bright light place method.Intelligent control machine people includes walking unit, functional unit, driving unit, chargeable battery and control unit, the bottom of intelligent control machine people is arranged in walking unit, control unit is connect with driving unit, under the action of control unit, driving unit drives walking unit mobile, photosensitive sensor at the top of intelligent control machine people is set for detecting light intensity, the light intensity information value of photosensitive sensor sends control unit to；Control unit includes: information storing sub-units, presets a power threshold V；Information processing subelement is worth maximum light intensity information value M according to the light intensity information of photosensitive sensor detection；When the electricity of chargeable battery is less than or equal to the power threshold V, described control unit judges that brightness meets the position of pre-provisioning request.
Description
Technical field
The invention belongs to household small electric appliance manufacturing technology field, it is related to a kind of intelligent control machine people and its is moved to bright
The method of position.
Background technique
With the development of science and technology and social progress, intelligent control home-services robot have entered into huge numbers of families.One
As home-services robot work complete or battery capacity it is lower when, designated position is returned to by infrared or laser pathfinding.It is existing
Some robots are commonly equipped with cradle, and infrared transmitter/laser emitter is provided on cradle, is accordingly set in robot
There is the receiver for receiving infrared/laser signal, when robot works completion or low electricity, cradle emits signal and guides machine
People returns on cradle.Using this kind of matched senser element higher cost, and these attachmentes are usually constantly electricity work, meeting
Consume certain electric energy.When robot does not have Automatic-searching cradle function or remaining capacity is not enough to provide robot and returns
The indetectable dark positions such as when returning cradle, robot may be hidden in by sofa, table bottom, bed bottom.When recharging, need
Searching robot causes larger inconvenience to user.
Summary of the invention
In view of the above problems, the purpose of the present invention is to provide a kind of intelligent control machine people and its it is moved to bright light place
Method, the light intensity information value in intelligent control machine people's ambient enviroment is judged, intelligent control machine can be made
People reaches the position that brightness meets pre-provisioning request, to be easy to be found by user.
It is of the invention that the technical problem to be solved is that realized by following technical approach:
A kind of intelligent control machine people includes walking unit, functional unit, driving unit, chargeable battery and control unit,
The bottom of intelligent control machine people is arranged in walking unit, and control unit is connect with driving unit, under the action of control unit,
Driving unit drives walking unit mobile, wherein the photosensitive sensor at the top of intelligent control machine people is arranged in for detection light
The light intensity information value of line intensity, photosensitive sensor sends control unit to；Control unit includes: information storing sub-units,
A default power threshold V；Information processing subelement is worth maximum according to the light intensity information of photosensitive sensor detection
Light intensity information value M；When the electricity of chargeable battery is less than or equal to the power threshold V, described control unit judges brightness
Meet the position of pre-provisioning request.
Specifically, the position that the brightness meets pre-provisioning request refers to the light that the photosensitive sensor real-time detection arrives
Strength information value is greater than or equal to 60% ~ 80% position of maximum light intensity information value M.
Preferably, the satisfactory position of the brightness refers to the light intensity letter that the photosensitive sensor real-time detection arrives
Breath is greater than or equal to 70% position of maximum light intensity information value M.
Another intelligent control machine people includes that walking unit, functional unit, driving unit, chargeable battery and control are single
The bottom of intelligent control machine people is arranged in member, walking unit, and control unit is connect with driving unit, in the effect of control unit
Under, driving unit drives walking unit mobile, wherein the photosensitive sensor at the top of intelligent control machine people is arranged in for detecting
The detection information of light intensity, photosensitive sensor sends control unit to；Control unit includes: information storing sub-units, is preset
One power threshold V and the first light luminance absolute threshold N；Information processing subelement is believed according to the detection of the photosensitive sensor
Breath obtains maximum light intensity information value M；When the electricity of chargeable battery is less than or equal to the power threshold V, the control is single
Member judges that brightness meets the position of pre-provisioning request.
Specifically, the brightness, which meets the requirements, refers to: the light intensity information value that photosensitive sensor real-time detection arrives is big
In or to be equal to the light intensity information value that the first light luminance absolute threshold N or the photosensitive sensor real-time detection arrive big
In or equal to maximum light intensity information value M 60% ~ 80%.Wherein, the first light luminance absolute threshold N light for 300 ~
It is obtained when 350lux.
As needed, the intelligent control machine artificially face clean robot or air purifying robot or security personnel machine
Device people.
A kind of intelligent control machine people be moved to the method for bright light place the following steps are included:
Step 1: intelligent control machine people walking, the photosensitive sensor at the top of robot constantly detect the light of environment
Intensity；
Step 2: the light intensity information value that photosensitive sensor detects is compared by control unit, obtains maximum light
Strength information value M；
Step 3: control unit is electric by the electricity of the chargeable battery of intelligent control machine people and control unit preset one
Amount threshold value V is compared, if the electricity in intelligent control machine people is greater than power threshold V, return step 1；Otherwise, enter
Step 4；
Step 4: judging whether the real-time light intensity information value of photosensitive sensor detection environment is greater than or equal to maximum light
The predetermined condition value of line strength information value M, if it is, entering step 5；Otherwise, intelligent control machine people walks on；
Step 5: intelligent control machine people stops walking.
Another intelligent control machine people be moved to the method for bright light place the following steps are included:
Step 1: intelligent control machine people walking, the photosensitive sensor at the top of robot constantly detect the light of environment
Intensity；
Step 2: the light intensity information value that photosensitive sensor detects is compared by control unit, obtains maximum light
Strength information value M；
Step 3: control unit is electric by the electricity of the chargeable battery of intelligent control machine people and control unit preset one
Amount threshold value V is compared, if the electricity in intelligent control machine people is greater than power threshold V, return step 1；Otherwise, enter
Step 4；
Step 4: judging whether the real-time light intensity information value of photosensitive sensor detection environment is greater than or equal to maximum light
The predetermined condition value or the photosensitive sensor real-time detection of line strength information value M to light intensity information value be greater than or
Equal to the first light luminance absolute threshold N, if it is, entering step 5；Otherwise, intelligent control machine people walks on；
Step 5: intelligent control machine people stops walking.
Specifically, maximum light in the step 4 for the method that above two intelligent control machine people is moved to bright light place
The predetermined condition value of strength information value M refers to that real-time light intensity information value is the 60-80% of maximum light intensity information value M.
Preferably, real-time light intensity information value is the 70% of maximum light intensity information value M.
Specifically, the first light luminance absolute threshold N is obtained when light is 300 ~ 350lux.
The principle for the method that intelligent control machine people is moved to bright light place is as follows:
After intelligent control machine people starts to work, the light intensity of environment is constantly detected, obtains maximum light intensity information
Value, when work is soon exhausted to power supply, intelligent control machine people starts to work or stop working on one side, finds on one side bright
Degree meets the position of pre-provisioning request, once the brightness of position meets pre-provisioning request, intelligent control machine people stops walking, facilitates use
Family finds intelligent control machine people in time and gives its charging.
Detailed description of the invention
Fig. 1 is that intelligent control machine people of the present invention is moved to bright light place schematic diagram；
Fig. 2 is the function block schematic diagram of intelligent control machine people of the present invention.
Appended drawing reference:
1. 2. walking unit of bright light place, 3. functional unit, 4. photosensitive sensor
5. 6. driving unit of control unit
Specific embodiment
With reference to the accompanying drawings and examples, it further illustrates a kind of intelligent control machine people and its is moved to bright light place
Method.It intelligent control machine people and its is moved to the method for bright light place there are two embodiments respectively.
Embodiment 1
Fig. 2 is the function block schematic diagram of intelligent control machine people of the present invention, and under normal circumstances, control unit 5 is not controlled
Functional unit 3 processed works；As long as such as starting intelligent control machine people, functional unit 3 begins to work
In the present embodiment, intelligent control machine people includes walking unit 2, functional unit 3, driving unit 6, chargeable battery
With control unit 5, the bottom of intelligent control machine people is arranged in walking unit 2, and control unit 5 is connect with driving unit 6, is controlling
Under the action of unit 5 processed, driving unit 6 drives walking unit 2 mobile, wherein the light at the top of intelligent control machine people is arranged in
For dependent sensor 4 for detecting light intensity, the light intensity information value of photosensitive sensor 4 sends control unit 5 to；Control unit
5 include: information storing sub-units, presets a power threshold V；Information processing subelement, according to the photosensitive sensor 4 detection
Light intensity information is worth maximum light intensity information value M；The electricity of chargeable battery is less than or equal to the power threshold V
When, described control unit 5 judges that brightness meets the position of pre-provisioning request.
It is illustrated below with the robot for cleaning floor course of work.After robot for cleaning floor starting, ground
Clean robot carries out ground cleaning.Robot for cleaning floor is located at the top of robot for cleaning floor while walking
Photosensitive sensor constantly detect the light intensity of robot for cleaning floor position, at regular intervals (such as: 100ms or
1s) daylighting is primary, obtains light intensity information value at this time and stores.When walking to other operating positions is such as close to window
Place then stores biggish light intensity information value when the judgement of information processing subelement has biggish light intensity information value.Cause
This, robot for cleaning floor will constantly refresh light intensity information value, to obtain worked during executing ground cleaning
Maximum light intensity information value M in journey.When the electricity of robot for cleaning floor is lower, such as only residue 10% electricity, then
Face clean robot starts to judge whether the brightness of present position meets pre-provisioning request, i.e., judges that robot for cleaning floor is indirectly
It is no positioned at furniture block down or room it is spacious at.Due to having been achieved with maximum light in the robot for cleaning floor course of work
The position of strength information value M(maximum light intensity information value M value may be near window or balcony), as long as at this point, making electricity
The light of robot for cleaning floor present position when measuring lower is not less than a certain range of maximum light intensity information value M, then
Certifiable robot for cleaning floor, which is stayed out, has beneath (such as: table bottom, bed bottom, sofa bottom), and user can be found that ground at a glance
Clean robot robot, to give its charging.
Actually detected discovery, when bright be not less than maximum light intensity information value M 60% ~ 80%, ground cleaning
Robot is substantially at indoor more spacious position.Particularly, when light is not less than the 70% of maximum light intensity information value M
When, it can better ensure that robot for cleaning floor is located at indoor more spacious position.
Embodiment 2
In the present embodiment, intelligent control machine people include walking unit, functional unit, driving unit, chargeable battery and
The bottom of intelligent control machine people is arranged in control unit, walking unit, and control unit is connect with driving unit, in control unit
Under the action of, driving unit drives walking unit mobile, wherein the photosensitive sensor at the top of intelligent control machine people is arranged in and uses
In detection light intensity, the detection information of photosensitive sensor sends control unit to；Control unit includes: that information storage is single
Member presets a power threshold V and the first light luminance absolute threshold N；Information processing subelement, according to the photosensitive sensor
Detection information obtains maximum light intensity information value M；It is described when the electricity of chargeable battery is less than or equal to the power threshold V
Control unit judges that brightness meets the position of pre-provisioning request.
Specifically, the brightness, which meets the requirements, refers to: the light intensity information value that 4 real-time detection of photosensitive sensor arrives is big
In or to be equal to the light intensity information value that the first light luminance absolute threshold N or 4 real-time detection of the photosensitive sensor arrive big
In or equal to maximum light intensity information value M 60% ~ 80%.Wherein, the first light luminance absolute threshold N light for 300 ~
It is obtained when 350lux.
In the above two embodiments, the intelligent control machine artificially face clean robot or air cleaning machine
People or security robot.
Embodiment 2 and the main distinction of embodiment 1 are: in embodiment 2 there are two the satisfactory judge index of brightness,
And when preferentially meeting one of standard, intelligent control machine people stops walking, and the satisfactory judgement of brightness in embodiment 1
Index only has 1.Particularly, after increasing the first light luminance absolute threshold N, under the indoor environment of part, intelligent controller
The fugitive tool of leaving home of device people can quickly stop walking after blocking, and save the electricity of intelligent control machine people.
It should be strongly noted that the first light luminance absolute threshold N is obtained when light is 300 ~ 350lux.It is such as white
Under its indoor environment, light of the usual intelligent control machine people under furniture is weaker, and the light intensity information value measured is low
It is bright stronger in 300lux, and when intelligent control machine people flees under furniture bottom, is located at indoor void spaces, it measures
The light luminance value of information is usually above 350lux.The present embodiment only illustrates the acquirement condition of the first light luminance absolute threshold N, and
Non- only limit brightness is 300 ~ 350lux, and the value measured such as different weather or different machines can also have some deviations, need to correspond to
Adjustment.It is exemplified below, the pass between the first light luminance absolute threshold N and the 60% ~ 80% of maximum light intensity information value M
System.Stronger in light, when such as fine day, window or balcony disk brightness have 1000 ~ 1500lux, then maximum light intensity information value M
60% be 600lux ~ 900lux, and when practical intelligent control machine people has just fled from furniture bottom, corresponding position light intensity is believed
Breath value is only 350lux or so.At this point, intelligent control machine people judges that light intensity information value preferentially reaches the first light luminance
Absolute threshold N then stops walking, without the position to walk on to light intensity information value for 600lux.Light compared with
Under weak environment, the most bright position of indoor illumination is also only 350lux, then intelligent control machine people judges light intensity information value
Preferentially reach the 60% of maximum light intensity information value 350lux and stop walking, is not required to need not continue to walking to light intensity
The value of information is in the position of 350lux.
Embodiment 3
Fig. 1 is that intelligent control machine people of the present invention is moved to bright light place schematic diagram；
In the present embodiment, the method that the intelligent control machine people of corresponding embodiment 1 is moved to bright light place 1 includes following step
It is rapid:
Step 1: intelligent control machine people walking, the photosensitive sensor at the top of robot constantly detect the light of environment
Intensity；
Step 2: the light intensity information value that photosensitive sensor detects is compared by control unit, obtains maximum light
Strength information value M；
Step 3: control unit is electric by the electricity of the chargeable battery of intelligent control machine people and control unit preset one
Amount threshold value V is compared, if the electricity in intelligent control machine people is greater than power threshold V, return step 1；Otherwise, enter
Step 4；
Step 4: judging whether the real-time light intensity information value of photosensitive sensor detection environment is greater than or equal to maximum light
The predetermined condition value of line strength information value M, if it is, entering step 5；Otherwise, intelligent control machine people walks on；
Step 5: intelligent control machine people stops walking.
Embodiment 4
In the present embodiment, the method that 2 intelligent control machine people of corresponding embodiment is moved to bright light place 1 includes following step
It is rapid:
Step 1: intelligent control machine people walking, the photosensitive sensor at the top of robot constantly detect the light of environment
Intensity；
Step 2: the light intensity information value that photosensitive sensor detects is compared by control unit, obtains maximum light
Strength information value M；
Step 3: control unit is electric by the electricity of the chargeable battery of intelligent control machine people and control unit preset one
Amount threshold value V is compared, if the electricity in intelligent control machine people is greater than power threshold V, return step 1；Otherwise, enter
Step 4；
Step 4: judging whether the real-time light intensity information value of photosensitive sensor detection environment is greater than or equal to maximum light
The predetermined condition value or the photosensitive sensor real-time detection of line strength information value M to light intensity information value be greater than or
Equal to the first light luminance absolute threshold N, if it is, entering step 5；Otherwise, intelligent control machine people walks on；Step
5: intelligent control machine people stops walking.
Specifically, the first light luminance absolute threshold N is obtained when light is 300 ~ 350lux.
In embodiment 3-4, the predetermined condition value of maximum light intensity information value M refers to real-time light intensity in step 4
The value of information is the 60-80% of maximum light intensity information value M.
Preferably, real-time light intensity information value is the 70% of maximum light intensity information value M.
Embodiment 3 and the main distinction of embodiment 4 are: in embodiment 4 there are two the satisfactory judge index of brightness,
And when preferentially meeting one of judge index, intelligent control machine people stops walking, and brightness is satisfactory in embodiment 3
Judge index only has 1.
Intelligent control machine people of the present invention in the process of moving, constantly detects the bright of ambient enviroment by photosensitive sensor
Intensity is spent, when the brightness of a certain position meets pre-provisioning request, intelligent control machine people is out of service.In this manner, intelligence
Robot be can control when electricity is low, the corner of dark can be left automatically, user is made to be easy to find, to be in time it
Charging.
Claims (5)
1. a kind of method that intelligent control machine people is moved to bright light place, it is characterised in that: the described method comprises the following steps:
Step 1: intelligent control machine people walking, the light of photosensitive sensor (4) the constantly detection environment at the top of robot
Intensity；
Step 2: the light intensity information value that photosensitive sensor (4) detects is compared by control unit (5), obtains maximum light
Line strength information value M；
Step 3: control unit (5) will be preset one in the electricity of the chargeable battery of intelligent control machine people and control unit (5)
Power threshold V is compared, if the electricity in intelligent control machine people is greater than power threshold V, return step 1；Otherwise, into
Enter step 4；
Step 4: judging whether the real-time light intensity information value of photosensitive sensor (4) detection environment is greater than or equal to maximum light
The predetermined condition value of strength information value M, if it is, entering step 5；Otherwise, intelligent control machine people walks on；
Step 5: intelligent control machine people stops walking；
Wherein, the predetermined condition value of the value of maximum light intensity information described in step 4 M refers to that real-time light intensity information value is most
The 60-80% of big light intensity information value M.
2. the method that intelligent control machine people according to claim 1 is moved to bright light place, it is characterised in that: the reality
When light intensity information value be the 70% of maximum light intensity information value M.
3. a kind of intelligent control machine people for applying method as described in the appended claim 1 includes walking unit (2), functional unit
(3), the bottom of intelligent control machine people is arranged in driving unit (6), chargeable battery and control unit (5), walking unit (2),
Control unit (5) is connect with driving unit (6), and under the action of control unit (5), driving unit (6) drives walking unit (2)
It is mobile, it is characterised in that:
Photosensitive sensor (4) at the top of intelligent control machine people is set for detecting light intensity, the light of photosensitive sensor (4)
Line strength information value sends control unit (5) to；
Control unit (5) includes: information storing sub-units, presets a power threshold V；Information processing subelement, according to the light
The light intensity information of dependent sensor (4) detection is worth maximum light intensity information value M；
When the electricity of chargeable battery is less than or equal to the power threshold V, described control unit (5) judges that brightness meets predetermined want
The position asked；
Wherein, the position that the brightness meets pre-provisioning request refers to the light intensity that the photosensitive sensor (4) real-time detection arrives
The value of information is greater than or equal to 60%~80% position of maximum light intensity information value M.
4. intelligent control machine people according to claim 3, it is characterised in that: the satisfactory position of brightness refers to
The light intensity information that photosensitive sensor (4) real-time detection arrives is greater than or equal to the 70% of maximum light intensity information value M
Position.
5. intelligent control machine people according to claim 3 or 4, it is characterised in that: the intelligent control machine is artificial
Robot for cleaning floor or air purifying robot or security robot.
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| CN106142104B (en) * | 2015-04-10 | 2019-01-22 | 科沃斯机器人股份有限公司 | Self-movement robot and its control method |
| CN105025619B (en) * | 2015-05-15 | 2017-06-13 | 上海交通大学 | Based on the light-source brightness adjusting method that dark surrounds is tackled in robot kinematics |
| CN106406300B (en) * | 2015-07-28 | 2020-04-07 | 智棋科技有限公司 | Cleaning device and control method thereof |
| CN105380573B (en) * | 2015-10-28 | 2017-12-05 | 珠海格力电器股份有限公司 | Device, method and the intellective dust collector of charging equipment are found for intellective dust collector |
| CN106737700A (en) * | 2015-11-23 | 2017-05-31 | 芋头科技（杭州）有限公司 | A kind of smart machine system and method for being moved to bright light place |
| CN107638128B (en) * | 2016-07-21 | 2024-02-20 | 苏州宝时得电动工具有限公司 | Dust collection system |
| WO2018023227A1 (en) * | 2016-07-31 | 2018-02-08 | 杨洁 | Robot mobile technology data acquisition method and robot |
| WO2018023229A1 (en) * | 2016-07-31 | 2018-02-08 | 杨洁 | Method for moving robot according to light intensity, and robot |
| CN108445873A (en) * | 2017-02-16 | 2018-08-24 | 深圳市昊宇世纪科技有限公司 | A kind of intelligent mobile device and its movement technique |
| CN109519216A (en) * | 2018-11-22 | 2019-03-26 | 宁波敬业控股集团有限公司 | A kind of mine shaft conveyance system and transportation resources based on visible light |
| CN116755452B (en) * | 2023-08-17 | 2023-11-03 | 深圳安培时代数字能源科技有限公司 | Mobile power supply autonomous patrol method and device based on battery protection box |
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| CN201996470U (en) * | 2011-03-02 | 2011-10-05 | 深圳市神达太阳能科技有限公司 | Cleaning robot for solar wall |
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