CN105904466B - A kind of control method of Dou Chong robots - Google Patents
A kind of control method of Dou Chong robots Download PDFInfo
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- CN105904466B CN105904466B CN201610376543.2A CN201610376543A CN105904466B CN 105904466 B CN105904466 B CN 105904466B CN 201610376543 A CN201610376543 A CN 201610376543A CN 105904466 B CN105904466 B CN 105904466B
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000001514 detection method Methods 0.000 claims description 75
- 230000001580 bacterial effect Effects 0.000 claims description 40
- 150000001450 anions Chemical class 0.000 claims description 39
- 238000004140 cleaning Methods 0.000 claims description 32
- 239000000428 dust Substances 0.000 claims description 29
- 239000008187 granular material Substances 0.000 claims description 29
- 238000004891 communication Methods 0.000 claims description 23
- 230000033001 locomotion Effects 0.000 claims description 13
- 230000004913 activation Effects 0.000 claims description 9
- 238000000465 moulding Methods 0.000 claims description 6
- 241000894006 Bacteria Species 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 3
- 230000000977 initiatory effect Effects 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 claims 1
- 238000003860 storage Methods 0.000 abstract description 12
- 238000003780 insertion Methods 0.000 abstract description 2
- 230000037431 insertion Effects 0.000 abstract description 2
- 230000001954 sterilising effect Effects 0.000 description 5
- 230000001939 inductive effect Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000001035 drying Methods 0.000 description 3
- 230000036541 health Effects 0.000 description 3
- 238000005192 partition Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000010438 heat treatment Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- 241000282326 Felis catus Species 0.000 description 1
- 206010037180 Psychiatric symptoms Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000009395 breeding Methods 0.000 description 1
- 230000001488 breeding effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 235000003642 hunger Nutrition 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 150000002500 ions Chemical class 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/06—Control stands, e.g. consoles, switchboards
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Disinfection, Sterilisation Or Deodorisation Of Air (AREA)
Abstract
The present invention relates to robot fields, a kind of Dou Chong robots and its control method are disclosed, it includes cylindric body, and the body both ends are equipped with driving wheel, the driving wheel close to body side inner end towards driving wheel inner recess so that in body one end insertion driving wheel；The driving wheel is connected with the motor being arranged on control cabinet, and the control cabinet is arranged in underpart；It is provided with automatic control system in the control cabinet；The driving wheel is provided with storage hamper on the outer end face far from body side.The robot companion pet can play when owner stays out, and can carry out feeding to pet.
Description
Technical field
The present invention relates to robot field, refers in particular to a kind of control method of Dou Chong robots.
Background technology
With the development of science and technology robot can help people to complete more and more things, the application popularization of robot is arrived
All trades and professions；There are industrial robot, domestic robot, Agricultural Robot etc. in present robot.The appearance of these robots
It is brought conveniently for all trades and professions and people’s lives, promotes economic development, improve people’s lives quality.
In present life, the people for liking raising pet is more and more, especially likes raising that cat, dog are a kind of to be doted on
Object；Pet can accompany people, bring the friend that joy is the mankind, but the operating pressure of people is more and more now
Greatly, a most of the time is all to work, and seldom having time is in, and causes the pet of family neglected, and no one, which accompanies, to be doted on
Object is played or even some pets can not also eat.The health of pet can be impacted in this way.When people come back home
Afterwards, also few time-bands pets go out to move, and play, or even also someone continuously goes on business, and it is even more for a long time to make the pet of family
No one looks after.
Invention content
It is an object of the invention to：In view of the above problems, a kind of Dou Chong robots and its control method are provided, it should
Robot companion pet can play when owner stays out, and can carry out feeding to pet.
The technical solution adopted by the present invention is as follows：
The invention discloses a kind of Dou Chong robots, it includes the body of cylindrical shape, and the body both ends are equipped with driving wheel,
The driving wheel close to body side inner end towards driving wheel inner recess so that in body one end insertion driving wheel；It is described
Driving wheel is connected with the motor being arranged on control cabinet, and the control cabinet is arranged in underpart；It is provided in the control cabinet
Automatic control system；The driving wheel is provided with storage hamper on the outer end face far from body side.
Due to above structure, body movement is driven by the driving wheel at body both ends, can realize robot companion pet
It plays, when robot moves, pet can be allowed to be chased；When robot does not move, since body uses cylinder-like structure, machine
Device people is parked in original place, and pet can be allowed fiddle with playing；One end of body is embedded in driving wheel, is to ensure driving wheel
Diameter is slightly larger than body diameter so that it is convenient to which driving wheel drives body movement；The storage hamper being arranged on driving wheel can be used in depositing
It stores up things and carries out feeding pet.
Further, it is provided with counterweight in the lower arcuate surface of the cylindric body, so that body, which keeps vertical, stablizes shape
State.
Due to above structure, breeding is set on body bottom surface, body can be made to keep numerical stability as " tumbler "
State fiddle with playing convenient for pet；And for when ensureing driving wheel rotation, body keeps numerical stability state,
It is more advantageous to driving wheel rotation.
Further, the storage hamper is cylinder, is arranged at the center of driving wheel outer end face, the storage hamper installing
There is food mouth, goes out to eat and be provided with solenoid valve on mouth；The circumference of the driving wheel outer end face is equipped with several around the storage uniform cloth of hamper
The loudspeaker set；The body front upper is provided with camera.
Due to above structure, goes out to eat mouth on hamper by storing up, food is driven in advance and is stored in storage hamper, need to feed
When food, food is being discharged from going out to eat mouth；The loudspeaker being arranged on the driving wheel are for making a sound to attract pet to play；Institute
Camera is stated for shooting indoor environment and pet.
Further, the control lower box part is provided with air cleaning facility, and the air cleaning facility includes that setting exists
Air inlet and gas outlet, the air inlet are arranged in the positive lower part of body, and the gas outlet is arranged in body lower backside；Institute
State air inlet to be sequentially communicated between gas outlet be provided with air inducing room, hothouse, sterilizing chamber, anion occur room.
During being at play due to pet, can fall off hair, especially in pet molting season；It can make Interior Space in this way
It is polluted in compression ring border.The air cleaning facility can reduce pet Interior Space caused by the tiny hair to fall off in play activity
Gas environmental pollution.
Further, it is provided with air inlet screen at the air inlet；It is provided with air-introduced machine in the air inducing room；The drying
Room is by spaced several partition boards are separated into multiple regions, and the connection up and down of each region up and down successively in it；The hothouse
Top and bottom are provided with electric heater；It is provided with ultraviolet radiator at the top and bottom of the sterilizing chamber；In the anion room
It is provided with anion generator；Outlet strainer is provided at the gas outlet.
The air inlet screen and outlet strainer are used to filter the tiny hair of large particle and pet；The hothouse is used for
Dry room air；By the partition board being arranged inside in hothouse, large particle in air and pet can be further filtered off
Tiny hair；The sterilizing chamber is used to remove the bacterium in air and the tiny hair of pet, to ensure the peace of pet and owner
Full health；The anion room purifies air for generating anion.
Further, the control system includes main controller, is connected with motor control module, electromagnetism on the main controller
Valve control module, camera control module and loudspeaker control module；Wherein, motor control module is connected to the motor, solenoid valve control
Molding block is connected with solenoid valve, and camera control module is connected with camera, and loudspeaker control module is connected with loudspeaker.
Further, cleaning equipment control module, the cleaning equipment control module packet are also associated on the main controller
Include device control module and control quality detection module, wherein the device control module include air-introduced machine control module, electricity plus
Hot device control module, ultraviolet radiator control module and anion generator control module；
The cleaning equipment control module includes device control module and control quality detection module, wherein the equipment
Control module includes air-introduced machine control module, electric heater control module, ultraviolet radiator control module and anion generator control
Molding block；The air-introduced machine control module is connected with air-introduced machine, and the electric heater control module is connected with electric heater, described
Ultraviolet lamp control module is connected with ultraviolet radiator；The anion generator control module is connected with anion generator；It is described
Detection of air quality module includes air humidity detection module, bacterial concentration detection module, dust granule detection module；The sky
Gas quality detection module is installed on body front, is located at air cleaning facility air inlet.
Further, the main controller is also connected by wireless communication module with mobile terminal, is set on the mobile terminal
It is equipped with robot start button, robot stops key, direction controlling button, loudspeaker control button, feeding control button and aobvious
Display screen.
Due to said mechanism, owner can carry out remote control by mobile terminal to Dou Chong robots, when owner does not exist
Family when, also can companion pet play.
A kind of control method of Dou Chong robots, described funny to dote on robot control method as follows：
Step 1：By enabling signal that robot start button is sent out, module is sent to master to mobile terminal by radio communication
Device is controlled, after main controller receives the enabling signal, which is sent to camera control module, makes camera control module
Camera work is controlled, the video that camera is shot is sent to main controller, then main controller module by radio communication again
The video is sent to mobile terminal, is shown the video that camera is shot by the display screen on mobile terminal；
Step 2：By horn activation signal that loudspeaker control button is sent out, module is sent to mobile terminal by radio communication
The horn activation signal after main controller receives the horn activation signal, is sent to loudspeaker control module, makes loudspeaker control by main controller
Molding block controls loudspeaker and plays sound, and then to attract pet to play；
Step 3：By direction signal that direction controlling button is sent out, module is sent to master control to mobile terminal by radio communication
Direction signal is sent to motor control module by device after main controller receives direction signal, makes motor control module control electricity
Machine rotates, and then the driving wheel at body both ends is driven to rotate to realize the movement of Dou Chong robots；Wherein, drive and control of electric machine mould
Block realizes the different motion of Dou Chong robots by controlling the rotating speed of motor；
When two motor speeds are identical, Dou Chong robots realize linear motion；It is funny to dote on machine when two motor speed differences
People realizes divertical motion；
Step 4：By feeding signal that feeding control button is sent out, module is sent to master control to mobile terminal by radio communication
The feeding signal after main controller receives the feeding signal, is sent to solenoid valve control module, makes solenoid valve control module control by device
Solenoid valve processed is opened, and then is discharged the food in hamper is stored up, to wait for pets；
Step 5：Mobile terminal stops key robot, and module is sent to master to the stop signal sent out by radio communication
Device is controlled, after main controller receives the stop signal；Entire tease dotes on periods of robot operation stop, is not making any action, is also no longer connecing
Receive any signal.
Further, it is described it is funny to dote on robot control method further include cleaning equipment control method, the cleaning equipment control
Method processed is as follows：
Step 1：By enabling signal that robot start button is sent out, module is sent to master to mobile terminal by radio communication
Device is controlled, after main controller receives the enabling signal；Air humidity detection module, bacterial concentration detection module and dust granule detect mould
BOB(beginning of block) works, and is detected to indoor air quality every 1min, and air humidity detection module, bacterial concentration are detected
The detected value of module and dust granule detection module is sent to main controller；The detected value of wherein air humidity detection module is recorded as
The detected value of A, bacterial concentration detection module are recorded as B, and the detected value of dust granule detection module is recorded as C；
Step 2：By the detected value A of air humidity detection module, the detected value B and dust granule of bacterial concentration detection module
The detected value C of detection module contains with air humidity standard value K, bacterial concentration standard value X and the dust granule set in main controller
Amount standard value H is compared；
Step 3：As the detected value A of air humidity detection module>Air humidity standard value K or bacterial concentration detection module
Detected value B>The detected value of bacterial concentration mark value X or dust granule detection module is recorded as C>Dust granule content standard value H
When, air cleaning facility is started to work, and main controller sends fan initiating signal and gives air-introduced machine control module, and air-introduced machine is made to control mould
Block controls air-introduced machine rotation, and air is introduced from the air inlet of air cleaning facility in cleaning equipment, starts to carry out air net
Change；
After air-introduced machine is started to work, main controller sends anion generator enabling signal and controls mould to anion generator
Block makes anion generator control module control anion generator start to work, starts to purify air；
After air-introduced machine is started to work and the detected value A of air humidity detection module>When air humidity standard value K, master control
Device sends electric heater enabling signal and gives electric heater control module, and electric heater control module control electric heater is made to start work
Make, and then air is heated, to reduce air humidity；Until detected value A≤air humidity of air humidity detection module
When standard value K, electric heater is stopped；
After air-introduced machine is started to work and the detected value B of bacterial concentration detection module>When bacterial concentration mark value X, master control
Device sends ultraviolet radiator enabling signal and gives ultraviolet radiator control module, and ultraviolet radiator control module control ultraviolet radiator is made to start work
Make, carries out carrying out degerming to air, reduce the bacterial concentration in air；Until bacterial concentration detection module detected value B≤it is thin
When bacteria concentration standard value X, ultraviolet radiator is stopped；
Step 4：As the detected value A≤air humidity standard value K and bacterial concentration detection module of air humidity detection module
Detected value B≤bacterial concentration standard value X and the detected value of dust granule detection module be recorded as C<Dust granule content standard
When value H, air cleaning facility is started to work, and main controller sends air-introduced machine stop signal and gives air-introduced machine control module, makes air-introduced machine
Control module controls air-introduced machine and stops；Main controller sends electric heater stop signal and gives electric heater control module, makes electrical heating
Device control module control electric heater is stopped；Main controller sends ultraviolet radiator stop signal and gives ultraviolet radiator control module,
Ultraviolet radiator control module control ultraviolet radiator is set to be stopped；Main controller sends anion generator stop signal to anion
Generator control module makes anion generator control module control anion generator be stopped；
Step 5：Repeat from Step 2 to Step 4.
In conclusion by adopting the above-described technical solution, the beneficial effects of the invention are as follows：
The Dou Chong robots of the present invention only need pet owner to be controlled a long way off by mobile terminal, just can realize and dote on
The interaction of object, companion pet are played；It can be on time to feeding pet；Pet will not be allowed to be bored by idleness and loneliness and suffer from hunger；And it can lead to
Cross the situation of video monitoring pet；It is installed with air cleaning facility in the Dou Chong robots of the present invention, pet can be prevented because playing
The hair that falls off in the process pollutes indoor air environment, can purify air, has ensured the health of people and pet.This hair
Bright of simple structure and strong practicability, convenient for promoting and using.
Description of the drawings
Fig. 1 is the internal structure chart of the present invention；
Fig. 2 is external agency's figure of the present invention；
Fig. 3 is present invention storage hamper and loudspeaker position view；
Fig. 4 is cleaning equipment mechanism map in the present invention.
Specific implementation mode
Below in conjunction with the accompanying drawings, the present invention is described in detail.
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Embodiment 1
The invention discloses a kind of Dou Chong robots, it includes the body 1 of cylindrical shape, and 1 both ends of the body are equipped with driving
Wheel 2, the driving wheel 2 close to 1 side of body inner end towards 2 inner recess of driving wheel so that 1 one end of body is embedded in driving wheel
In 2；The driving wheel 2 is connected with the motor 5 being arranged on control cabinet 8, and the control cabinet 8 is arranged in 1 lower part of body；The control
It is provided with automatic control system in case 8 processed；The driving wheel 2 is provided with storage hamper 4 on the outer end face far from 1 side of body.
It is provided with counterweight in the lower arcuate surface of the cylindrical shape body 1, so that body keeps vertical stable state.
The storage hamper 4 is cylinder, is arranged at the center of 2 outer end face of driving wheel, the storage hamper 4 is installed with out food
Mouthful, go out to eat and is provided with solenoid valve on mouth；The circumference of 2 outer end face of the driving wheel is equipped with several to be evenly arranged around storage hamper 4
Loudspeaker 7, the loudspeaker are 3~9, and 4 are used in the present embodiment；1 front upper of the body is provided with camera 6.
The control system includes main controller, is connected with motor control module, solenoid valve control mould on the main controller
Block, camera control module and loudspeaker control module；Wherein, motor control module is connected with motor 5, solenoid valve control module with
Solenoid valve is connected, and camera control module is connected with camera 6, and loudspeaker control module is connected with loudspeaker 7.
Embodiment 2
The present embodiment is substantially the same with embodiment 1, the difference is that：It is net that 8 lower part of the control cabinet is provided with air
Change equipment 3, the air cleaning facility 3 includes that setting is arranged in air inlet 3-1 and gas outlet 3-8, the air inlet 3-1 in machine
The positive lower part of body 1, the gas outlet 3-8 are arranged in 1 lower backside of body；The air inlet 3-1 between the 3-8 of gas outlet according to
Room 3-6 occurs for secondary air inducing room 3-3, hothouse 3-4, sterilizing chamber 3-5, the anion of being provided with and communicated with.
It is provided with air inlet screen 3-2 at the air inlet 3-1；It is provided with air-introduced machine in the air inducing room 3-3；The drying
Room 3-4 is by spaced several partition boards are separated into multiple regions, and the connection up and down of each region up and down successively in it；The drying
It is provided with electric heater at the top and bottom of the 3-4 of room；It is provided with ultraviolet radiator at the top and bottom of the sterilizing chamber 3-5；It is described negative
It is provided with anion generator in ion chamber 3-6；Outlet strainer 3-7 is provided at the gas outlet 3-8.
Cleaning equipment control module, the cleaning equipment control module packet are also associated on the main controller of the control system
Include device control module and control quality detection module, wherein the device control module include air-introduced machine control module, electricity plus
Hot device control module, ultraviolet radiator control module and anion generator control module；
The cleaning equipment control module includes device control module and control quality detection module, wherein the equipment
Control module includes air-introduced machine control module, electric heater control module, ultraviolet radiator control module and anion generator control
Molding block；
The air-introduced machine control module is connected with air-introduced machine, and the electric heater control module is connected with electric heater, institute
Ultraviolet lamp control module is stated with ultraviolet radiator to be connected；The anion generator control module is connected with anion generator；
The detection of air quality module includes air humidity detection module, bacterial concentration detection module, dust granule inspection
Survey module；The detection of air quality module is installed on 1 front of body, is located at air cleaning facility air inlet 3-1.
The main controller is also connected by wireless communication module with mobile terminal, and robot is provided on the mobile terminal
Start button, robot stops key, direction controlling button, loudspeaker control button, feeding control button and display screen.
Embodiment 3：
A kind of control method of Dou Chong robots, described funny to dote on robot control method as follows：
Step 1：By enabling signal that robot start button is sent out, module is sent to master to mobile terminal by radio communication
Device is controlled, after main controller receives the enabling signal, which is sent to camera control module, makes camera control module
Camera work is controlled, the video that camera is shot is sent to main controller, then main controller module by radio communication again
The video is sent to mobile terminal, is shown the video that camera is shot by the display screen on mobile terminal；
Step 2：By horn activation signal that loudspeaker control button is sent out, module is sent to mobile terminal by radio communication
The horn activation signal after main controller receives the horn activation signal, is sent to loudspeaker control module, makes loudspeaker control by main controller
Molding block controls loudspeaker and plays sound, and then to attract pet to play；
Step 3：By direction signal that direction controlling button is sent out, module is sent to master control to mobile terminal by radio communication
Direction signal is sent to motor control module by device after main controller receives direction signal, makes motor control module control electricity
Machine rotates, and then the driving wheel at body both ends is driven to rotate to realize the movement of Dou Chong robots；Wherein, drive and control of electric machine mould
Block realizes the different motion of Dou Chong robots by controlling the rotating speed of motor；
When two motor speeds are identical, Dou Chong robots realize linear motion；It is funny to dote on machine when two motor speed differences
People realizes divertical motion；
Step 4：By feeding signal that feeding control button is sent out, module is sent to master control to mobile terminal by radio communication
The feeding signal after main controller receives the feeding signal, is sent to solenoid valve control module, makes solenoid valve control module control by device
Solenoid valve processed is opened, and then is discharged the food in hamper is stored up, to wait for pets；
Step 5：Mobile terminal stops key robot, and module is sent to master to the stop signal sent out by radio communication
Device is controlled, after main controller receives the stop signal；Entire tease dotes on periods of robot operation stop, is not making any action, is also no longer connecing
Receive any signal.
It is described it is funny to dote on robot control method further include cleaning equipment control method, the cleaning equipment control method is such as
Under：
Step 1：By enabling signal that robot start button is sent out, module is sent to master to mobile terminal by radio communication
Device is controlled, after main controller receives the enabling signal；Air humidity detection module, bacterial concentration detection module and dust granule detect mould
BOB(beginning of block) works, and is detected to indoor air quality every 1min, and air humidity detection module, bacterial concentration are detected
The detected value of module and dust granule detection module is sent to main controller；The detected value of wherein air humidity detection module is recorded as
The detected value of A, bacterial concentration detection module are recorded as B, and the detected value of dust granule detection module is recorded as C；
Step 2：By the detected value A of air humidity detection module, the detected value B and dust granule of bacterial concentration detection module
The detected value C of detection module contains with air humidity standard value K, bacterial concentration standard value X and the dust granule set in main controller
Amount standard value H is compared；
Step 3：As the detected value A of air humidity detection module>Air humidity standard value K or bacterial concentration detection module
Detected value B>The detected value of bacterial concentration mark value X or dust granule detection module is recorded as C>Dust granule content standard value H
When, air cleaning facility is started to work, and main controller sends fan initiating signal and gives air-introduced machine control module, and air-introduced machine is made to control mould
Block controls air-introduced machine rotation, and air is introduced from the air inlet of air cleaning facility in cleaning equipment, starts to carry out air net
Change；
After air-introduced machine is started to work, main controller sends anion generator enabling signal and controls mould to anion generator
Block makes anion generator control module control anion generator start to work, starts to purify air；
After air-introduced machine is started to work and the detected value A of air humidity detection module>When air humidity standard value K, master control
Device sends electric heater enabling signal and gives electric heater control module, and electric heater control module control electric heater is made to start work
Make, and then air is heated, to reduce air humidity；Until detected value A≤air humidity of air humidity detection module
When standard value K, electric heater is stopped；
After air-introduced machine is started to work and the detected value B of bacterial concentration detection module>When bacterial concentration mark value X, master control
Device sends ultraviolet radiator enabling signal and gives ultraviolet radiator control module, and ultraviolet radiator control module control ultraviolet radiator is made to start work
Make, carries out carrying out degerming to air, reduce the bacterial concentration in air；Until bacterial concentration detection module detected value B≤it is thin
When bacteria concentration standard value X, ultraviolet radiator is stopped；
Step 4：As the detected value A≤air humidity standard value K and bacterial concentration detection module of air humidity detection module
Detected value B≤bacterial concentration standard value X and the detected value of dust granule detection module be recorded as C<Dust granule content standard
When value H, air cleaning facility is started to work, and main controller sends air-introduced machine stop signal and gives air-introduced machine control module, makes air-introduced machine
Control module controls air-introduced machine and stops；Main controller sends electric heater stop signal and gives electric heater control module, makes electrical heating
Device control module control electric heater is stopped；Main controller sends ultraviolet radiator stop signal and gives ultraviolet radiator control module,
Ultraviolet radiator control module control ultraviolet radiator is set to be stopped；Main controller sends anion generator stop signal to anion
Generator control module makes anion generator control module control anion generator be stopped；
Step 5：Repeat from Step 2 to Step 4.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement etc., should all be included in the protection scope of the present invention made by within refreshing and principle.
Claims (2)
1. a kind of control method of Dou Chong robots, characterized in that described funny to dote on robot control method as follows：
Step 1：By enabling signal that robot start button is sent out, module is sent to main controller to mobile terminal by radio communication,
After main controller receives the enabling signal, which is sent to camera control module, makes camera control module control
Camera works, and the video that camera is shot is sent to main controller, and then module should by radio communication again for main controller
Video is sent to mobile terminal, is shown the video that camera is shot by the display screen on mobile terminal；
Step 2：By horn activation signal that loudspeaker control button is sent out, module is sent to master control to mobile terminal by radio communication
The horn activation signal after main controller receives the horn activation signal, is sent to loudspeaker control module by device, and loudspeaker is made to control mould
Block controls loudspeaker and plays sound, and then to attract pet to play；
Step 3：By direction signal that direction controlling button is sent out, module is sent to main controller to mobile terminal by radio communication, main
After controlling device reception direction signal, direction signal is sent to motor control module, motor control module control motor is made to turn
It is dynamic, and then the driving wheel at body both ends is driven to rotate to realize the movement of Dou Chong robots；Wherein, drive and control of electric machine module is logical
The rotating speed of control motor is crossed to realize the different motion of Dou Chong robots；
When two motor speeds are identical, Dou Chong robots realize linear motion；When two motor speed differences, Dou Chong robots are real
It turns now to move；
Step 4：By feeding signal that feeding control button is sent out, module is sent to main controller to mobile terminal by radio communication, main
After control device receives the feeding signal, which is sent to solenoid valve control module, makes solenoid valve control module control electricity
Magnet valve is opened, and then is discharged the food in hamper is stored up, to wait for pets；
Step 5：Mobile terminal stops key robot, and module is sent to main controller to the stop signal sent out by radio communication,
After main controller receives the stop signal；Entire tease dotes on periods of robot operation stop, is not making any action, is also no longer receiving any
Signal.
2. a kind of control method of Dou Chong robots according to claim 1, characterized in that the Dou Chong robots control
Method further includes cleaning equipment control method, and the cleaning equipment control method is as follows：
Step 1：By enabling signal that robot start button is sent out, module is sent to main controller to mobile terminal by radio communication,
After main controller receives the enabling signal；Air humidity detection module, bacterial concentration detection module and dust granule detection module are opened
Beginning work is detected indoor air quality every 1min, and by air humidity detection module, bacterial concentration detection module
It is sent to main controller with the detected value of dust granule detection module；The detected value of wherein air humidity detection module is recorded as A, carefully
The detected value of bacteria concentration detection module is recorded as B, and the detected value of dust granule detection module is recorded as C；
Step 2：The detected value A of air humidity detection module, the detected value B of bacterial concentration detection module and dust granule are detected
Air humidity standard value K, the bacterial concentration standard value X and dust granule content mark set in the detected value C and main controller of module
Quasi- value H is compared；
Step 3：As the detected value A of air humidity detection module>The detection of air humidity standard value K or bacterial concentration detection module
Value B>The detected value of bacterial concentration mark value X or dust granule detection module is recorded as C>It is empty when dust granule content standard value H
Gas cleaning equipment is started to work, and main controller sends fan initiating signal and gives air-introduced machine control module, makes air-introduced machine control module control
Air is introduced from the air inlet of air cleaning facility in cleaning equipment, starts to purify air by air-introduced machine rotation processed；
After air-introduced machine is started to work, main controller sends anion generator enabling signal and gives anion generator control module,
So that anion generator control module control anion generator is started to work, starts to purify air；
After air-introduced machine is started to work and the detected value A of air humidity detection module>When air humidity standard value K, main controller hair
Power transmission heater starting signal gives electric heater control module, and electric heater control module control electric heater is made to start to work,
And then air is heated, to reduce air humidity；Until detected value A≤air humidity standard of air humidity detection module
When value K, electric heater is stopped；
After air-introduced machine is started to work and the detected value B of bacterial concentration detection module>When bacterial concentration mark value X, main controller hair
It send ultraviolet radiator enabling signal to give ultraviolet radiator control module, ultraviolet radiator control module control ultraviolet radiator is made to start to work,
It carries out carrying out degerming to air, reduces the bacterial concentration in air；Until detected value B≤bacterium of bacterial concentration detection module is dense
When spending standard value X, ultraviolet radiator is stopped；
Step 4：When detected value A≤air humidity standard value K of air humidity detection module and the inspection of bacterial concentration detection module
The detected value of measured value B≤bacterial concentration standard value X and dust granule detection module is recorded as C<Dust granule content standard value H
When, air cleaning facility is started to work, and main controller sends air-introduced machine stop signal and gives air-introduced machine control module, makes air-introduced machine control
Module controls air-introduced machine and stops；Main controller sends electric heater stop signal and gives electric heater control module, makes electric heater control
Molding block control electric heater is stopped；Main controller sends ultraviolet radiator stop signal and gives ultraviolet radiator control module, makes purple
Outside line lamp control module control ultraviolet radiator is stopped；Main controller sends anion generator stop signal and occurs to anion
Device control module makes anion generator control module control anion generator be stopped；
Step 5：Repeat from Step 2 to Step 4.
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| CN117182901B (en) * | 2023-09-13 | 2024-03-19 | 湖南朗赫科技有限公司 | Intelligent household robot control system |
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