CN106737700A - A kind of smart machine system and method for being moved to bright light place - Google Patents
A kind of smart machine system and method for being moved to bright light place Download PDFInfo
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- CN106737700A CN106737700A CN201510823762.6A CN201510823762A CN106737700A CN 106737700 A CN106737700 A CN 106737700A CN 201510823762 A CN201510823762 A CN 201510823762A CN 106737700 A CN106737700 A CN 106737700A
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Abstract
The present invention relates to technical field of electronic communication, and in particular to a kind of smart machine system and method for being moved to bright light place.After smart machine is started working, constantly detect the light intensity of environment, draw maximum light intensity information value, when work soon exhausts to power supply, smart machine starts while working or being stopped, while finding the position that brightness meets pre-provisioning request, once the brightness of position meets pre-provisioning request, smart machine stops movement.This smart machine system and method for being moved to bright light place is judged to the light intensity information value in smart machine surrounding environment, smart machine can be made to reach the strong position of light, smart machine is allowed to advance towards highlighting direction all the time, when eventually finding a most bright position, smart machine is out of service, by this kind of mode, smart machine is when electricity is low, the corner of dark can be automatically left, makes user be easy to find, so as in time for it charges.
Description
Technical field
The present invention relates to technical field of electronic communication, and in particular to a kind of intelligence for being moved to bright light place sets
Standby system and method.
Background technology
With the development and the progress of society of science and technology, Based Intelligent Control home-services robot has entered into thousand
Ten thousand families.General existing home-services robot when work is completed or battery electric quantity is relatively low, by infrared
Or laser pathfinding returns to specified location.Existing robot is commonly equipped with cradle, is set on cradle
There is infrared transmitter/generating laser, the reception for receiving infrared/laser signal is correspondingly provided with robot
Device, when robot works completion or low electricity, cradle transmission signal guided robot returns to cradle
On.It is relatively costly using this kind of supporting senser element, and these annexes are typically constantly electricity work,
Certain electric energy can be consumed.When robot dump energy is not enough to provide robot return cradle, machine
The ND dark positions such as device people may be hidden in by sofa, table bottom, bed bottom.When recharging,
Searching robot is needed, larger inconvenience is caused to user.To sum up, current mobile robot is far from reaching
Practical requirement, its intelligent various demand for also not meeting the mankind.Those skilled in the art also exist
Have been working hard attempt, explore the robot of more practical intelligence, but in localization for Mobile Robot technology
On fail have breakthrough development.
The content of the invention
It is an object of the invention to overcome drawbacks described above of the prior art, in smart machine surrounding environment
Light intensity information value judge, smart machine can be made to reach the strong position of light, easily by with
Family finds.A kind of method that smart machine is moved to bright light place is provided, above technical problem is solved；
A kind of method that smart machine is moved to bright light place, comprises the following steps：
Step A, opens program, constantly smart machine movement and the light intensity of detection environment；
Step B, the light intensity information value that will be detected is compared, and draws maximum light intensity information value M；
Step C, the electricity of the power supply of smart machine is compared with default power threshold V；
Step D, when the electricity in Based Intelligent Control machine people is less than power threshold V, then judges detection environment
Whether the real-time light intensity value of information is more than or equal to the predetermined condition value of maximum light intensity information value M
Or the light intensity information value that real-time detection is arrived is more than or equal to the first light luminance absolute threshold N；
Step E, when the real-time light intensity value of information be more than or equal to maximum light intensity information value M when or light
Strength information value is more than or equal to the first light luminance absolute threshold N, then smart machine stops movement.
The method that above-mentioned smart machine is moved to bright light place, the step C also includes working as Based Intelligent Control
When electricity in robot is more than power threshold V, then return to step A.
The method that above-mentioned smart machine is moved to bright light place, the step E also includes step E1, when
When the real-time light intensity value of information is less than maximum light intensity information value M or light intensity information value is less than
During the first light luminance absolute threshold N, then smart machine is continued to move to.
The method that above-mentioned smart machine is moved to bright light place, maximum light is strong described in the step D
The predetermined condition value of degree value of information M refers to that the real-time light intensity value of information is maximum light intensity information value
The 60-80% of M.
The method that above-mentioned smart machine is moved to bright light place, the real-time light intensity value of information is for most
The 70% of big light intensity information value M.
The method that above-mentioned smart machine is moved to bright light place, the first light luminance absolute threshold N
Obtained when light is for 300~350lux.
After smart machine is started working, constantly the light intensity of detection environment, draws maximum light intensity letter
Breath value, when work soon exhausts to power supply, smart machine starts while work or be stopped,
While finding the position that brightness meets pre-provisioning request, once the brightness of position meets pre-provisioning request, intelligently set
It is standby to stop moving, facilitate user to find smart machine in time and give its charging.
The bright of smart machine surrounding environment is constantly detected the present invention also aims to pass through light sensor
Degree, allows smart machine to advance towards highlighting direction all the time, when eventually finding a most bright position,
Smart machine is out of service, and by this kind of mode, smart machine can automatically leave light when electricity is low
The dark corner of line, makes user be easy to find, so as in time for it charges, there is provided one kind is automatically moved into
The smart machine of bright light place, solves above technical problem.
Technical problem solved by the invention can be realized using following technical scheme：One kind is automatically moved
To the smart machine of bright light place, comprising mobile module, drive module, power module and control module, institute
The bottom that mobile module is arranged on smart machine is stated, the control module is connected with the drive module,
In the presence of the control module, the drive module drives the mobile module movement, also includes：Light
Dependent sensor, is arranged on smart machine top, for detecting light intensity, light intensity information value is passed
Give the control module.
The above-mentioned smart machine for being automatically moved into bright light place, the control module includes：
Information Store submodule, for presetting a power threshold V and the first light luminance absolute threshold N；
Information processing submodule, the light intensity information for being detected according to the light sensor is worth maximum
Light intensity information value M.
The above-mentioned smart machine for being automatically moved into bright light place, the power module can charge, and work as electricity
When amount is less than or equal to the power threshold V, the control module judges that brightness meets the position of pre-provisioning request
Put.
The above-mentioned smart machine for being automatically moved into bright light place, the brightness meets the requirements and refers to：It is photosensitive
The light intensity information value that sensor real-time detection is arrived is more than or equal to the first light luminance absolute threshold N,
Or the light intensity information value that the light sensor real-time detection is arrived is more than or equal to maximum light intensity
The 60%~80% of value of information M.
The above-mentioned smart machine for being automatically moved into bright light place, the satisfactory position of brightness refers to
The light intensity information that the light sensor real-time detection is arrived is more than or equal to maximum light intensity information value
The position of the 70% of M.
The above-mentioned smart machine for being automatically moved into bright light place, the first light luminance absolute threshold N is in light
It is bright to obtain when being 300~350lux.
Beneficial effect：Due to using above technical scheme, this intelligence for being moved to bright light place of the present invention
Device systems and method constantly detect the brightness of smart machine surrounding environment by light sensor, to intelligence
Light intensity information value in equipment surrounding environment is judged, and smart machine can be made to reach light strong
Position, allows smart machine to advance towards highlighting direction all the time, eventually finds a most bright position
When, smart machine is out of service, by this kind of mode, smart machine when electricity is low, can automatically from
The corner of dark is opened, makes user be easy to find, so as in time for it charges.
Brief description of the drawings
Fig. 1 is moved to the workflow of the method for bright light place for a kind of smart machine in the embodiment of the present invention
Cheng Tu；
Fig. 2 is that a kind of structure of the smart machine for being automatically moved into bright light place in the embodiment of the present invention is shown
It is intended to.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the invention, and
It is not all, of embodiment.Based on the embodiment in the present invention, those of ordinary skill in the art are without work
The every other embodiment obtained on the premise of going out creative work, belongs to the scope of protection of the invention.
It should be noted that in the case where not conflicting, the embodiment in the present invention and the spy in embodiment
Levying to be mutually combined.
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings, but not as of the invention
Limit.
Reference picture 1, a kind of method that smart machine is moved to bright light place, comprises the following steps：
Step A, opens program, constantly smart machine movement and the light intensity of detection environment；
Step B, the light intensity information value that will be detected is compared, and draws maximum light intensity information value M；
Step C, the electricity of the power supply of smart machine is compared with default power threshold V；
Step D, when the electricity in Based Intelligent Control machine people is less than power threshold V, then judges detection environment
Whether the real-time light intensity value of information is more than or equal to the predetermined condition value of maximum light intensity information value M
Or the light intensity information value that real-time detection is arrived is more than or equal to the first light luminance absolute threshold N；
Step E, when the real-time light intensity value of information be more than or equal to maximum light intensity information value M when or light
Strength information value is more than or equal to the first light luminance absolute threshold N, then smart machine stops movement.
Further, a kind of smart machine of the invention is moved to the preferred embodiment of the method for bright light place
In, the step C also includes step C1, when the electricity in Based Intelligent Control machine people is more than power threshold V
When, then return to step A.
Further, a kind of smart machine of the invention is moved to the preferred embodiment of the method for bright light place
In, the step E also includes step E1, when the real-time light intensity value of information is less than maximum light intensity letter
During breath value M or when light intensity information value is less than the first light luminance absolute threshold N, then smart machine
Continue to move to.
Further, a kind of smart machine of the invention is moved to the preferred embodiment of the method for bright light place
In, the predetermined condition value of maximum light intensity information value M refers to real-time light described in the step D
Strength information value is the 60-80% of maximum light intensity information value M.
Further, a kind of smart machine of the invention is moved to the preferred embodiment of the method for bright light place
In, the real-time light intensity value of information is the 70% of maximum light intensity information value M.
Further, a kind of smart machine of the invention is moved to the preferred embodiment of the method for bright light place
In, the first light luminance absolute threshold N is obtained when light is for 300~350lux.
After smart machine is started working, constantly the light intensity of detection environment, draws maximum light intensity letter
Breath value, when work soon exhausts to power supply, smart machine starts while work or be stopped,
While finding the position that brightness meets pre-provisioning request, once the brightness of position meets pre-provisioning request, intelligently set
It is standby to stop moving, facilitate user to find smart machine in time and give its charging.
A kind of reference picture 2, smart machine for being automatically moved into bright light place comprising mobile module 1, drives
Module 2, power module 3 and control module 4, the mobile module 1 are arranged on the bottom of smart machine,
The control module 4 is connected with the drive module 2, described in the presence of the control module 4
Drive module 2 drives the mobile module 1 to move, and also including light sensor 5, is arranged on intelligence and sets
Standby top, for detecting light intensity, sends light intensity information value to the control module 4.
Further, a kind of preferred embodiment of the smart machine for being automatically moved into bright light place of the present invention
In, the control module 4 includes：
Information Store submodule 41, for presetting a power threshold V and the first light luminance absolute threshold N；
Information processing submodule 42, the light intensity information for being detected according to the light sensor 5 is worth
Maximum light intensity information value M.
Further, a kind of preferred embodiment of the smart machine for being automatically moved into bright light place of the present invention
In, the power module 3 can charge, described when electricity is less than or equal to the power threshold V
Control module 4 judges that brightness meets the position of pre-provisioning request.
Further, a kind of preferred embodiment of the smart machine for being automatically moved into bright light place of the present invention
In, the light intensity information value that the real-time detection of light sensor 5 is arrived is exhausted more than or equal to the first light luminance
To threshold value N, or the real-time detection of the light sensor 5 to light intensity information value be more than or equal to
The 60%~80% of maximum light intensity information value M, when light is not less than maximum light intensity information value M
60%~80% when, smart machine is substantially at indoor more spacious position.
Further, a kind of preferred embodiment of the smart machine for being automatically moved into bright light place of the present invention
In, when light is not less than the 70% of maximum light intensity information value M, intelligence can be better ensured that
Equipment is located at indoor more spacious position.
Further, a kind of preferred embodiment of the smart machine for being automatically moved into bright light place of the present invention
In, the first light luminance absolute threshold N is obtained when light is for 300~350lux.
A kind of sweeping robot for being automatically moved into bright light place, including it is any of the above-described be automatically moved into it is bright
The smart machine of bright position.
After sweeping robot is started working, sweeping robot carries out floor cleaning work.Sweeping robot exists
While mobile, the light sensor at the top of the sweeping robot of ground constantly detects sweeping robot institute
In the light intensity of position, at regular intervals (such as：100ms or 1s) daylighting once, obtain now
Light intensity information value and store.When walking to other operating positions is as being close at window, information
When treatment subelement judges to have larger light intensity information value, then the light intensity information value of maximum is stored.
Therefore, sweeping robot will constantly refresh the light intensity value of information during floor cleaning is performed, from
And obtain the maximum light intensity information value M in the course of work.When the electricity of sweeping robot is relatively low,
Such as only remaining 10% electricity, then sweeping robot starts to judge whether the brightness of present position meets pre-
Provisioning request, i.e., judge indirectly sweeping robot whether positioned at furniture block down or room it is spacious at.By
Maximum light intensity information value M (maximum light intensity letters are had been achieved with the sweeping robot course of work
The position of breath value M values may be near window or balcony), now, as long as so that when electricity is relatively low
The light of sweeping robot present position is not less than the certain limit of maximum light intensity information value M, then
Can basic guarantee sweeping robot stay out tool under (such as：Table bottom, bed bottom, sofa bottom), Yong Huyi
Eye just can be found that sweeping robot, so as to give its charging.Increased the first light luminance absolute threshold N
Afterwards, under the indoor environment of part, the fugitive tool of leaving home of sweeping robot can quickly stop walking after blocking,
Save the electricity of sweeping robot.
Such as under indoor environment on daytime, light of the usual sweeping robot under furniture is weaker, what it was measured
Light intensity information value is less than 300lux, and works as sweeping robot and flee under furniture bottom, positioned at indoor spacious
During position, light is relatively strong, and the light luminance value of information that it is measured is usually above 350lux.The present embodiment is only
The acquirement condition of the first light luminance absolute threshold N is illustrated, not only limit brightness is 300~350lux,
Also can there are some deviations in the value measured such as different weather or different machines, need to correspond to and adjust.Illustrate below
Illustrate, between the first light luminance absolute threshold N and the 60%~80% of maximum light intensity information value M
Relation.Stronger in light, during such as fine day, window or balcony disk brightness have 1000~1500lux, then
The 60% of maximum light intensity information value M is 600lux~900lux, and actual sweeping robot is just fled from
During furniture bottom, its correspondence position light intensity information value is only 350lux or so.Now, sweeping robot
Judge that light intensity information value preferentially reaches the first light luminance absolute threshold N, then stop walking, without
It is the position of 600lux that needs walk on to light intensity information value.It is indoor under the weaker environment of light
The most bright position of illumination is also only 350lux, then sweeping robot judges that light intensity information value preferentially reaches
Stop walking to the 60% of maximum light intensity information value 350lux, be not required to need not continue to walking to light
The line strength value of information is in the position of 350lux.
This smart machine system and method for being moved to bright light place of the present invention is continuous by light sensor
The brightness of smart machine surrounding environment is detected, the light intensity information value in smart machine surrounding environment is done
Go out to judge, smart machine can be made to reach the strong position of light, make smart machine most strong towards light all the time
Direction advance, when eventually finding a most bright position, smart machine is out of service, by this kind of side
Formula, smart machine can automatically leave the corner of dark when electricity is low, make user be easy to find,
So as in time for it charges.
The foregoing is only preferred embodiments of the present invention, not thereby limit embodiments of the present invention and
Protection domain, to those skilled in the art, should can appreciate that all utilization description of the invention
And the equivalent done by diagramatic content and the scheme obtained by obvious change, should include
Within the scope of the present invention.
Claims (10)
1. a kind of method that smart machine is moved to bright light place, it is characterised in that comprise the following steps：
Step A, opens program, constantly smart machine movement and the light intensity of detection environment；
Step B, the light intensity information value that will be detected is compared, and draws maximum light intensity information value M；
Step C, the electricity of the power supply of smart machine is compared with default power threshold V；
Step D, when the electricity in Based Intelligent Control machine people is less than power threshold V, then judges detection environment
Whether the real-time light intensity value of information is more than or equal to the predetermined condition value of maximum light intensity information value M
Or the light intensity information value that real-time detection is arrived is more than or equal to the first light luminance absolute threshold N；
Step E, when the real-time light intensity value of information be more than or equal to maximum light intensity information value M when or light
Strength information value is more than or equal to the first light luminance absolute threshold N, then smart machine stops movement.
2. the method that a kind of smart machine according to claim 1 is moved to bright light place, its feature
It is that the step C is also included when the electricity in Based Intelligent Control machine people is more than power threshold V,
Then return to step A.
3. the method that a kind of smart machine according to claim 1 is moved to bright light place, its feature
It is that the step E also includes step E1, when the real-time light intensity value of information is less than maximum light intensity
During value of information M or when light intensity information value is less than the first light luminance absolute threshold N, then intelligence sets
It is standby to continue to move to.
4. the method that a kind of smart machine according to claim 1 is moved to bright light place, its feature
It is that the predetermined condition value of maximum light intensity information value M refers to Real-Time Optical described in the step D
The line strength value of information is the 60-80% of maximum light intensity information value M.
5. the method that a kind of smart machine according to claim 1 is moved to bright light place, its feature
It is that the real-time light intensity value of information is the 70% of maximum light intensity information value M.
6. the method that a kind of smart machine according to claim 1 is moved to bright light place, its feature
It is that the first light luminance absolute threshold N is obtained when light is for 300~350lux.
7. a kind of smart machine for being automatically moved into bright light place, comprising mobile module (1), drive module
(2), power module (3) and control module (4), the mobile module (1) are arranged on intelligence and set
Standby bottom, the control module (4) is connected with the drive module (2), in the control module
(4) in the presence of, the drive module (2) drives the mobile module (1) mobile, and its feature exists
In also including：
Light sensor (5), is arranged on smart machine top, for detecting light intensity, light intensity is believed
Breath value sends the control module (4) to.
8. a kind of smart machine for being automatically moved into bright light place according to claim 7, its feature
It is that the control module (4) includes：
Information Store submodule (41), for presetting a power threshold V and the first light luminance absolute threshold N；
Information processing submodule (42), for the light intensity information detected according to the light sensor (5)
It is worth maximum light intensity information value M.
9. a kind of smart machine for being automatically moved into bright light place according to claim 8, its feature
It is that the power module (3) is chargeable power module, when electricity is less than or equal to the electricity
During threshold value V, the control module (4) judges that brightness meets the position of pre-provisioning request.
10. a kind of smart machine for being automatically moved into bright light place according to claim 8, it is special
Levy and be, the brightness meets the requirements and refers to：The light intensity letter that light sensor (5) real-time detection is arrived
Breath value is more than or equal to the first light luminance absolute threshold N, or the light sensor (5) is examined in real time
The light intensity information value for measuring is more than or equal to the 60%~80% of maximum light intensity information value M.
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| CN201510823762.6A CN106737700A (en) | 2015-11-23 | 2015-11-23 | A kind of smart machine system and method for being moved to bright light place |
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| CN201510823762.6A CN106737700A (en) | 2015-11-23 | 2015-11-23 | A kind of smart machine system and method for being moved to bright light place |
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| CN109339859A (en) * | 2018-11-22 | 2019-02-15 | 宁波敬业控股集团有限公司 | A kind of mine search and rescue system and rescue method based on visible light communication |
| 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 |
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