CN107175675A - The ambient brightness adjusting method and device of sensitive touch controllable function based on robot - Google Patents
The ambient brightness adjusting method and device of sensitive touch controllable function based on robot Download PDFInfo
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- CN107175675A CN107175675A CN201710444591.5A CN201710444591A CN107175675A CN 107175675 A CN107175675 A CN 107175675A CN 201710444591 A CN201710444591 A CN 201710444591A CN 107175675 A CN107175675 A CN 107175675A
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- Prior art keywords
- brightness
- environment brightness
- robot
- indoor environment
- curtain
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
- B25J13/084—Tactile sensors
Abstract
The present invention discloses a kind of ambient brightness adjusting method of the sensitive touch controllable function based on robot, and the adjusting method includes：After robot, which detects same indoor TV, to be opened, indoor environment brightness is obtained；Judge whether the indoor environment brightness is more than predetermined luminance threshold value；When the indoor environment brightness is more than predetermined luminance threshold value, the first outdoor environment brightness is obtained；When the first outdoor environment brightness is in open mode more than the indoor environment brightness, and the indoor curtain, controls the robot to close the curtain and specify area, to reduce the indoor environment brightness；The invention also discloses a kind of brightness regulating apparatus；Brightness adjusting method and device that the present invention is provided, realize when watching TV, indoor environment brightness is automatically adjusted by the sensitive touch technology of robot, the display screen of TV is reflective during preventing that indoor environment brightness is excessive, the convenience that brightness is adjusted is improved, the comfortableness that user watches TV is improved.
Description
Technical field
The present invention relates to field of intelligent control technology, the environment of more particularly to a kind of sensitive touch controllable function based on robot
Brightness adjusting method and device.
Background technology
With the fast development of science and technology, smart machine has come into huge numbers of families, such as intelligent robot.Although robot is rich
The rich life of people, can help people to do something, but be due to current robot sensitiveness it is poor, hand joint is not
Sensitive etc., some things are difficult to help people to complete.For example, during user watches TV indoors, may there is room
The brightness of interior environment is improper and reduces the comfortableness of viewing TV.For example when the brightness of indoor environment is excessively bright, TV it is aobvious
Reflective phenomenon occurs in display screen curtain.Now, on the one hand, need user to observe surrounding environment, then blocked manually with shelter
Some light, or close the doors and windows, and during user is adjusted manually, user is only according to the subjective sensation of oneself
It is adjusted, regulation also repeatedly is difficult to by light control in the range of suitably viewing TV, very inconvenient.On the other hand,
For smaller child, he, which is not aware that, does not currently see the image shown on tv display screen, is due to light
Line is excessively bright causing reflective formation, does not know how more to solve so that user's viewing TV is very uncomfortable, but also may
The eyesight of user affects.
The content of the invention
It is a primary object of the present invention to provide a kind of ambient brightness regulation side of the sensitive touch controllable function based on robot
Method and device, improve the convenience that brightness is adjusted, and lifting user watches the comfortableness of TV.
The invention provides a kind of ambient brightness adjusting method of the sensitive touch controllable function based on robot, the regulation side
Method includes：
After robot, which detects same indoor TV, to be opened, indoor environment brightness is obtained；
Judge whether the indoor environment brightness is more than predetermined luminance threshold value；
When the indoor environment brightness is more than predetermined luminance threshold value, the first outdoor environment brightness is obtained；
When the first outdoor environment brightness be more than the indoor environment brightness, and the indoor curtain be in open shape
During state, control the robot to close the curtain and specify area, to reduce the indoor environment brightness.
Further, it is described judge the indoor environment brightness whether be more than predetermined luminance threshold value the step of after, it is described
Adjusting method also includes：
When the indoor environment brightness is less than predetermined luminance threshold value, the second outdoor environment brightness is obtained；
When the second outdoor environment brightness is more than the indoor environment brightness, and the indoor curtain is in and closed
During state, control the robot that the curtain is opened into preset area, to improve the indoor environment brightness.
Further, it is described when the indoor environment brightness is less than predetermined luminance threshold value, obtain the second outdoor environment bright
After the step of spending, the adjusting method also includes：
When the second outdoor environment brightness is less than the indoor environment brightness, and the indoor illuminating lamp is in and closed
During closed state, the robot is controlled to open the illuminating lamp, to improve the indoor environment brightness.
Further, it is described when the indoor environment brightness is more than predetermined luminance threshold value, obtain the first outdoor environment bright
After the step of spending, the adjusting method also includes：
When the first outdoor environment brightness is in and opened less than the indoor environment brightness, and the indoor illuminating lamp
During state, the robot is controlled to close the illuminating lamp, to reduce the indoor environment brightness.
Further, when the first outdoor environment brightness is more than the indoor environment brightness, and the indoor curtain
During in open mode, controlling the robot that the curtain is closed into the step of specifying area includes：
When the first outdoor environment brightness be more than the indoor environment brightness, and the indoor curtain be in open shape
During state, according to the first outdoor environment brightness, determine that the mapping closed between area and reduction brightness value of the curtain is closed
System；
According to the mapping relations closed between area and reduction brightness value of the curtain and the indoor environment brightness,
The specified area that the curtain is closed is determined, controls the robot that the curtain is closed into the specified area.
Present invention also offers a kind of ambient brightness adjusting means of the sensitive touch controllable function based on robot, the regulation
Device includes：
First acquisition module, for after robot detects same indoor TV and opened, obtaining indoor environment brightness；
Judge module, for judging whether the indoor environment brightness is more than predetermined luminance threshold value；
Second acquisition module, for when the indoor environment brightness is more than predetermined luminance threshold value, obtaining the first outdoor ring
Border brightness；
First control module, for being more than the indoor environment brightness, and the room when the first outdoor environment brightness
When interior curtain is in open mode, controls the robot to close the curtain and specify area, to reduce the indoor ring
Border brightness.
Further, the adjusting means also includes：
3rd acquisition module, for when the indoor environment brightness is less than predetermined luminance threshold value, obtaining second Room outer shroud
Border brightness；
Second control module, it is and described for when the second outdoor environment brightness is more than the indoor environment brightness
When indoor curtain is closed, control the robot that the curtain is opened into preset area, to improve the interior
Ambient brightness.
Further, the adjusting means also includes：
3rd control module, it is and described for when the second outdoor environment brightness is less than the indoor environment brightness
When indoor illuminating lamp is closed, the robot is controlled to open the illuminating lamp, to improve the indoor environment
Brightness.
Further, the adjusting means also includes：
4th control module, for being less than the indoor environment brightness, and the room when the first outdoor environment brightness
When interior illuminating lamp is in open mode, the robot is controlled to close the illuminating lamp, it is bright to reduce the indoor environment
Degree.
Further, first control module includes：
Determining unit, for being more than the indoor environment brightness when the first outdoor environment brightness, and it is described indoor
When curtain is in open mode, according to the first outdoor environment brightness, closing area and the reduction brightness of the curtain are determined
Mapping relations between value；
Control unit, for the mapping relations and described closed between area and reduction brightness value according to the curtain
Indoor environment brightness, determines the specified area that the curtain is closed, and controls the robot that the curtain is closed into described specify
Area.
The method that sensitive touch controllable function provided in an embodiment of the present invention based on robot carries out indoor environment brightness regulation
And device so that robot is during user's viewing TV, by obtaining indoor environment brightness, and when indoor environment brightness
During more than predetermined luminance threshold value, the first outdoor environment brightness is obtained.Then when the first outdoor environment brightness is bright more than indoor environment
Degree, and with robot when same indoor curtain is in open mode, curtain is closed and specifies area by robot automatically, to drop
Low indoor environment brightness.It is achieved thereby that user is when watching TV, robot can automatically adjust room by sensitive touch technology
Interior ambient brightness, the display screen of TV is reflective during preventing that indoor environment brightness is excessive, is repeatedly adjusted manually without user
Section, not only improves user and watches the comfortableness of TV, and improve the convenience that brightness is adjusted.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of the first embodiment of the adjusting method of the present invention；
Fig. 2 is the schematic flow sheet of the second embodiment of the adjusting method of the present invention；
Fig. 3 is the schematic flow sheet of the 3rd embodiment of the adjusting method of the present invention；
Fig. 4 is the schematic flow sheet of the fourth embodiment of the adjusting method of the present invention；
Fig. 5 is the module diagram of the first embodiment of the adjusting means of the present invention；
Fig. 6 is the module diagram of the second embodiment of the adjusting means of the present invention；
Fig. 7 is the module diagram of the 3rd embodiment of the adjusting means of the present invention；
Fig. 8 is the module diagram of the fourth embodiment of the adjusting means of the present invention.
Embodiment
As shown in figure 1, the first of a kind of ambient brightness adjusting method of the sensitive touch controllable function based on robot of the present invention
Adjusting method in embodiment, the embodiment comprises the following steps：
S10, after robot detects same indoor TV and opened, obtain indoor environment brightness；
S20, judge the indoor environment brightness whether be more than predetermined luminance threshold value；
S30, when the indoor environment brightness be more than predetermined luminance threshold value when, obtain the first outdoor environment brightness；
S40, when the first outdoor environment brightness be more than the indoor environment brightness, and the indoor curtain be in beat
During open state, control the robot to close the curtain and specify area, to reduce the indoor environment brightness.
The ambient brightness adjusting method of sensitive touch controllable function of the present embodiment based on robot is mainly used in robot, should
Robot has hand joint, touch sensor, touch area etc., and the touch sensor positions the side of object with 3D visions in real time
Position, to realize identification and the sensing to object.Touch sensor is built-in with the lighting apparatus such as red, yellow, white, blueness, makes
It can rapidly make a response according to the signal of instruction, so as to realize sensitive touch controllable function so that robot hand joint is cleverer
It is living sensitive.
In order to prevent indoor environment brightness is excessively bright from causing user when watching TV, the display screen of TV is reflective, to use
Family is made troubles, and robot can pre-set brightness control function, with the brightness case according to current indoor environment to curtain,
Lamp, door, and/or window etc. are correspondingly adjusted.
First, whether robot detecting TV is opened, when power button etc. is touched on the remote control or panel for detect TV
During the open command of hair, illustrate that TV has been switched on.After TV is opened, the brightness control function of robot is automatically turned on.When
After the brightness control function of robot is opened, robot can be by the indoor light sensor that pre-sets or for detecting
The detector of brightness, is detected to the indoor environment where robot, to obtain indoor environment brightness.Indoor light sensor
Or detector can be one or more, can be arranged on the peripheral location of robot, can be a part of robot, also may be used
To be the external part being connected with robot.
After indoor environment brightness is obtained, robot will detect that obtained indoor environment brightness is carried out with predetermined luminance threshold value
Compare, judge whether the indoor environment brightness that detection is obtained is more than predetermined luminance threshold value, the predetermined luminance threshold value can be viewing
During TV programme, the suitable brightness range of tv display screen, when indoor environment brightness is more than predetermined luminance threshold value, can cause electricity
Depending on display screen it is reflective；When indoor environment brightness is less than predetermined luminance threshold value, the indoor environment for watching TV programme is bright
Spend secretly, the eyesight of user may be impacted.
When the indoor environment brightness that detection is obtained is more than predetermined luminance threshold value, illustrate indoor environment brightness now
Bright, the display screen for being likely to result in TV is reflective.Robot in advance with for detect outdoor environment brightness it is outdoor it is photosensitive pass
Sensor is connected, and the outdoor light sensor can be arranged on the outdoor wall around window.Indoor environment is caused in order to know
Brightness excessively it is bright whether be outdoor light it is too strong, whether be light-illuminating etc., therefore robot needs to send out to outdoor light sensor
Instruction is surveyed in censorship, and the outdoor light sensor of control is detected to current outdoor environment brightness, to obtain the first outdoor environment
Brightness.
Then it will detect that the first obtained outdoor environment brightness is sent to robot by outdoor light sensor, robot exists
Obtain after the first outdoor environment brightness, the first outdoor environment brightness and indoor environment brightness are compared, judge that first is outdoor
Whether ambient brightness is more than indoor environment brightness.
When the first outdoor environment brightness is more than indoor environment brightness, robot determines whether that curtain is to be in open shape
State, is in closure state.For example, robot can gather curtain image information by the camera carried, according to the window
Curtain image information is compared with the target curtain image information prestored, so that judge curtain opens or closes state.
When indoor curtain is in open mode, the brightness of indoor environment can be reduced by closing curtain, now robot can be with
First calculate the difference between the first outdoor environment and indoor environment brightness, and TV display screen it is non-reflective when indoor environment
Object brightness, to determine to need the size for closing curtain, the aobvious of TV can not be solved to avoid blindly closing curtain
The reflective problem of display screen curtain, or cause indoor environment too dark brightness.
After it is determined that needing to close the size of curtain, robot motion is then pre- by hand joint to the curtain
The touch sensor control hand joint motion put, curtain is closed and specifies area, to reduce indoor environment brightness to suitable bright
Degree so that user is pleasant when watching TV programme.After the closing of regulation curtain, robot can be every preset time
Reacquire indoor environment brightness judged, so as to by indoor environment brilliance control in suitable scope.
It should be appreciated that the brightness control function of robot can be the use need that robot is used according to user oneself
Ask, be turned on and off.After the brightness control function of closing machine people, robot, which will not obtain indoor environment brightness, to be come to window
Curtain carries out corresponding control to adjust indoor environment brightness.After the brightness control function of robot is opened, robot will be obtained
Indoor environment brightness is taken to carry out curtain corresponding control to adjust indoor environment brightness, without user's hands-on.
Robot of the embodiment of the present invention by obtaining indoor environment brightness, and works as room during user's viewing TV
When interior ambient brightness is more than predetermined luminance threshold value, the first outdoor environment brightness is obtained.Then when the first outdoor environment brightness is more than
Indoor environment brightness, and with robot when same indoor curtain is in open mode, robot, which automatically closes curtain, to be referred to
Area is determined, to reduce indoor environment brightness.It is achieved thereby that user is when watching TV, robot can pass through sensitive touch technology
Indoor environment brightness is automatically adjusted, the display screen of TV is reflective during preventing that indoor environment brightness is excessive, without user
Repeatedly regulation manually, not only improves user and watches the comfortableness of TV, and improve the convenience that brightness is adjusted.
Further, as shown in Fig. 2 a kind of ambient brightness regulation side of the sensitive touch controllable function based on robot of the present invention
In the second embodiment of method, the adjusting method of the embodiment, it may include after above-mentioned steps S20：
S50, when the indoor environment brightness be less than predetermined luminance threshold value when, obtain the second outdoor environment brightness；
S60, when the second outdoor environment brightness is more than the indoor environment brightness, and the indoor curtain is in
During closed mode, control the robot that the curtain is opened into preset area, to improve the indoor environment brightness.
In robot after indoor environment brightness is obtained, robot will detect obtained indoor environment brightness and predetermined luminance
Threshold value is compared, and judges whether the indoor environment brightness that detection is obtained is more than predetermined luminance threshold value.The interior obtained when detection
When ambient brightness is less than predetermined luminance threshold value, illustrate indoor environment too dark brightness now, user watches electricity in such a case
It is very bad to user depending on may result in eyesight reduction.
Indoor environment brightness is improved to know whether can be by open curtain, whether can be by opening and shine
Bright lamp improves indoor environment brightness etc., therefore robot needs to detect to it having set up light sensor outside junction chamber and send
Instruction, the outdoor light sensor of control is detected to current outdoor environment brightness, to obtain the second outdoor environment brightness.
Then it will detect that the second obtained outdoor environment brightness is sent to robot by outdoor light sensor, robot exists
Obtain after the second outdoor environment brightness, the second outdoor environment brightness and indoor environment brightness are compared, judge that second is outdoor
Whether ambient brightness is more than indoor environment brightness.
When the second outdoor environment brightness is more than indoor environment brightness, robot determines whether that curtain is to be in open shape
State, is in closure state.When indoor curtain is closed, indoor environment can be improved by opening curtain
Brightness, now robot can first calculate the difference between the second outdoor environment and indoor environment brightness, determine the opening of curtain
Mapping relations between area and raising brightness value.According to curtain open area and improve brightness value between mapping relations,
And the parameter such as current indoor environment brightness, the preset area that curtain is opened is determined, can not be solved with avoiding blindly opening curtain
Certainly the problem of indoor environment too dark brightness, or the display screen for causing indoor environment brightness excessively bright and causing TV is reflective.
It is determined that need open curtain size after, robot motion to the curtain, robot motion to the curtain,
Then control hand joint to move by the preset touch sensor of hand joint, curtain is opened into preset area, to improve room
Interior ambient brightness is to suitable brightness so that pleasant during user's viewing TV.After curtain is opened, robot can be every pre-
If the time reacquire indoor environment brightness judged, so as to by indoor environment brilliance control in suitable scope.So as to
User is realized when watching TV, robot can automatically adjust indoor environment brightness to suitable brightness, not only solve interior
Impacted when ambient brightness is excessively dark to user's eyesight, it is reflective without the excessively bright display screen for causing TV of brightness regulation, carry
The high convenience that brightness is adjusted, has pointed out Consumer's Experience.
Further, as shown in figure 3, a kind of ambient brightness regulation side of the sensitive touch controllable function based on robot of the present invention
In the 3rd embodiment of method, the adjusting method of the embodiment, it may include after above-mentioned steps S50：
S70, when the second outdoor environment brightness is less than the indoor environment brightness, and at the indoor illuminating lamp
When closed mode, the robot is controlled to open the illuminating lamp, to improve the indoor environment brightness.
When indoor environment brightness is less than predetermined luminance threshold value, robot is after the second outdoor environment brightness is obtained, by the
Two outdoor environment brightness are compared with indoor environment brightness, judge whether the second outdoor environment brightness is more than indoor environment bright
Degree.When the second outdoor environment brightness is less than indoor environment brightness, illustrate that now indoor environment can not be made up by outdoor optical
Brightness.In order to know whether to improve indoor environment brightness by opening illuminating lamp, robot determines whether interior
Illuminating lamp is to be in open mode, is in closed mode.Illuminated for example, robot can be gathered by the camera carried
Lamp image information, is compared according to the illuminating lamp image information and the target illumination lamp image information that prestores, so as to sentence
That determines illuminating lamp opens or closes state.When illuminating lamp is closed, robot is moved to luminous lamp switch button institute
Position, then control hand joint to move by the preset touch sensor of hand joint, illuminating lamp opened, to improve
Indoor environment brightness.So that user is pleasant using TV progress viewing program.
When interior has multiple illuminating lamps, robot can be calculated first between the second outdoor environment and indoor environment brightness
Difference, determine illuminating lamp opening number and improve brightness value between mapping relations.According to the opening number of illuminating lamp with
The parameters such as mapping relations and current indoor environment brightness between brightness value are improved, the number that illuminating lamp is opened is determined, may be used also
To determine the specified illuminating lamp for needing to open according to the position of illuminating lamp, to avoid blindly, opening multiple illuminating lamps causes indoor ring
The display screen that border brightness is excessively bright and causes TV it is reflective.After illuminating lamp is opened, robot can be every preset time weight
It is new to obtain indoor environment brightness and judged, so as to by indoor environment brilliance control in suitable scope.
The embodiment of the present invention solves indoor environment too dark brightness, and user watches TV and may result in such a case
The problem of eyesight is reduced, improves the intelligent and reliability that indoor environment brightness is adjusted for robot.
Further, as shown in figure 4, a kind of ambient brightness regulation side of the sensitive touch controllable function based on robot of the present invention
In the fourth embodiment of method, the adjusting method of the embodiment, it may include after above-mentioned steps S30：
S80, it is less than the indoor environment brightness when the first outdoor environment brightness, and the indoor illuminating lamp is in
During open mode, the robot is controlled to close the illuminating lamp, to reduce the indoor environment brightness.
When indoor environment brightness is more than predetermined luminance threshold value, in order to know whether cause indoor environment brightness excessively bright is room
Whether UV light is too strong, be light-illuminating etc., therefore robot needs to send detection instruction, control room to outdoor light sensor
Outer light sensor is detected to current outdoor environment brightness, to obtain the first outdoor environment brightness.Then by outdoor optical
Dependent sensor will detect that the first obtained outdoor environment brightness is sent to robot, and robot is obtaining the first outdoor environment brightness
Afterwards, the first outdoor environment brightness and indoor environment brightness are compared, judge whether the first outdoor environment brightness is more than interior
Ambient brightness.
When the first outdoor environment brightness be less than indoor environment brightness when, illustrate indoor environment brightness it is excessively bright be not outdoor light
Cause, and be probably that the irradiation of illuminating lamp is caused.Robot determines whether that illuminating lamp is to be in open mode, or place
In closed mode.When the illuminating lamp being connected with robot is in open mode, indoor ring can be reduced by closing illuminating lamp
The brightness in border, then the position that robot is moved to where luminous lamp switch button passes through the preset tactile sensing of hand joint
Device control hand joint motion, illuminating lamp is closed, to reduce the indoor environment brightness.Robot can be every preset time
Reacquire indoor environment brightness judged, so as to by indoor environment brilliance control in suitable scope.
When interior has multiple illuminating lamps, robot can be calculated first between the first outdoor environment and indoor environment brightness
Difference, determine illuminating lamp opening number and improve brightness value between mapping relations.According to the opening number of illuminating lamp with
The parameters such as mapping relations and current indoor environment brightness between brightness value are improved, it is determined that need to close the number of illuminating lamp,
The specified illuminating lamp for needing to close can also be determined according to the position of illuminating lamp, closing multiple illuminating lamps causes room to avoid blindly
Interior environment too dark brightness, makes troubles to user.
The present embodiment solves the problem of excessively bright display screen for causing TV of indoor environment brightness is reflective so that Yong Huke
To watch TV in the environment of suitable brightness, improve that indoor environment brightness is adjusted for robot is intelligent and flexible
Property.
Further, the 5th of a kind of ambient brightness adjusting method of the sensitive touch controllable function based on robot of the present invention the is real
Example is applied, in the adjusting method of the embodiment, above-mentioned steps S40 may include：
When the first outdoor environment brightness be more than the indoor environment brightness, and the indoor curtain be in open shape
During state, according to the first outdoor environment brightness, determine that the mapping closed between area and reduction brightness value of the curtain is closed
System；
According to the mapping relations closed between area and reduction brightness value of the curtain and the indoor environment brightness,
The specified area that the curtain is closed is determined, controls the robot that the curtain is closed into the specified area.
In order to improve the accuracy that indoor environment brightness is adjusted for robot, the pass according to curtain can be pre-set
The mapping relations closed between area and reduction brightness value, accurately to be controlled curtain according to the mapping relations.
Specifically, robot is bright by the first outdoor environment brightness and indoor environment after the first outdoor environment brightness is obtained
Degree is compared, and judges whether the first outdoor environment brightness is more than indoor environment brightness.Robot determines whether that curtain is place
In open mode, closure state is in.When indoor curtain is in open mode, room can be reduced by closing curtain
The brightness of interior environment, now robot is according to the first outdoor environment brightness, determine curtain closing area and reduction brightness value it
Between mapping relations.Then, according to the mapping relations closed between area and reduction brightness value of curtain and indoor environment brightness
Etc. parameter, it is determined that needing to close the specified area of curtain, the display screen of TV can not be solved to avoid blindly closing curtain
Reflective problem, or cause indoor environment too dark brightness.
After it is determined that needing to close the size of curtain, robot motion is then pre- by hand joint to the curtain
The touch sensor control hand joint motion put, curtain is closed and specifies area, to reduce indoor environment brightness to suitable bright
Degree so that user using the display screen of TV carry out viewing program, browse, plays game etc. operate it is pleasant.In regulation window
After the closing of curtain, robot can reacquire indoor environment brightness every preset time and be judged, so as to by indoor environment
Brilliance control is in suitable scope.User is realized when watching TV, robot can be according to indoor and outdoor surroundingses brightness essence
Quasi- control curtain, accurately to adjust indoor environment brightness, improves the reliability that brightness is adjusted.
Accordingly, as shown in figure 5, a kind of ambient brightness adjusting means of the sensitive touch controllable function based on robot of the present invention
First embodiment, the adjusting means in the embodiment includes：
First acquisition module 10, for after robot detects same indoor TV and opened, obtaining indoor environment bright
Degree；
Judge module 20, for judging whether the indoor environment brightness is more than predetermined luminance threshold value；
Second acquisition module 30, for when the indoor environment brightness is more than predetermined luminance threshold value, obtaining first outdoor
Ambient brightness；
First control module 40, for being more than the indoor environment brightness when the first outdoor environment brightness, and it is described
When indoor curtain is in open mode, controls the robot to close the curtain and specify area, to reduce the interior
Ambient brightness.
The ambient brightness adjusting means of sensitive touch controllable function of the present embodiment based on robot is mainly used in robot, should
Robot has hand joint, touch sensor, touch area etc., and the touch sensor positions the side of object with 3D visions in real time
Position, to realize identification and the sensing to object.Touch sensor is built-in with the lighting apparatus such as red, yellow, white, blueness, makes
It can rapidly make a response according to the signal of instruction, so as to realize sensitive touch controllable function so that robot hand joint is cleverer
It is living sensitive.
In order to prevent indoor environment brightness is excessively bright from causing user when watching TV, the display screen of TV is reflective, to use
Family is made troubles, and robot can pre-set brightness control function, with the brightness case according to current indoor environment to curtain,
Lamp, door, and/or window etc. are correspondingly adjusted.
First, whether robot detecting TV is opened, when power button etc. is touched on the remote control or panel for detect TV
During the open command of hair, illustrate that TV has been switched on.After TV is opened, the brightness control function of robot is automatically turned on.When
After the brightness control function of robot is opened, robot can call the first acquisition module 10 indoor photosensitive by what is pre-set
Sensor or the detector for detecting brightness, are detected to the indoor environment where robot, to obtain indoor environment
Brightness.Indoor light sensor or detector can be one or more, can be arranged on the peripheral location of robot, can be machines
The part of device people or the external part being connected with robot.
After indoor environment brightness is obtained, obtained indoor environment brightness and predetermined luminance threshold will be detected by judge module 20
Value is compared, and judges whether the obtained indoor environment brightness of detection is more than predetermined luminance threshold value, and the predetermined luminance threshold value can be with
When being viewing TV programme, the suitable brightness range of tv display screen, when indoor environment brightness is more than predetermined luminance threshold value, meeting
Cause TV display screen it is reflective；When indoor environment brightness is less than predetermined luminance threshold value, the interior of TV programme is watched
Ambient brightness is excessively dark, and the eyesight of user may be impacted.
When the indoor environment brightness that detection is obtained is more than predetermined luminance threshold value, illustrate indoor environment brightness now
Bright, the display screen for being likely to result in TV is reflective.Robot in advance with for detect outdoor environment brightness it is outdoor it is photosensitive pass
Sensor is connected, and the outdoor light sensor can be arranged on the outdoor wall around window.Indoor environment is caused in order to know
Brightness excessively it is bright whether be outdoor light it is too strong, whether be light-illuminating etc., therefore robot needs to call the second acquisition module 30
Detection instruction is sent to outdoor light sensor, the outdoor light sensor of control is detected to current outdoor environment brightness,
To obtain the first outdoor environment brightness.
Then it will detect that the first obtained outdoor environment brightness is sent to robot by outdoor light sensor, robot exists
Obtain after the first outdoor environment brightness, the first outdoor environment brightness and indoor environment brightness are compared, judge that first is outdoor
Whether ambient brightness is more than indoor environment brightness.
When the first outdoor environment brightness is more than indoor environment brightness, robot determines whether that curtain is to be in open shape
State, is in closure state.For example, robot can gather curtain image information by the camera carried, according to the window
Curtain image information is compared with the target curtain image information prestored, so that judge curtain opens or closes state.
When indoor curtain is in open mode, the brightness of indoor environment can be reduced by closing curtain, now robot can be with
First calculate the difference between the first outdoor environment and indoor environment brightness, and TV display screen it is non-reflective when indoor environment
Object brightness, to determine to need the size for closing curtain, the aobvious of TV can not be solved to avoid blindly closing curtain
The reflective problem of display screen curtain, or cause indoor environment too dark brightness.
After it is determined that needing to close the size of curtain, curtain is moved to by the control machine people of the first control module 40,
Then control hand joint to move by the preset touch sensor of hand joint, curtain is closed and specifies area, to reduce room
Interior ambient brightness is to suitable brightness so that user is pleasant when watching TV programme.After the closing of regulation curtain, machine
People can every preset time reacquire indoor environment brightness be judged, so as to by indoor environment brilliance control suitable
In the range of.
It should be appreciated that the brightness control function of robot can be the use need that robot is used according to user oneself
Ask, be turned on and off.After the brightness control function of closing machine people, robot, which will not obtain indoor environment brightness, to be come to window
Curtain carries out corresponding control to adjust indoor environment brightness.After the brightness control function of robot is opened, robot will be obtained
Indoor environment brightness is taken to carry out curtain corresponding control to adjust indoor environment brightness, without user's hands-on.
Robot of the embodiment of the present invention by obtaining indoor environment brightness, and works as room during user's viewing TV
When interior ambient brightness is more than predetermined luminance threshold value, the first outdoor environment brightness is obtained.Then when the first outdoor environment brightness is more than
Indoor environment brightness, and with robot when same indoor curtain is in open mode, robot, which automatically closes curtain, to be referred to
Area is determined, to reduce indoor environment brightness.It is achieved thereby that user is when watching TV, robot can pass through sensitive touch technology
Indoor environment brightness is automatically adjusted, the display screen of TV is reflective during preventing that indoor environment brightness is excessive, without user
Repeatedly regulation manually, not only improves user and watches the comfortableness of TV, and improve the convenience that brightness is adjusted.
Further, as shown in fig. 6, a kind of ambient brightness regulation dress of sensitive touch controllable function based on robot of the present invention
Adjusting means in the second embodiment put, the embodiment also includes：
3rd acquisition module 50, for when the indoor environment brightness is less than predetermined luminance threshold value, obtaining second outdoor
Ambient brightness；
Second control module 60, for when the second outdoor environment brightness is more than the indoor environment brightness, and institute
When the curtain for stating interior is closed, control the robot that the curtain is opened into preset area, to improve the room
Interior ambient brightness.
In robot after indoor environment brightness is obtained, robot will detect obtained indoor environment brightness and predetermined luminance
Threshold value is compared, and judges whether the indoor environment brightness that detection is obtained is more than predetermined luminance threshold value.The interior obtained when detection
When ambient brightness is less than predetermined luminance threshold value, illustrate indoor environment too dark brightness now, user watches electricity in such a case
It is very bad to user depending on may result in eyesight reduction.
Indoor environment brightness is improved to know whether can be by open curtain, whether can be by opening and shine
Bright lamp improves indoor environment brightness etc., therefore robot needs to call the 3rd acquisition module 50 to set up outside junction chamber to it
Light sensor sends detection instruction, and the outdoor light sensor of control is detected to current outdoor environment brightness, to obtain
Second outdoor environment brightness.
Then it will detect that the second obtained outdoor environment brightness is sent to robot by outdoor light sensor, robot exists
Obtain after the second outdoor environment brightness, the second outdoor environment brightness and indoor environment brightness are compared, judge that second is outdoor
Whether ambient brightness is more than indoor environment brightness.
When the second outdoor environment brightness is more than indoor environment brightness, robot determines whether that curtain is to be in open shape
State, is in closure state.When indoor curtain is closed, indoor environment can be improved by opening curtain
Brightness, now robot can first calculate the difference between the second outdoor environment and indoor environment brightness, determine the opening of curtain
Mapping relations between area and raising brightness value.According to curtain open area and improve brightness value between mapping relations,
And the parameter such as current indoor environment brightness, the preset area that curtain is opened is determined, can not be solved with avoiding blindly opening curtain
Certainly the problem of indoor environment too dark brightness, or the display screen for causing indoor environment brightness excessively bright and causing TV is reflective.
After it is determined that needing to open the size of curtain, the window is moved to by the control machine people of the second control module 60
Then curtain, robot motion to the curtain controls hand joint to move, by curtain by the preset touch sensor of hand joint
Preset area is opened, to improve indoor environment brightness to suitable brightness so that pleasant during user's viewing TV.Opening window
After curtain, robot can reacquire indoor environment brightness every preset time and be judged, so as to by indoor environment brightness control
System is in suitable scope.It is achieved thereby that user is when watching TV, robot can automatically adjust indoor environment brightness to suitable
Suitable brightness, is impacted when not only solving indoor environment too dark brightness to user's eyesight, is caused without brightness regulation is excessively bright
The display screen of TV is reflective, improves the convenience that brightness is adjusted, has pointed out Consumer's Experience.
Further, as shown in fig. 7, a kind of ambient brightness regulation dress of sensitive touch controllable function based on robot of the present invention
Adjusting means in the 3rd embodiment put, the embodiment also includes：
3rd control module 70, for when the second outdoor environment brightness is less than the indoor environment brightness, and institute
When the illuminating lamp for stating interior is closed, the robot is controlled to open the illuminating lamp, to improve the indoor ring
Border brightness.
When indoor environment brightness is less than predetermined luminance threshold value, robot is after the second outdoor environment brightness is obtained, by the
Two outdoor environment brightness are compared with indoor environment brightness, judge whether the second outdoor environment brightness is more than indoor environment bright
Degree.When the second outdoor environment brightness is less than indoor environment brightness, illustrate that now indoor environment can not be made up by outdoor optical
Brightness.In order to know whether to improve indoor environment brightness by opening illuminating lamp, robot determines whether interior
Illuminating lamp is to be in open mode, is in closed mode.Illuminated for example, robot can be gathered by the camera carried
Lamp image information, is compared according to the illuminating lamp image information and the target illumination lamp image information that prestores, so as to sentence
That determines illuminating lamp opens or closes state.When illuminating lamp is closed, moved by the control machine people of the 3rd control module 70
Move to the position where luminous lamp switch button, then control hand joint to transport by the preset touch sensor of hand joint
It is dynamic, illuminating lamp is opened, to improve indoor environment brightness.So that user is pleasant using TV progress viewing program.
When robot and multiple illuminating lamps establish a connection, robot can first calculate the second outdoor environment and interior
Difference between ambient brightness, determines the opening number of illuminating lamp and improves the mapping relations between brightness value.According to illuminating lamp
Opening number and improve the parameters such as mapping relations and current indoor environment brightness between brightness value, determine that illuminating lamp is beaten
The number opened, can also determine the specified illuminating lamp for needing to open according to the position of illuminating lamp, to avoid blindly opening multiple photographs
The display screen that bright lamp causes indoor environment brightness excessively bright and causes TV it is reflective.After illuminating lamp is opened, robot can be with
Every preset time reacquire indoor environment brightness judged, so as to by indoor environment brilliance control in suitable scope
It is interior.
The embodiment of the present invention solves indoor environment too dark brightness, and user watches may result in eyesight in such a case
The problem of reduction, improve the intelligent and reliability that indoor environment brightness is adjusted for robot.
Further, as shown in figure 8, a kind of ambient brightness regulation dress of sensitive touch controllable function based on robot of the present invention
Adjusting means in the fourth embodiment put, the embodiment also includes：
4th control module 80, for being less than the indoor environment brightness when the first outdoor environment brightness, and it is described
When indoor illuminating lamp is in open mode, the robot is controlled to close the illuminating lamp, to reduce the indoor environment
Brightness.
When indoor environment brightness is more than predetermined luminance threshold value, in order to know whether cause indoor environment brightness excessively bright is room
Whether UV light is too strong, be light-illuminating etc., therefore robot needs to send detection instruction, control room to outdoor light sensor
Outer light sensor is detected to current outdoor environment brightness, to obtain the first outdoor environment brightness.Then by outdoor optical
Dependent sensor will detect that the first obtained outdoor environment brightness is sent to robot, and robot is obtaining the first outdoor environment brightness
Afterwards, the first outdoor environment brightness and indoor environment brightness are compared, judge whether the first outdoor environment brightness is more than interior
Ambient brightness.
When the first outdoor environment brightness be less than indoor environment brightness when, illustrate indoor environment brightness it is excessively bright be not outdoor light
Cause, and be probably that the irradiation of illuminating lamp is caused.Robot determines whether that illuminating lamp is to be in open mode, or place
In closed mode.When the illuminating lamp being connected with robot is in open mode, indoor ring can be reduced by closing illuminating lamp
The brightness in border, the position that the control machine people of the 4th control module 80 is moved to where luminous lamp switch button, then passes through hand
The preset touch sensor control hand joint motion in joint, illuminating lamp is closed, to reduce the indoor environment brightness.Machine
People can every preset time reacquire indoor environment brightness be judged, so as to by indoor environment brilliance control suitable
In the range of.
When interior has multiple illuminating lamps, robot can be calculated first between the first outdoor environment and indoor environment brightness
Difference, determine illuminating lamp opening number and improve brightness value between mapping relations.According to the opening number of illuminating lamp with
The parameters such as mapping relations and current indoor environment brightness between brightness value are improved, it is determined that need to close the number of illuminating lamp,
The specified illuminating lamp for needing to close can also be determined according to the position of illuminating lamp, closing multiple illuminating lamps causes room to avoid blindly
Interior environment too dark brightness, makes troubles to user.
The present embodiment solves the problem of excessively bright display screen for causing TV of indoor environment brightness is reflective so that Yong Huke
To watch TV in the environment of suitable brightness, improve that indoor environment brightness is adjusted for robot is intelligent and flexible
Property.
Further, the 5th of a kind of ambient brightness adjusting means of the sensitive touch controllable function based on robot of the present invention the is real
Example is applied, in the adjusting means of the embodiment, above-mentioned first control module 40 may include：
Determining unit, for being more than the indoor environment brightness when the first outdoor environment brightness, and it is described indoor
When curtain is in open mode, according to the first outdoor environment brightness, closing area and the reduction brightness of the curtain are determined
Mapping relations between value；
Control unit, for the mapping relations and described closed between area and reduction brightness value according to the curtain
Indoor environment brightness, determines the specified area that the curtain is closed, and controls the robot that the curtain is closed into described specify
Area.
In order to improve the accuracy that indoor environment brightness is adjusted for robot, the pass according to curtain can be pre-set
The mapping relations closed between area and reduction brightness value, accurately to be controlled curtain according to the mapping relations.
Specifically, robot is bright by the first outdoor environment brightness and indoor environment after the first outdoor environment brightness is obtained
Degree is compared, and judges whether the first outdoor environment brightness is more than indoor environment brightness.Robot determines whether that curtain is place
In open mode, closure state is in.When indoor curtain is in open mode, room can be reduced by closing curtain
The brightness of interior environment, now determines closing area and the reduction brightness of curtain by determining unit according to the first outdoor environment brightness
Mapping relations between value.Then, control unit according to curtain close area and reduction brightness value between mapping relations and
The parameters such as indoor environment brightness, it is determined that needing to close the specified area of curtain, electricity can not be solved to avoid blindly closing curtain
Depending on display screen reflective problem, or cause indoor environment too dark brightness.
After it is determined that needing to close the size of curtain, control instruction is sent to curtain by control unit, then passed through
The preset touch sensor control hand joint motion of hand joint, curtain is closed and specifies area, bright to reduce indoor environment
Degree is to suitable brightness so that user using the display screen of TV carry out viewing program, browse, to play the operation such as game relatively more easypro
It is suitable.After the closing of regulation curtain, robot can reacquire indoor environment brightness every preset time and be judged, so as to
By indoor environment brilliance control in suitable scope.User is realized when watching TV, robot can be according to indoor and outdoor
Ambient brightness is precisely controlled curtain, accurately to adjust indoor environment brightness, improves the reliability that brightness is adjusted.
Claims (10)
1. a kind of ambient brightness adjusting method of the sensitive touch controllable function based on robot, it is characterised in that the adjusting method
Including：
After robot, which detects same indoor TV, to be opened, indoor environment brightness is obtained；
Judge whether the indoor environment brightness is more than predetermined luminance threshold value；
When the indoor environment brightness is more than predetermined luminance threshold value, the first outdoor environment brightness is obtained；
When the first outdoor environment brightness be more than the indoor environment brightness, and the indoor curtain be in open mode
When, control the robot to close the curtain and specify area, to reduce the indoor environment brightness.
2. the ambient brightness adjusting method of the sensitive touch controllable function as claimed in claim 1 based on robot, it is characterised in that
It is described judge the indoor environment brightness whether be more than predetermined luminance threshold value the step of after, the adjusting method also includes：
When the indoor environment brightness is less than predetermined luminance threshold value, the second outdoor environment brightness is obtained；
When the second outdoor environment brightness is more than the indoor environment brightness, and the indoor curtain is closed
When, control the robot that the curtain is opened into preset area, to improve the indoor environment brightness.
3. the ambient brightness adjusting method of the sensitive touch controllable function as claimed in claim 2 based on robot, it is characterised in that
It is described when the indoor environment brightness be less than predetermined luminance threshold value when, obtain the second outdoor environment brightness the step of after, it is described
Adjusting method also includes：
When the second outdoor environment brightness is less than the indoor environment brightness, and the indoor illuminating lamp is in and closes shape
During state, the robot is controlled to open the illuminating lamp, to improve the indoor environment brightness.
4. the ambient brightness adjusting method of the sensitive touch controllable function as claimed in claim 1 based on robot, it is characterised in that
It is described when the indoor environment brightness be more than predetermined luminance threshold value when, obtain the first outdoor environment brightness the step of after, it is described
Adjusting method also includes：
When the first outdoor environment brightness be less than the indoor environment brightness, and the indoor illuminating lamp be in open mode
When, control the robot to close the illuminating lamp, to reduce the indoor environment brightness.
5. the ambient brightness adjusting method of the sensitive touch controllable function based on robot as described in any one of Claims 1-4, its
It is characterised by, when the first outdoor environment brightness is in and opened more than the indoor environment brightness, and the indoor curtain
During state, controlling the robot that the curtain is closed into the step of specifying area includes：
When the first outdoor environment brightness be more than the indoor environment brightness, and the indoor curtain be in open mode
When, according to the first outdoor environment brightness, determine the mapping relations closed between area and reduction brightness value of the curtain；
According to the mapping relations closed between area and reduction brightness value of the curtain and the indoor environment brightness, it is determined that
The specified area that the curtain is closed, controls the robot that the curtain is closed into the specified area.
6. a kind of ambient brightness adjusting means of the sensitive touch controllable function based on robot, it is characterised in that the adjusting means
Including：
First acquisition module, for after robot detects same indoor TV and opened, obtaining indoor environment brightness；
Judge module, for judging whether the indoor environment brightness is more than predetermined luminance threshold value；
Second acquisition module, for when the indoor environment brightness is more than predetermined luminance threshold value, obtaining the first outdoor environment bright
Degree；
First control module, for being more than the indoor environment brightness when the first outdoor environment brightness, and it is described indoor
When curtain is in open mode, controls the robot to close the curtain and specify area, it is bright to reduce the indoor environment
Degree.
7. the ambient brightness adjusting means of the sensitive touch controllable function as claimed in claim 6 based on robot, it is characterised in that
The adjusting means also includes：
3rd acquisition module, for when the indoor environment brightness is less than predetermined luminance threshold value, obtaining the second outdoor environment bright
Degree；
Second control module, for when the second outdoor environment brightness is more than the indoor environment brightness, and the interior
Curtain when being closed, control the robot that the curtain is opened into preset area, to improve the indoor environment
Brightness.
8. the ambient brightness adjusting means of the sensitive touch controllable function as claimed in claim 7 based on robot, it is characterised in that
The adjusting means also includes：
3rd control module, for when the second outdoor environment brightness is less than the indoor environment brightness, and the interior
Illuminating lamp when being closed, control the robot to open the illuminating lamp, to improve the indoor environment brightness.
9. the ambient brightness adjusting means of the sensitive touch controllable function as claimed in claim 6 based on robot, it is characterised in that
The adjusting means also includes：
4th control module, for being less than the indoor environment brightness when the first outdoor environment brightness, and it is described indoor
When illuminating lamp is in open mode, the robot is controlled to close the illuminating lamp, to reduce the indoor environment brightness.
10. the ambient brightness adjusting means of the sensitive touch controllable function based on robot as described in any one of claim 6 to 9,
Characterized in that, first control module includes：
Determining unit, for being more than the indoor environment brightness, and the indoor curtain when the first outdoor environment brightness
During in open mode, according to the first outdoor environment brightness, determine the curtain closing area and reduction brightness value it
Between mapping relations；
Control unit, for according to the mapping relations closed between area and reduction brightness value of the curtain and the interior
Ambient brightness, determines the specified area that the curtain is closed, and controls the robot that the curtain is closed into the specified area.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2017101616461 | 2017-03-17 | ||
| CN201710161646 | 2017-03-17 |
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| Publication Number | Publication Date |
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| CN107175675A true CN107175675A (en) | 2017-09-19 |
Family
ID=59836313
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710444591.5A Withdrawn CN107175675A (en) | 2017-03-17 | 2017-06-13 | The ambient brightness adjusting method and device of sensitive touch controllable function based on robot |
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| CN (1) | CN107175675A (en) |
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