CN107898387A - Recharge control method, system, readable storage medium storing program for executing and smart machine - Google Patents
Recharge control method, system, readable storage medium storing program for executing and smart machine Download PDFInfo
- Publication number
- CN107898387A CN107898387A CN201710958027.5A CN201710958027A CN107898387A CN 107898387 A CN107898387 A CN 107898387A CN 201710958027 A CN201710958027 A CN 201710958027A CN 107898387 A CN107898387 A CN 107898387A
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- Prior art keywords
- infrared
- code value
- robot
- seat
- tube
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to one kind to recharge control method, system, readable storage medium storing program for executing and smart machine, applied to a robot, at least three infrared decoding pipes and at least two infrared tubes is equipped with the robot, described method includes following steps：The current infrared code value that any infrared decoding pipe decodes is obtained, judges whether current infrared code value is equal to corresponding default code value；If so, then two infrared tubes are controlled to close and judge that whether receiving a seat of honour in the first preset time recharges signal；If so, the infrared decoding pipe is then controlled to close.It is proposed by the present invention to recharge control method, the influence for the infrared code value that the infrared light that infrared tube is launched receives infrared decoding pipe is can effectively avoid during the seat of honour is recharged, seat of honour success rate is improved, meets practical application request.
Description
Technical field
The present invention relates to technical field of robot control, more particularly to one kind recharges control method, system, readable storage medium
Matter and smart machine.
Background technology
Sweeping robot, and can be described as sweeping machine, smart cleaner or robot cleaner etc. automatically, it is a kind of more normal
The controlling intelligent household appliances seen.It can complete the cleaning on floor in the room with certain artificial intelligence.According to cleaning
Mode is divided, and is generally comprised brush and is swept and vacuum mode, ground debris is first received the rubbish storage box into itself, so that complete
Into the function of land clearing.
Domestic intelligent sweeper has been typically equipped with an automatic recharging device, which is commonly known as again
" recharging seat ".When the electric energy of sweeping robot is insufficient, sweeping robot meeting automatic identification recharges the position of seat at this time, and returns
Recharge electricity., it is necessary to carry out avoidance in time during sweeping robot recharges seat, and it is finally true to combine infrared decoding pipe
Surely recharge the position of seat and recharge operation so as to fulfill powering on.Existing automatic obstacle-avoiding mode can generally be sensed by infrared distance measurement
Device, ultrasonic distance-measuring sensor or feeler are realized.The directionality of infrared distance sensor is poor, can not penetrate object,
It is merely able to position in horizon range, if having object to block just loses signal；Ultrasonic distance-measuring sensor by multipath effect and
Non-line-of-sight propagation has a great influence, and the manufacture cost of circuit is higher, is not suitable for smart home field；Feeler passes through
Contact with testee determines the relevant information of testee, its is simple in structure, signal is disposable, adaptable and valency
Lattice are cheap.At present, comprehensive various factors considers that infrared distance sensor (infrared tube) is most widely used.
However, due to when sweeping robot is close to wall or when recharging near seat, the infrared ray of infrared tube transmitting at this time
Certain interference can be produced to neighbouring infrared decoding pipe, and then influences the normal decoding task of infrared decoding pipe, reduces and sweeps
The seat of honour success rate of floor-washing robot.
The content of the invention
Based on this, it is an object of the invention to propose that one kind recharges control method, system, readable storage medium storing program for executing and intelligence to set
It is standby, applied to a robot, at least three infrared decoding pipes and at least two infrared tubes are equipped with the robot, its
In, described method includes following steps：
The current infrared code value that any infrared decoding pipe decodes is obtained, judges whether current infrared code value is equal to
Corresponding default code value；
If so, then two infrared tubes are controlled to close and judge whether receive a seat of honour in the first preset time
Recharge signal；
If so, the infrared decoding pipe is then controlled to close.
It is proposed by the present invention to recharge control method, when the infrared decoding pipe set in robot decode it is current infrared
When code value is equal with default code value, it may be determined that the infrared decoding pipe in robot is had been introduced into decoding region, right at this time
Infrared tube should be closed to avoid the infrared ray that infrared tube is launched on the decoded influence of infrared decoding pipe, due to reducing to red
It is outer decoding pipe interference, if receiving the seat of honour in the first preset time at this time recharges signal, illustrate at this time the seat of honour into
Work(, can correspond to and close infrared decoding pipe.It is proposed by the present invention to recharge control method, it can effectively avoid during the seat of honour is recharged
The influence for the infrared code value that the infrared light of infrared tube transmitting receives infrared decoding pipe, improves seat of honour success rate, meets
Practical application request.
It is described to recharge control method, wherein, after the step of controlling the infrared tube to close, the method is also wrapped
Include：
Timing is carried out after controlling the infrared tube to close to obtain the first duration.The setting is primarily to monitoring
Duration of the sweeping robot when carrying out the seat of honour and recharging operation.
It is described to recharge control method, wherein, when carrying out timing after controlling the infrared tube to close to obtain first
After long step, the method further includes：
Judge whether that receiving the seat of honour recharges signal；
If it is not, then judging whether first duration is more than first preset time；
If so, the infrared tube is then controlled to open.The setting is primarily to when sweeping robot fails in regulation
During interior completion seat of honour charging operation, infrared tube is opened to re-start wall inspection and improves seat of honour success rate.
It is described to recharge control method, wherein, a ultrasonic sensor is additionally provided with the robot, the method is also wrapped
Include：
When determining the current infrared code value and being equal to the default code value, then the ultrasonic sensor pass is controlled
Close.The setting closes ultrasonic sensor to save primarily to when confirming that sweeping robot is entered in infrared decoding domain
About overall power.
It is described to recharge control method, wherein, the robot and one recharges seat mutual cooperation charging, and the seat that recharges is from a left side
Three infrared transmitting tubes are sequentially set to right, three infrared transmitting tubes launch different infrared code value signals, and that respectively
This signal emitting area partly overlaps to form at least three different decoded domains, wherein the first decoded domain only includes described recharge
The corresponding infrared code value of infrared code value signal of the infrared transmitting tube transmitting in seat left side, the second decoded domain only recharge seat including described
The corresponding infrared code value of infrared code value signal of the infrared transmitting tube transmitting on right side, the 3rd decoded domain include three institutes at the same time
The corresponding infrared code value of infrared code value signal of infrared transmitting tube transmitting is stated, the method further includes：
When infrared decoding pipe on the left of the robot gets the infrared code value of the second decoded domain, in first time period
The robot is controlled to be moved to first direction；
When infrared decoding pipe on the right side of the robot gets the infrared code value of the first decoded domain, in first time period
The interior control robot is moved to second direction；
When infrared decoding Guan Wei on the left of the robot gets the infrared code value of the second decoded domain, and the machine
When infrared decoding Guan Wei on the right side of people gets the infrared code value of the first decoded domain, then in the first time period described in control
Robot is moved to third direction.The setting can cause sweeping robot freely to adjust moving direction finally successfully to realize
Seat charging.
The present invention also proposes that one kind recharges control system, and applied to a robot, at least three are equipped with the robot
A infrared decoding pipe and at least two infrared tubes, wherein, the system comprises：
Code value judgment module, the current infrared code value decoded for obtaining any infrared decoding pipe, judges to work as
Whether preceding infrared code value is equal to corresponding default code value；
First switch module, if being equal to the corresponding default code value for the current infrared code value, controls two
The infrared tube closes and judges that a seat of honour whether is received in the first preset time recharges signal；
Second switch module, if recharging signal for receiving the seat of honour in first preset time, controls
The infrared decoding pipe is closed.
It is described to recharge control system, wherein, the system also includes a timing module, it is specifically used for：
Timing is carried out after controlling the infrared tube to close to obtain the first duration.The setting is primarily to monitoring
Duration of the sweeping robot when carrying out the seat of honour and recharging operation.
It is described to recharge control system, wherein, the first switch module also particularly useful for：
Judge whether that receiving the seat of honour recharges signal；
If it is not, then judging whether first duration is more than first preset time；
If so, the infrared tube is then controlled to open.The setting is primarily to when sweeping robot fails in regulation
During interior completion seat of honour charging operation, infrared tube is opened to re-start wall inspection and improves seat of honour success rate.
It is described to recharge control system, wherein, a ultrasonic sensor, the second switch are additionally provided with the robot
Module also particularly useful for：
When determining the current infrared code value and being equal to the default code value, then the ultrasonic sensor pass is controlled
Close.The setting closes ultrasonic sensor to save primarily to when confirming that sweeping robot is entered in infrared decoding domain
About overall power.
It is described to recharge control system, wherein, the robot and one recharges seat mutual cooperation charging, and the seat that recharges is from a left side
Three infrared transmitting tubes are sequentially set to right, three infrared transmitting tubes launch different infrared code value signals, and that respectively
This signal emitting area partly overlaps to form at least three different decoded domains, wherein the first decoded domain only includes described recharge
The corresponding infrared code value of infrared code value signal of the infrared transmitting tube transmitting in seat left side, the second decoded domain only recharge seat including described
The corresponding infrared code value of infrared code value signal of the infrared transmitting tube transmitting on right side, the 3rd decoded domain include three institutes at the same time
The corresponding infrared code value of infrared code value signal of infrared transmitting tube transmitting is stated, the system also includes a seat of honour control module, tool
Body is used for：
When infrared decoding pipe on the left of the robot gets the infrared code value of the second decoded domain, in first time period
The robot is controlled to be moved to first direction；
When infrared decoding pipe on the right side of the robot gets the infrared code value of the first decoded domain, in first time period
The interior control robot is moved to second direction；
When infrared decoding Guan Wei on the left of the robot gets the infrared code value of the second decoded domain, and the machine
When infrared decoding Guan Wei on the right side of people gets the infrared code value of the first decoded domain, then in the first time period described in control
Robot is moved to third direction.The setting can cause sweeping robot freely to adjust moving direction finally successfully to realize
Seat charging.
The present invention also proposes a kind of readable storage medium storing program for executing, is stored thereon with computer program, wherein, the program is by processor
Realized during execution and recharge control method as described above.
The present invention also proposes a kind of smart machine, including memory, processor and storage on a memory and can located
The computer program run on reason device, wherein, realized when the processor performs described program and recharge controlling party as described above
Method, the smart machine are a robot, red equipped with least three infrared decoding pipes and at least two in the robot
Outside to pipe.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
Fig. 1 is the functional block diagram for recharging control method that first embodiment of the invention proposes；
Fig. 2 is the structure diagram of the robot in first embodiment of the invention；
Fig. 3 is the structure diagram for recharging decoded domain in control method that first embodiment of the invention proposes；
Fig. 4 is the flow diagram for recharging control method that second embodiment of the invention proposes；
Fig. 5 is the structure diagram for recharging control system that third embodiment of the invention proposes.
Embodiment
For the ease of understanding the present invention, the present invention is described more fully below with reference to relevant drawings.In attached drawing
Give the preferred embodiment of the present invention.But the present invention can realize in many different forms, however it is not limited to this paper institutes
The embodiment of description.On the contrary, the purpose for providing these embodiments is made to the disclosure more thorough and comprehensive.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention
The normally understood implication of technical staff is identical.Term used in the description of the invention herein is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term as used herein " and/or " include one or more phases
The arbitrary and all combination of the Listed Items of pass.
Please refer to Fig.1 to Fig.3,, should applied to a robot for recharging control method in first embodiment of the invention
For machine artificially sweeps floor-washing robot 10, set respectively on centre, left side and the right side of the sweeping robot 10 one red
Outer decoding pipe 101, is respectively equipped with an infrared tube 102, wherein described infrared right on left side, the right side of the sweeping robot 10
Pipe 102 includes infrared transmitting tube 1021 and infrared receiving tube 1022, and the sweeping robot 10 recharges seat with one and (do not marked in figure
Go out) coordinate charging, described method includes following steps：
S101, obtains the current infrared code value that any infrared decoding pipe decodes, and judges that current infrared code value is
It is no to be equal to corresponding default code value.
To it is described recharge seat for, it is described recharge seat from left to right sequentially set three infrared transmitting tubes (should be noted
It is that infrared transmitting tube herein is different from the infrared transmitting tube 1021 in infrared tube 102, recharges the infrared emission set on seat
Pipe is mainly used for launching infrared code value signal to sweeping robot 10, so that the infrared decoding pipe set on sweeping robot 10
101 are decoded；And the infrared transmitting tube 1021 set in infrared tube 102 is used cooperatively with infrared receiving tube 1022 and is kept away
Barrier).
As shown in figure 3, recharge three infrared transmitting tubes set on seat launches different infrared code value signals, and that respectively
This signal emitting area partly overlaps to form 7 different decoded domains, wherein the first decoded domain A only includes recharging on the left of seat
The corresponding infrared code value of infrared code value signal of infrared transmitting tube transmitting, the second decoded domain B only include recharging infrared on the right side of seat
The corresponding infrared code value of tube-launched infrared code value signal, the 3rd decoded domain C launch including three infrared transmitting tubes at the same time
The corresponding infrared code value of infrared code value signal.
The three infrared decoding pipes 101 set on sweeping robot 10, which can receive, recharges infrared transmitting tube transmission in seat
Infrared code value signal, and dock received infrared code value signal and parsed to obtain corresponding infrared code value.In infrared decoding
After the decoding of pipe 101 has obtained corresponding infrared code value, then will decode obtained infrared code value and corresponding default code value into
Row multilevel iudge.
S102, if so, then controlling two infrared tubes to close and judge whether received in the first preset time
One seat of honour recharges signal.
As described above, after the decoding of infrared decoding pipe 101 set on sweeping robot 10 has obtained infrared code value, judge
Whether the infrared code value is equal with default code value.If confirming, the two matches, and can determine sweeping robot 10 at this time
Enter in the decoded domain for recharging seat.In other words, the infrared decoding pipe 101 among sweeping robot 10 has been introduced into back
Fill in the decoded domain of seat.
It should be understood that due to 10 distance of sweeping robot at this time, to recharge seat (wall) close, and the left side of robot 10,
Right side is respectively equipped with an infrared tube 102, and the infrared tube 102 and the distance between infrared decoding pipe 101 are close.It is red at this time
The infrared ray sent outside to the infrared transmitting tube 1021 in pipe 102 will produce the infrared decoding pipe 101 on side certain
Interference so that the infrared code value that infrared decoding pipe 101 receives produces certain deviation.Therefore sweeping robot will be arranged at this time
The infrared tube 102 of 10 left and right sides is closed to eliminate the interference to infrared decoding pipe 101, so as to improve seat of honour success rate.
Further, after infrared tube 102 is closed, although can determine that sweeping robot 10 has come into time
Fill in the decoded domain of seat, be possible to the seat of honour at any time and successfully charge, but the not successful seat of honour of the sweeping robot 10 at this time
Charging.Therefore in the present embodiment, there is provided the first preset time (being, for example, 20s), judge that the sweeping robot 10 whether can
Seat of honour charging operation is completed in the first preset time (20s).
S103, if so, then controlling the infrared decoding pipe to close.
As described above, after determining to realize seat of honour charging in the first preset time (20s), then will can sweep the floor at this time
The three infrared decoding pipes 101 set in robot 10 are all closed.So far, seat of honour charging operation is successfully realized.
It is proposed by the present invention to recharge control method, when the infrared decoding pipe set in robot decode it is current infrared
When code value is equal with default code value, it may be determined that the infrared decoding pipe in robot is had been introduced into decoding region, right at this time
Infrared tube should be closed to avoid the infrared ray that infrared tube is launched on the decoded influence of infrared decoding pipe, due to reducing to red
It is outer decoding pipe interference, if receiving the seat of honour in the first preset time at this time recharges signal, illustrate at this time the seat of honour into
Work(, can correspond to and close infrared decoding pipe.It is proposed by the present invention to recharge control method, it can effectively avoid during the seat of honour is recharged
The influence for the infrared code value that the infrared light of infrared tube transmitting receives infrared decoding pipe, improves seat of honour success rate, meets
Practical application request.
Referring to Fig. 4, for second embodiment of the invention propose recharge control method, its idiographic flow approximately as：
First, wall inspection (namely opening infrared tube 102) and the infrared decoding pipe 101 of sweeping robot 10 are opened.
In the present embodiment, a ultrasonic sensor is additionally provided with the sweeping robot 10, also opens the ultrasonic sensor at the same time at this time.
Wherein, the ultrasonic sensor is mainly for detection of longer-distance barrier, and infrared tube 102 is mainly used for carrying out low coverage
From avoidance.
Then judge infrared code value that the decoding of an arbitrary infrared decoding pipe 101 obtains whether with corresponding default code value
It is equal, if the two matches, it can determine that sweeping robot 10 is had been introduced into the decoded domain for recharging seat at this time.
It should be understood that after infrared decoding pipe 101 obtains correct code value, sweeping robot 10 is apart from returning at this time
It is close to fill seat (wall).As described above, the infrared transmitting tube 1021 in the infrared tube 102 near infrared decoding pipe 101
The infrared ray sent can produce infrared decoding pipe 101 certain interference so that the infrared code that infrared decoding pipe 101 receives
Value produces certain deviation.So infrared tube 102 is closed into (namely closing wall inspection) to eliminate to infrared decoding pipe 101 at this time
Interference, improve seat of honour success rate.
Further, the sweeping robot 10 continues to recharge path finding to confirm to recharge the specific location of seat simultaneously
Realize the seat of honour.In the present embodiment, recharging the mode of path finding can be：When the infrared decoding pipe in the left side of sweeping robot 10
101 when getting the infrared code value of the second decoded domain B, turns left in first time period (being, for example, 5s) control sweeping robot 10；
When the infrared decoding pipe 101 on the right side of sweeping robot 10 gets the infrared code value of the first decoded domain A, in first time period
Control sweeping robot is turned right in (5s)；When the infrared decoding pipe 101 in the left side of sweeping robot 10 does not get the second decoded domain B
Infrared code value when, and when the infrared decoding pipe 101 on right side does not get the infrared code value of the first decoded domain A, then at first
Between the control robot straight trip in section (5s).As supplement, which can carry out according to practical application request
It is specific to set.Such a path finding mode can freely change the moving direction of robot, and the seat of honour is recharged with final realization.
In addition, after infrared tube 102 is closed, timing is immediately begun to obtain the first duration.It should be understood that work as
During the success seat of honour, one seat of honour of generation can be corresponded to and recharge signal.After infrared tube 102 is closed, sweep the floor due to not knowing this
When the seat of honour is successful for robot 10, therefore need to judge whether that receiving the seat of honour recharges signal, if receiving the seat of honour recharges letter
Number, then complete the whole seat of honour at this time and recharge process, accordingly close infrared tube 102 (wall inspection), infrared decoding pipe 101 with
And ultrasonic sensor.
When being not received by the seat of honour and recharging signal, then judge whether the first duration that timing obtains is more than the at this time
One preset time (being, for example, 20s).If confirming, first duration (being, for example, 22s) is more than first preset time (20s),
The infrared tube 102 is controlled to open.Namely the sweeping robot 10 does not have in the preset time after closing infrared tube 102
Successfully realize that the seat of honour recharges that (such a situation is possible as having lacked the obstacle avoidance aiding effect of infrared tube so that this is swept
The position of floor-washing robot is deviated, so that seat of honour charging can not be completed within the predetermined time).Therefore need institute at this time
State infrared tube 102 and open and re-start the searching for recharging path.
Herein it may also be noted that in the present embodiment, a supersonic sensing is additionally provided with the sweeping robot 10
Device, when determining the current infrared code value and being equal to the default code value, namely the infrared decoding of definite sweeping robot 10
Pipe 101 is located in decoded domain, carries out avoidance detection again without ultrasonic sensor at this time, accordingly by the ultrasonic sensor
Closed.
Referring to Fig. 5, for recharging control system in 3rd embodiment, applied to a robot, in the robot
Centre, left side and right side one infrared decoding pipe is set respectively, in the left side of the robot, that right side is respectively equipped with one is infrared
To pipe, the robot and one recharge seat coordinate charge, wherein, the system comprises sequentially connected code value judgment module 11,
First switch module 12, second switch module 13 and seat of honour control module 14.
The code value judgment module 11 is specifically used for：
The current infrared code value that any infrared decoding pipe decodes is obtained, judges whether current infrared code value is equal to
Corresponding default code value；
The first switch module 12 is specifically used for：
If the current infrared code value is equal to the corresponding default code value, the infrared tube of control two is closed simultaneously
Judge that a seat of honour whether is received in the first preset time recharges signal；
The second switch module 13 is specifically used for：
If receiving the seat of honour in first preset time recharges signal, the infrared decoding pipe is controlled to close
Close.
To it is described recharge control system for, it is described recharge seat from left to right sequentially set three infrared transmitting tubes, three
The infrared transmitting tube launches different infrared code value signals respectively, and mutual signal emitting area partly overlaps to be formed at least
Three different decoded domains, wherein the first decoded domain only includes the infrared code value of the infrared transmitting tube transmitting recharged on the left of seat
The corresponding infrared code value of signal, the second decoded domain only include the infrared code value letter of the infrared transmitting tube transmitting recharged on the right side of seat
Number corresponding infrared code value, the 3rd decoded domain include the infrared code value signal pair of three infrared transmitting tubes transmittings at the same time
The infrared code value answered, the system also includes a seat of honour control module 14, wherein the seat of honour control module 14 is specifically used for：
When infrared decoding pipe on the left of the robot gets the infrared code value of the second decoded domain, in first time period
The robot is controlled to turn left；
When infrared decoding pipe on the right side of the robot gets the infrared code value of the first decoded domain, in first time period
The interior control robot turns right；
When infrared decoding Guan Wei on the left of the robot gets the infrared code value of the second decoded domain, and the machine
When infrared decoding Guan Wei on the right side of people gets the infrared code value of the first decoded domain, then in the first time period described in control
Robot keeps straight on.
In addition, the system also includes a timing module 15, it is specifically used for：
Timing is carried out after controlling the infrared tube to close to obtain the first duration.
The first switch module 12 also particularly useful for：
Judge whether that receiving the seat of honour recharges signal；
If so, then judging whether first duration is more than first preset time；
If so, the infrared tube is then controlled to open.
The second switch module 13 also particularly useful for：
When determining the current infrared code value and being equal to the default code value, then the ultrasonic sensor pass is controlled
Close.
The present invention also proposes a kind of readable storage medium storing program for executing, is stored thereon with computer program, wherein, the program is by processor
Realized during execution and recharge control method as described above.
The present invention also proposes a kind of smart machine, including memory, processor and storage on a memory and can located
The computer program run on reason device, wherein, realized when the processor performs described program and recharge controlling party as described above
Method.
Can be with one of ordinary skill in the art will appreciate that realizing that all or part of step in above-described embodiment method is
Relevant hardware is instructed to complete by program.The program can be stored in a computer read/write memory medium.
The program upon execution, including the step described in the above method.The storage medium, including：ROM/RAM, magnetic disc, CD
Deng.
Embodiment described above only expresses the several embodiments of the present invention, its description is more specific and detailed, but simultaneously
Therefore the limitation to the scope of the claims of the present invention cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. one kind recharges control method, applied to a robot, be equipped with the robot at least three infrared decoding pipes with
And at least two infrared tube, it is characterised in that described method includes following steps：
The current infrared code value that any infrared decoding pipe decodes is obtained, judges whether current infrared code value is equal to and corresponds to
Default code value；
If so, then two infrared tubes are controlled to close and judge that whether receiving a seat of honour in the first preset time recharges
Signal；
If so, the infrared decoding pipe is then controlled to close.
2. according to claim 1 recharge control method, it is characterised in that control the infrared tube to close the step of
Afterwards, the method further includes：
Timing is carried out after controlling the infrared tube to close to obtain the first duration.
3. according to claim 2 recharge control method, it is characterised in that laggard controlling the infrared tube to close
After the step of row timing is to obtain the first duration, the method further includes：
Judge whether that receiving the seat of honour recharges signal；
If it is not, then judging whether first duration is more than first preset time；
If so, the infrared tube is then controlled to open.
4. according to claim 2 recharge control method, it is characterised in that a ultrasonic wave is additionally provided with the robot
Sensor, the method further include：
When determining the current infrared code value and being equal to the default code value, then the ultrasonic sensor closing is controlled.
5. according to claim 2 recharge control method, the robot and one, which recharge seat and cooperates, to charge, described time
Fill seat and three infrared transmitting tubes are sequentially set from left to right, it is characterised in that three infrared transmitting tubes launch difference respectively
Infrared code value signal, and mutual signal emitting area partly overlaps to form at least three different decoded domains, wherein first
Decoded domain only includes the corresponding infrared code value of infrared code value signal of the infrared transmitting tube transmitting recharged on the left of seat, the second solution
The corresponding infrared code value of infrared code value signal that code domain is only launched including the infrared transmitting tube recharged on the right side of seat, the described 3rd
Decoded domain includes the corresponding infrared code value of infrared code value signal of three infrared transmitting tube transmittings at the same time, and the method is also wrapped
Include：
When infrared decoding pipe on the left of the robot gets the infrared code value of the second decoded domain, controlled in first time period
The robot is moved to first direction；
When infrared decoding pipe on the right side of the robot gets the infrared code value of the first decoded domain, in first time period internal control
The robot is made to move to second direction；
When infrared decoding Guan Wei on the left of the robot gets the infrared code value of the second decoded domain, and the robot is right
When the infrared decoding Guan Wei of side gets the infrared code value of the first decoded domain, then the machine is controlled in the first time period
People moves to third direction.
6. one kind recharges control system, applied to a robot, be equipped with the robot at least three infrared decoding pipes with
And at least two infrared tube, it is characterised in that the system comprises：
Code value judgment module, the current infrared code value decoded for obtaining any infrared decoding pipe, judges current red
Whether outer code value is equal to corresponding default code value；
First switch module, if being equal to the corresponding default code value for the current infrared code value, controls described in two
Infrared tube closes and judges that a seat of honour whether is received in the first preset time recharges signal；
Second switch module, if recharging signal for receiving the seat of honour in first preset time, described in control
Infrared decoding pipe is closed.
7. according to claim 6 recharge control system, it is characterised in that the system also includes a timing module, tool
Body is used for：
Timing is carried out after controlling the infrared tube to close to obtain the first duration.
8. according to claim 7 recharge control system, it is characterised in that the first switch module also particularly useful for：
Judge whether that receiving the seat of honour recharges signal；
If it is not, then judging whether first duration is more than first preset time；
If so, the infrared tube is then controlled to open.
9. a kind of readable storage medium storing program for executing, is stored thereon with computer program, it is characterised in that real when the program is executed by processor
Now control method is recharged as described in any one of the claims 1 to 5.
10. a kind of smart machine, including memory, processor and storage are on a memory and the meter that can run on a processor
Calculation machine program, it is characterised in that the processor is realized such as any one of the claims 1 to 5 institute when performing described program
That states recharges control method, and the smart machine is a robot, and at least three infrared decoding pipes are equipped with the robot
And at least two infrared tube.
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