CN108519355B - Method for judging strength of barrier reflection material of cleaning robot - Google Patents
Method for judging strength of barrier reflection material of cleaning robot Download PDFInfo
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- CN108519355B CN108519355B CN201810137668.9A CN201810137668A CN108519355B CN 108519355 B CN108519355 B CN 108519355B CN 201810137668 A CN201810137668 A CN 201810137668A CN 108519355 B CN108519355 B CN 108519355B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/47—Scattering, i.e. diffuse reflection
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/47—Scattering, i.e. diffuse reflection
- G01N2021/4733—Discriminating different types of scatterers
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Abstract
The invention discloses a method for judging the strength of a barrier reflection material of a cleaning robot, which is characterized in that an infrared transmitting tube and two infrared receiving tubes are arranged right in front of the cleaning robot, the infrared transmitting tube and the infrared receiving tubes are arranged in parallel along the left and right directions of the cleaning robot, and the distance between the first infrared receiving tube and the infrared transmitting tube is smaller than that between the second infrared receiving tube and the infrared transmitting tube; the infrared transmitting tube transmits infrared pulse waves with a certain frequency, the first infrared receiving tube and the second infrared receiving tube receive the waves reflected by the barrier, whether the barrier is touched is judged according to the intensity of the reflected waves received by the first infrared receiving tube and the second infrared receiving tube, and the intensity of the reflecting material of the barrier is obtained. The method is simple to realize, can distinguish and process the barriers made of different materials, and can achieve the effect of reducing the influence of the outside on the infrared characteristics through software programming.
Description
Technical Field
The invention relates to the technical field of control methods of sweeping robots, in particular to a method for judging strength of a reflecting material of an obstacle of a cleaning robot.
Background
Along with the increasing living standard of people, liberation both hands makes people's enjoyment life become people's general demand better, and the appearance of machine of sweeping the floor becomes a very popular intelligent house because of it can accomplish the function such as wiping ground and automatic recharging of sweeping the floor automatically under the circumstances of nobody's participation. However, the sweeper in the prior art cannot distinguish the reflecting materials of the obstacles, so that the control effect is poor.
Disclosure of Invention
The invention aims to solve the technical problem of how to provide a method for judging the reflecting material of an obstacle and reducing the influence of sunlight on infrared characteristics.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a method for judging the strength of barrier reflection materials of a cleaning robot is characterized by comprising the following steps:
an infrared transmitting tube and two infrared receiving tubes are arranged right in front of the cleaning robot, the infrared transmitting tube and the infrared receiving tubes are arranged in parallel along the left-right direction of the cleaning robot, and the distance between the first infrared receiving tube and the infrared transmitting tube is smaller than the distance between the second infrared receiving tube and the infrared transmitting tube;
the infrared transmitting tube transmits infrared pulse waves with a certain frequency, the first infrared receiving tube and the second infrared receiving tube receive the waves reflected by the barrier, whether the barrier is touched is judged according to the intensity of the reflected waves received by the first infrared receiving tube and the second infrared receiving tube, and the intensity of the reflecting material of the barrier is obtained.
The technical scheme is that the method for judging the strength of the reflecting material of the barrier comprises the following steps:
the infrared transmitting tube transmits 200Hz infrared pulse waves;
the first infrared receiving tube and the second infrared receiving tube receive the infrared signals transmitted by the infrared transmitting tube, and read the received peak voltage and the received trough voltage and perform difference operation to obtain Vb and Vc respectively;
1) if Vc is less than 0.5v, judging that the barrier is made of an unobvious reflective material, jumping to the step 2), and otherwise, turning to the step 3);
2) if Vb-Vc is more than 0.2v, judging that an obstacle with unobvious reflection materials is encountered;
3) if Vb >1v and Vb-Vc >0.3v, it is determined that an obstacle with a more obvious reflective material is encountered.
The further technical scheme is as follows: and a distance is kept between the first infrared receiving tube and the infrared transmitting tube, and the first infrared receiving tube and the second infrared receiving tube are arranged in a clinging manner.
Adopt the produced beneficial effect of above-mentioned technical scheme to lie in: the method is simple to realize, can distinguish and process the barriers made of different materials, and can achieve the effect of reducing the influence of the outside (sunlight) on the infrared characteristics through software programming.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a diagram illustrating a positional relationship between an infrared transmitting tube, an infrared receiving tube and a wall in a method according to an embodiment of the present invention;
wherein: 1. infrared emission pipe 2, first infrared receiving tube 3, second infrared receiving tube 4, wall body.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
The embodiment of the invention discloses a method for judging the strength of barrier reflection materials of a cleaning robot, which comprises the following steps:
an infrared transmitting tube and two infrared receiving tubes are arranged right in front of the cleaning robot, the infrared transmitting tube and the infrared receiving tubes are arranged in parallel along the left-right direction of the cleaning robot, and the distance between the first infrared receiving tube and the infrared transmitting tube is smaller than the distance between the second infrared receiving tube and the infrared transmitting tube;
the infrared transmitting tube transmits infrared pulse waves with a certain frequency, the first infrared receiving tube and the second infrared receiving tube receive the waves reflected by the barrier, whether the barrier is touched is judged according to the intensity of the reflected waves received by the first infrared receiving tube and the second infrared receiving tube, and the intensity of the reflecting material of the barrier is obtained. Fig. 1 is a diagram of a positional relationship among an infrared transmitting tube, an infrared receiving tube, and a wall in the method according to the embodiment of the present invention, as shown in fig. 1, a distance is kept between the first infrared receiving tube and the infrared transmitting tube, and the first infrared receiving tube and the second infrared receiving tube are closely attached to each other.
The specific judgment method for the strength of the reflecting material of the obstacle is as follows:
the infrared transmitting tube transmits 200Hz infrared pulse waves;
the first infrared receiving tube and the second infrared receiving tube receive the infrared signals transmitted by the infrared transmitting tube, and read the received peak voltage and the received trough voltage and perform difference operation to obtain Vb and Vc respectively;
1) if Vc is less than 0.5v, judging that the barrier is made of an unobvious reflective material, jumping to the step 2), and otherwise, turning to the step 3);
2) if Vb-Vc is more than 0.2v, judging that an obstacle with unobvious reflection materials is encountered;
3) if Vb >1v and Vb-Vc >0.3v, it is determined that an obstacle with a more obvious reflective material is encountered.
According to the method, the intensity of the reflected wave (transmitted by the infrared transmitting tube) received by the first infrared receiving tube and the second infrared receiving tube is simple to realize, the obstacles made of different materials can be distinguished and processed, and the effect of reducing the influence of the outside (sunlight) on the infrared characteristics can be achieved through software programming.
Claims (2)
1. A method for judging the intensity of reflected infrared pulse waves of a cleaning robot obstacle is characterized by comprising the following steps:
an infrared transmitting tube and two infrared receiving tubes are arranged right in front of the cleaning robot, the infrared transmitting tube and the infrared receiving tubes are arranged in parallel along the left-right direction of the cleaning robot, and the distance between the first infrared receiving tube and the infrared transmitting tube is smaller than the distance between the second infrared receiving tube and the infrared transmitting tube;
the infrared transmitting tube transmits infrared pulse waves with certain frequency, the first infrared receiving tube and the second infrared receiving tube receive the waves reflected by the barrier, whether the waves hit the barrier or not is judged according to the strength of the reflected waves received by the first infrared receiving tube and the second infrared receiving tube, and the strength of the infrared pulse waves reflected by the barrier is obtained;
the method for judging the intensity of the infrared pulse wave reflected by the obstacle comprises the following steps:
the infrared transmitting tube transmits 200Hz infrared pulse waves;
the first infrared receiving tube receives the infrared signal transmitted by the infrared transmitting tube, reads the received peak voltage and the received trough voltage and performs difference operation to obtain Vb, and the second infrared receiving tube receives the infrared signal transmitted by the infrared transmitting tube, reads the received peak voltage and the received trough voltage and performs difference operation to obtain Vc;
1) if Vc is less than 0.5v, judging that the barrier is not obvious in reflected infrared pulse wave, and jumping to the step 2), otherwise, jumping to the step 3);
2) if Vb-Vc is greater than 0.2v, judging that an obstacle which is not obvious in reflected infrared pulse waves is encountered;
3) if Vb >1v and Vb-Vc >0.3v, it is judged that an obstacle in which the reflected infrared pulse wave is conspicuous has been encountered.
2. A method of determining the intensity of a reflected infrared pulse wave of an obstacle for cleaning a robot as set forth in claim 1, wherein: and a distance is kept between the first infrared receiving tube and the infrared transmitting tube, and the first infrared receiving tube and the second infrared receiving tube are arranged in a clinging manner.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810137668.9A CN108519355B (en) | 2018-02-10 | 2018-02-10 | Method for judging strength of barrier reflection material of cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810137668.9A CN108519355B (en) | 2018-02-10 | 2018-02-10 | Method for judging strength of barrier reflection material of cleaning robot |
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| CN108519355A CN108519355A (en) | 2018-09-11 |
| CN108519355B true CN108519355B (en) | 2020-11-20 |
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| CN111948661A (en) * | 2019-04-30 | 2020-11-17 | 科沃斯机器人股份有限公司 | Self-moving equipment and detection device |
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| KR0152096B1 (en) * | 1992-10-26 | 1998-10-15 | 윤종용 | Obstacle detecting device of movable watching robot |
| CN2881746Y (en) * | 2006-01-10 | 2007-03-21 | 雅一国际有限公司 | Self-propelled device with faultdevice with fault detection function |
| JP2009037378A (en) * | 2007-08-01 | 2009-02-19 | Panasonic Corp | Autonomous travelling device and program |
| TWI491374B (en) * | 2012-03-22 | 2015-07-11 | Ememe Robot Co Ltd | Cleaning robot and method for controlling a robot moving along an obstacle |
| CN103941306B (en) * | 2014-01-13 | 2017-02-01 | 苏州爱普电器有限公司 | Cleaning robot and method for controlling same to avoid obstacle |
| CN103941307B (en) * | 2014-01-13 | 2018-02-16 | 苏州爱普电器有限公司 | A kind of clean robot and the method for controlling its avoiding obstacles |
| CN203732734U (en) * | 2014-02-18 | 2014-07-23 | 苏州经贸职业技术学院 | Infrared reflecting sensing module |
| CN103941735B (en) * | 2014-05-05 | 2017-02-15 | 苏州爱普电器有限公司 | Floor cleaning robot and method for controlling robot to avoid obstacle |
| CN104765363B (en) * | 2014-12-10 | 2018-04-24 | 深圳市银星智能科技股份有限公司 | Intelligent robot for sweeping floor and its control method |
| CN106371101B (en) * | 2015-07-20 | 2019-08-16 | 北醒（北京）光子科技有限公司 | A kind of device of intelligent distance-measuring and avoidance |
| CN106950966A (en) * | 2017-04-28 | 2017-07-14 | 湖南格兰博智能科技有限责任公司 | Translation control device |
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