CN117549295A - Robot on/off lamp control method and device and electronic equipment - Google Patents
Robot on/off lamp control method and device and electronic equipment Download PDFInfo
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- CN117549295A CN117549295A CN202311532922.2A CN202311532922A CN117549295A CN 117549295 A CN117549295 A CN 117549295A CN 202311532922 A CN202311532922 A CN 202311532922A CN 117549295 A CN117549295 A CN 117549295A
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- 238000000034 method Methods 0.000 title claims abstract description 41
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection
Abstract
The invention provides a method and a device for controlling on/off of a robot and electronic equipment, relating to the technical field of robots, and comprising the steps that the robot acquires an on/off lamp instruction; navigating to the area where the target lamp switch is located, identifying the object of the area where the target lamp switch is located, determining the target lamp switch and the accurate position of the target lamp switch, wherein the accurate position of the target lamp switch comprises the height of the target lamp switch; adjusting the height of the mechanical arm based on the height of the target lamp switch, identifying the target lamp switch, and determining the switching state of the target lamp switch; generating a path for controlling the target lamp switch to conduct on/off actions by combining the on/off state of the target lamp switch, the accurate position of the target lamp switch and the on/off action instruction of the target lamp switch; the lamp is turned on/off in accordance with the path of the lamp on/off action in conjunction with the target lamp switch type. The invention can accurately identify and position the lamp switch and accurately control the operation of the switch.
Description
Technical Field
The present invention relates to the field of robots, and in particular, to a method and an apparatus for controlling on/off of a lamp of a robot, and an electronic device.
Background
With the technological change in the day and month, service robots have gradually become an emerging trend of home automation, and can automatically complete various household tasks, so that the quality of home life of people is further improved. However, although the conventional robot is excellent in spatial navigation, technical disadvantages are exposed when performing fine operations such as autonomously turning on/off a lamp.
Autonomous on/off light appears to be a simple task, but in practice involves a complex series of technical applications including accurate spatial navigation, object recognition, and fine motion control. Due to technical limitations, conventional robots often have difficulty in accurately identifying and positioning the light switch, nor in accurately controlling the operation of the switch.
Accordingly, a robot on/off lamp control method, a robot on/off lamp control device and an electronic device are provided.
Disclosure of Invention
The specification provides a robot lamp on/off control method, a robot lamp on/off control device and electronic equipment, which can accurately identify and position a lamp switch and accurately control the operation of the switch.
The present specification provides a robot on/off lamp control method, comprising:
the robot acquires a lamp on/off instruction, wherein the lamp on/off instruction comprises a target lamp on/off code, a target lamp on/off type and a lamp on/off action instruction, and the area where the target lamp on/off is located is read based on the target lamp on/off code;
navigating to the area where the target lamp switch is located, performing object identification on the area where the target lamp switch is located, and determining the target lamp switch and the accurate position thereof, wherein the accurate position of the target lamp switch comprises the height of the target lamp switch;
the height of the mechanical arm is adjusted based on the height of the target lamp switch, the target lamp switch is identified, and the switching state of the target lamp switch is determined;
generating a path for controlling the target lamp switch to conduct on/off lamp action by combining the on/off state of the target lamp switch, the accurate position of the target lamp switch and the on/off lamp action instruction through a mechanical arm;
and switching on/off the lamp according to the path of the lamp switching on/off action in combination with the target lamp switching type.
Optionally, the identifying the object in the area where the target lamp switch is located includes:
and identifying the label on the lamp switch by using the depth camera.
Optionally, the identifying the target light switch and determining the switch state of the target light switch include:
identifying a YAW rotation angle of a tag of the target lamp switch under a camera coordinate system by using a depth camera;
determining a switching state of the target luminaire switch based on the YAW rotation angle.
Optionally, the switching on/off of the lamp according to the path of the switching on/off action in combination with the target lamp switching type includes:
determining a pressing force of a lamp turning-on/off action based on the target lamp switching type;
when a force sensor on the mechanical arm senses that the mechanical arm is in contact with the target lamp switch, the target switch is pressed according to the pressing force to switch on/off a lamp.
Optionally, the method further comprises:
the on/off lamp command further includes an on/off lamp timing command;
and navigating to the area where the target lamp switch is positioned according to the lamp on/off timing instruction until the lamp is turned on/off according to the path of the lamp on/off action according to the type of the target lamp switch.
Optionally, after the switching on/off of the lamp according to the path of the switching on/off action in combination with the target lamp switching type, the method includes:
and returning to the area where the target lamp switch is positioned, identifying the target lamp switch, and determining the switch state of the target lamp switch.
Optionally, the returning to the area where the target lamp switch is located, identifying the target lamp switch, and after determining the switch state of the target lamp switch, includes:
when the on-off state of the target lamp switch is consistent with the on/off lamp action instruction, the mechanical arm is contracted to the initial position.
The present specification provides a robot on/off lamp control device including:
the acquisition module is used for acquiring an on/off lamp instruction by the robot, wherein the on/off lamp instruction comprises a target lamp switch code, a target lamp switch type and an on/off lamp action instruction, and the area where the target lamp switch is located is read based on the target lamp switch code;
the identification module is used for navigating to the area where the target lamp switch is located, carrying out object identification on the area where the target lamp switch is located, and determining the target lamp switch and the accurate position thereof, wherein the accurate position of the target lamp switch comprises the height of the target lamp switch;
the determining module is used for adjusting the height of the mechanical arm based on the height of the target lamp switch, identifying the target lamp switch and determining the switching state of the target lamp switch;
the generation module is used for generating a path for controlling the target lamp switch to conduct the lamp on/off action by combining the on/off state of the target lamp switch, the accurate position of the target lamp switch and the lamp on/off action instruction;
and the control module is used for switching on/off the lamp according to the path of the lamp switching on/off action in combination with the target lamp switching type.
Optionally, the identifying the object in the area where the target lamp switch is located includes:
and identifying the label on the lamp switch by using the depth camera.
Optionally, the identifying the target light switch and determining the switch state of the target light switch include:
identifying a YAW rotation angle of a tag of the target lamp switch under a camera coordinate system by using a depth camera;
determining a switching state of the target luminaire switch based on the YAW rotation angle.
Optionally, the switching on/off of the lamp according to the path of the switching on/off action in combination with the target lamp switching type includes:
determining a pressing force of a lamp turning-on/off action based on the target lamp switching type;
when a force sensor on the mechanical arm senses that the mechanical arm is in contact with the target lamp switch, the target switch is pressed according to the pressing force to switch on/off a lamp.
Optionally, the method further comprises:
the on/off lamp command further includes an on/off lamp timing command;
and navigating to the area where the target lamp switch is positioned according to the lamp on/off timing instruction until the lamp is turned on/off according to the path of the lamp on/off action according to the type of the target lamp switch.
Optionally, after the switching on/off of the lamp according to the path of the switching on/off action in combination with the target lamp switching type, the method includes:
and returning to the area where the target lamp switch is positioned, identifying the target lamp switch, and determining the switch state of the target lamp switch.
Optionally, the returning to the area where the target lamp switch is located, identifying the target lamp switch, and after determining the switch state of the target lamp switch, includes:
when the on-off state of the target lamp switch is consistent with the on/off lamp action instruction, the mechanical arm is contracted to the initial position.
The specification also provides an electronic device, wherein the electronic device includes:
a processor; and a memory storing processor-executable instructions that, when executed, cause the processor to perform the method of any of the above.
The present specification also provides a computer readable storage medium storing one or more programs which when executed by a processor implement any of the methods described above.
In the present invention, at least one of the following advantages is provided:
1. after receiving the command of turning on/off the lamp, the robot stops when moving to a position with a set distance from the target lamp switch, so that the problems that the robot is too far away from the target lamp switch, the robot cannot touch the target lamp, the robot is too close to the target lamp, and the robot cannot identify the target lamp are avoided;
2. the robot automatically tracks the labels on the lamp switch until the robot reaches the area where the target lamp switch is located, and the robot automatically stops, so that the robot can be accurately and efficiently aligned and close to the target position;
3. the pressing force is adjusted according to different types of lamp switches, so that the success rate of operation is improved, and the damage to the switches possibly caused is reduced; meanwhile, the force sensor is used for monitoring and adjusting the contact force between the mechanical arm and the switch of the target lamp in real time, so that the operation is more accurate and reliable;
4. by combining the timing instruction, the robot can not only accurately reach the target area at the appointed time, but also ensure that the lamp is turned on/off at the correct time point, thereby providing more convenient and intelligent service for users;
5. the feedback mechanism can ensure that the robot can verify the actual state of the switch after executing the action of turning on/off the lamp, and the accuracy and reliability of operation are improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a robot on/off lamp control method according to an embodiment of the present disclosure;
fig. 2 is a schematic structural view of a robot on/off lamp control device according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram of a computer readable medium according to an embodiment of the present disclosure.
Detailed Description
The following description is presented to enable one of ordinary skill in the art to make and use the invention. The preferred embodiments in the following description are by way of example only and other obvious variations will occur to those skilled in the art. The basic principles of the invention defined in the following description may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
Exemplary embodiments of the present invention are described more fully below in connection with fig. 1-4. However, the exemplary embodiments can be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these exemplary embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the invention to those skilled in the art. The same reference numerals in the drawings denote the same or similar elements, components or portions, and thus a repetitive description thereof will be omitted.
The features, structures, characteristics or other details described in a particular embodiment do not exclude that may be combined in one or more other embodiments in a suitable manner, without departing from the technical idea of the invention.
In the description of specific embodiments, features, structures, characteristics, or other details described in the present invention are provided to enable one skilled in the art to fully understand the embodiments. However, it is not excluded that one skilled in the art may practice the present invention without one or more of the specific features, structures, characteristics, or other details.
The flow diagrams depicted in the figures are exemplary only, and do not necessarily include all of the elements and operations/steps, nor must they be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the order of actual execution may be changed according to actual situations.
The block diagrams depicted in the figures are merely functional entities and do not necessarily correspond to physically separate entities. That is, the functional entities may be implemented in software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.
The term "and/or" and/or "includes all combinations of any one or more of the associated listed items.
Fig. 1 is a schematic diagram of a robot on/off lamp control method according to an embodiment of the present disclosure, where the method may include:
s110: the robot acquires a lamp on/off instruction, wherein the lamp on/off instruction comprises a target lamp on/off code, a target lamp on/off type and a lamp on/off action instruction, and the area where the target lamp on/off is located is read based on the target lamp on/off code;
in the specific embodiment of the present disclosure, the lamp switch codes and the lamp switches are in a one-to-one mapping relationship, and one lamp switch code corresponds to one lamp switch. The size of the lamp switch, the shape of the switch key, the size of the switch key and the like can be known through the type of the lamp switch. In consideration of navigation errors, the area where the lamp switch is located is set, namely, after the robot receives the lamp on/off instruction, the robot stops when moving to a position with a set distance from the target lamp switch, so that the problem that the robot is too far away from the target lamp switch, cannot touch the target lamp, is too close to the target lamp, and cannot identify the target lamp is avoided.
S120: navigating to the area where the target lamp switch is located, performing object identification on the area where the target lamp switch is located, and determining the target lamp switch and the accurate position thereof, wherein the accurate position of the target lamp switch comprises the height of the target lamp switch;
optionally, the identifying the object in the area where the target lamp switch is located includes:
and identifying the label on the lamp switch by using the depth camera.
In the specific embodiment of the specification, after the robot receives the on/off lamp command, the robot automatically tracks the label on the lamp switch until the robot reaches the area where the target lamp switch is located, and the robot automatically stops, so that the robot can be accurately and efficiently aligned and close to the target position.
The tag can be an April tag or a two-dimensional code tag. April tags, also known as April tags, are a type of visual reference system tags that are suitable for a variety of tasks, including augmented reality, robotic and camera calibration, and the like. After creating the target using a common printer, the April Tag can calculate the exact 3D position, orientation and identity of the Tag relative to the camera.
As the robot is tracking the tag, the tag may gradually move out of the field of view of the depth camera during the tracking process. Therefore, a guide rail can be arranged on the base of the mechanical arm, the height of the mechanical arm is controlled through a motor-driven PID, and the label is ensured to be always positioned in the visible range of the depth camera or in the middle.
S130: the height of the mechanical arm is adjusted based on the height of the target lamp switch, the target lamp switch is identified, and the switching state of the target lamp switch is determined;
optionally, the identifying the target light switch and determining the switch state of the target light switch include:
identifying a YAW rotation angle of a tag of the target lamp switch under a camera coordinate system by using a depth camera;
determining a switching state of the target luminaire switch based on the YAW rotation angle.
In a specific embodiment of the present disclosure, a depth camera is used to obtain an image of a target luminaire switch, a tag in the image is identified by a computer vision algorithm or a deep learning model, and a position of the tag in the image is determined. According to the position of the tag in the image, the geometrical transformation and the internal and external parameters of the camera can be utilized to calculate the YAW rotation angle of the tag under the camera coordinate system, namely the YAW rotation angle reflects the horizontal rotation angle of the target lamp switch relative to the camera. Based on the calculated YAW rotation angle, the state of the target light fixture switch may be determined, and the specific determination method may be different according to the design and operation principle of the switch, for example, a threshold may be set, and when the YAW rotation angle is greater than the threshold, the switch is determined to be in the on state; when the YAW rotation angle is smaller than the threshold value, the switch is determined to be in the off state.
It should be noted that this process involves the use of parameters inside and outside the camera, which may need to be derived by camera calibration. In addition, in order to ensure accurate identification and positioning of the tag, and accurate calculation of the YAW rotation angle, it is necessary to take into consideration the influence of factors such as illumination conditions, camera angles and positions, and perform appropriate optimization and adjustment.
S140: generating a path for controlling the target lamp switch to conduct on/off lamp action by combining the on/off state of the target lamp switch, the accurate position of the target lamp switch and the on/off lamp action instruction through a mechanical arm;
in the specific embodiment of the present specification, the path planning needs to consider factors such as obstacles, the working range and limitation of the mechanical arm, and the like. In the application, a smooth path without posture turnover can be obtained through the Cartesian path planning.
And combining the current switching state of the target lamp switch to optimize the action of the mechanical arm. Of course, if the target light switch is already in the on state and the command is to turn on the switch, then the robotic arm may not need to perform a pressing action.
S150: and switching on/off the lamp according to the path of the lamp switching on/off action in combination with the target lamp switching type.
Optionally, the switching on/off of the lamp according to the path of the switching on/off action in combination with the target lamp switching type includes:
determining a pressing force of a lamp turning-on/off action based on the target lamp switching type;
when a force sensor on the mechanical arm senses that the mechanical arm is in contact with the target lamp switch, the target switch is pressed according to the pressing force to switch on/off a lamp.
In particular embodiments of the present description, different lamp switch types may require different pressing forces to operate. For example, some switches may require a light press, while others may require a greater force. Therefore, according to the type of the target lamp switch, an appropriate pressing force can be preset or learned. As the robotic arm approaches the target luminaire switch, a force sensor on the robotic arm begins to monitor contact with the target luminaire switch, which may be accomplished by monitoring a change in force or a distribution of pressure. Once the force sensor senses that the mechanical arm is contacted with the switch of the target lamp, the system can judge whether the contact is stable or not so as to prevent misoperation. After the mechanical arm is determined to be in stable contact with the target lamp switch, the mechanical arm performs pressing operation according to preset pressing force, wherein the pressing force is enough to operate the target lamp switch, but the target lamp switch is not damaged.
Therefore, the pressing force can be adjusted according to different types of lamp switches, the success rate of operation is improved, and damage to the switches possibly caused is reduced. Moreover, by using the force sensor, the contact force between the mechanical arm and the switch of the target lamp can be monitored and regulated in real time, so that the operation is more accurate and reliable.
Optionally, the method further comprises:
the on/off lamp command further includes an on/off lamp timing command;
and navigating to the area where the target lamp switch is positioned according to the lamp on/off timing instruction until the lamp is turned on/off according to the path of the lamp on/off action according to the type of the target lamp switch.
In the specific embodiment of the specification, by combining the timing instruction, the robot not only can accurately reach the target area at the appointed time, but also can ensure that the lamp turning-on/off action is performed at the correct time point, thereby providing more convenient and intelligent service for the user.
Optionally, after the switching on/off of the lamp according to the path of the switching on/off action in combination with the target lamp switching type, the method includes:
and returning to the area where the target lamp switch is positioned, identifying the target lamp switch, and determining the switch state of the target lamp switch.
In the specific embodiment of the specification, the robot returns to the area where the target lamp switch is located, the target lamp switch is identified again, the current switch state of the target lamp switch is accurately determined, and the feedback mechanism can ensure that the actual state of the switch can be verified after the robot performs the lamp on/off action, so that the accuracy and the reliability of operation are improved.
Optionally, the returning to the area where the target lamp switch is located, identifying the target lamp switch, and after determining the switch state of the target lamp switch, includes:
when the on-off state of the target lamp switch is consistent with the on/off lamp action instruction, the mechanical arm is contracted to the initial position.
In the specific embodiment of the specification, the base of the mechanical arm can be set to be a damping rotating base, and a steering engine can be further arranged below the base, so that after the robot finishes the action of turning on/off a lamp, the base of the mechanical arm can return through the steering engine.
In the present invention, at least one of the following advantages is provided:
1. after receiving the command of turning on/off the lamp, the robot stops when moving to a position with a set distance from the target lamp switch, so that the problems that the robot is too far away from the target lamp switch, the robot cannot touch the target lamp, the robot is too close to the target lamp, and the robot cannot identify the target lamp are avoided;
2. the robot automatically tracks the labels on the lamp switch until the robot reaches the area where the target lamp switch is located, and the robot automatically stops, so that the robot can be accurately and efficiently aligned and close to the target position;
3. the pressing force is adjusted according to different types of lamp switches, so that the success rate of operation is improved, and the damage to the switches possibly caused is reduced; meanwhile, the force sensor is used for monitoring and adjusting the contact force between the mechanical arm and the switch of the target lamp in real time, so that the operation is more accurate and reliable;
4. by combining the timing instruction, the robot can not only accurately reach the target area at the appointed time, but also ensure that the lamp is turned on/off at the correct time point, thereby providing more convenient and intelligent service for users;
5. the feedback mechanism can ensure that the robot can verify the actual state of the switch after executing the action of turning on/off the lamp, and the accuracy and reliability of operation are improved.
Fig. 2 is a schematic structural diagram of a robot on/off lamp control device according to an embodiment of the present disclosure, where the device may include:
an acquisition module 10, configured to acquire a light on/off command by a robot, where the light on/off command includes a target light on/off code, a target light on/off type, and a light on/off action command, and read an area where a target light on/off is located based on the target light on/off code;
the identification module 20 is used for navigating to the area where the target lamp switch is located, identifying the object of the area where the target lamp switch is located, and determining the target lamp switch and the accurate position thereof, wherein the accurate position of the target lamp switch comprises the height of the target lamp switch;
a determining module 30, configured to identify a target light switch based on the height of the mechanical arm, and determine a switching state of the target light switch;
a generating module 40, configured to generate a path for controlling the target light switch to perform a light on/off action by combining the on/off state of the target light switch, the accurate position of the target light switch, and a light on/off action instruction;
and a control module 50 for switching on/off the lamp according to the path of the lamp switching on/off action in combination with the target lamp switching type.
Optionally, the identifying the object in the area where the target lamp switch is located includes:
and identifying the label on the lamp switch by using the depth camera.
Optionally, the identifying the target light switch and determining the switch state of the target light switch include:
identifying a YAW rotation angle of a tag of the target lamp switch under a camera coordinate system by using a depth camera;
determining a switching state of the target luminaire switch based on the YAW rotation angle.
Optionally, the switching on/off of the lamp according to the path of the switching on/off action in combination with the target lamp switching type includes:
determining a pressing force of a lamp turning-on/off action based on the target lamp switching type;
when a force sensor on the mechanical arm senses that the mechanical arm is in contact with the target lamp switch, the target switch is pressed according to the pressing force to switch on/off a lamp.
Optionally, the method further comprises:
the on/off lamp command further includes an on/off lamp timing command;
and navigating to the area where the target lamp switch is positioned according to the lamp on/off timing instruction until the lamp is turned on/off according to the path of the lamp on/off action according to the type of the target lamp switch.
Optionally, after the switching on/off of the lamp according to the path of the switching on/off action in combination with the target lamp switching type, the method includes:
and returning to the area where the target lamp switch is positioned, identifying the target lamp switch, and determining the switch state of the target lamp switch.
Optionally, the returning to the area where the target lamp switch is located, identifying the target lamp switch, and after determining the switch state of the target lamp switch, includes:
when the on-off state of the target lamp switch is consistent with the on/off lamp action instruction, the mechanical arm is contracted to the initial position.
The functions of the apparatus according to the embodiments of the present invention have been described in the foregoing method embodiments, so that the descriptions of the embodiments are not exhaustive, and reference may be made to the related descriptions in the foregoing embodiments, which are not repeated herein.
Based on the same inventive concept, the embodiments of the present specification also provide an electronic device.
The following describes an embodiment of an electronic device according to the present invention, which may be regarded as a specific physical implementation of the above-described embodiment of the method and apparatus according to the present invention. Details described in relation to the embodiments of the electronic device of the present invention should be considered as additions to the embodiments of the method or apparatus described above; for details not disclosed in the embodiments of the electronic device of the present invention, reference may be made to the above-described method or apparatus embodiments.
Fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure. An electronic device 300 according to this embodiment of the present invention is described below with reference to fig. 3. The electronic device 300 shown in fig. 3 is merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present invention.
As shown in fig. 3, the electronic device 300 is embodied in the form of a general purpose computing device. Components of electronic device 300 may include, but are not limited to: at least one processing unit 310, at least one memory unit 320, a bus 330 connecting the different system components (including the memory unit 320 and the processing unit 310), a display unit 340, and the like.
Wherein the storage unit stores program code that is executable by the processing unit 310 such that the processing unit 310 performs the steps according to various exemplary embodiments of the invention described in the above processing method section of the present specification. For example, the processing unit 310 may perform the steps shown in fig. 1.
The memory unit 320 may include readable media in the form of volatile memory units, such as Random Access Memory (RAM) 3201 and/or cache memory 3202, and may further include Read Only Memory (ROM) 3203.
The storage unit 320 may also include a program/utility 3204 having a set (at least one) of program modules 3205, such program modules 3205 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment.
Bus 330 may be one or more of several types of bus structures including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.
The electronic device 300 may also communicate with one or more external devices 400 (e.g., keyboard, pointing device, bluetooth device, etc.), one or more devices that enable a viewer to interact with the electronic device 300, and/or any device (e.g., router, modem, etc.) that enables the electronic device 300 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 350. Also, electronic device 300 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet, through network adapter 360. The network adapter 360 may communicate with other modules of the electronic device 300 via the bus 330. It should be appreciated that although not shown in fig. 3, other hardware and/or software modules may be used in connection with electronic device 300, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
Those skilled in the art will readily understand from the description of the embodiments above. Thus, the technical solution according to the embodiments of the present invention may be embodied in the form of a software product, which may be stored in a computer readable storage medium (may be a CD-ROM, a usb disk, a mobile hard disk, etc.) or on a network, and includes several instructions to cause a computing device (may be a personal computer, a server, or a network device, etc.) to perform the above-mentioned method according to the present invention. The computer program, when executed by a data processing device, enables the computer readable medium to carry out the above-described method of the present invention, namely: such as the method shown in fig. 1.
Fig. 4 is a schematic diagram of a computer readable medium according to an embodiment of the present disclosure.
A computer program implementing the method shown in fig. 1 may be stored on one or more computer readable media. The computer readable medium may be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The computer readable storage medium may include a data signal propagated in baseband or as part of a carrier wave, with readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A readable storage medium may also be any readable medium that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the spectator computing device, partly on the spectator device, as a stand-alone software package, partly on the spectator computing device, partly on a remote computing device, or entirely on a remote computing device or server. In the case of remote computing devices, the remote computing device may be connected to the spectator computing device through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., connected via the internet using an internet service provider).
In summary, the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that some or all of the functionality of some or all of the components in accordance with embodiments of the present invention may be implemented in practice using a general purpose data processing device such as a microprocessor or Digital Signal Processor (DSP). The present invention can also be implemented as an apparatus or device program (e.g., a computer program and a computer program product) for performing a portion or all of the methods described herein. Such a program embodying the present invention may be stored on a computer readable medium, or may have the form of one or more signals. Such signals may be downloaded from an internet website, provided on a carrier signal, or provided in any other form.
The above-described specific embodiments further describe the objects, technical solutions and advantageous effects of the present invention in detail, and it should be understood that the present invention is not inherently related to any particular computer, virtual device or electronic apparatus, and various general-purpose devices may also implement the present invention. The foregoing description of the embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.
Claims (10)
1. A robot on/off lamp control method, comprising:
the robot acquires a lamp on/off instruction, wherein the lamp on/off instruction comprises a target lamp on/off code, a target lamp on/off type and a lamp on/off action instruction, and the area where the target lamp on/off is located is read based on the target lamp on/off code;
navigating to the area where the target lamp switch is located, performing object identification on the area where the target lamp switch is located, and determining the target lamp switch and the accurate position thereof, wherein the accurate position of the target lamp switch comprises the height of the target lamp switch;
the height of the mechanical arm is adjusted based on the height of the target lamp switch, the target lamp switch is identified, and the switching state of the target lamp switch is determined;
generating a path for controlling the target lamp switch to conduct on/off lamp action by combining the on/off state of the target lamp switch, the accurate position of the target lamp switch and the on/off lamp action instruction through a mechanical arm;
and switching on/off the lamp according to the path of the lamp switching on/off action in combination with the target lamp switching type.
2. The robot on/off lamp control method according to claim 1, wherein the performing object recognition on the area where the target lamp switch is located comprises:
and identifying the label on the lamp switch by using the depth camera.
3. The robot on/off lamp control method according to claim 2, wherein the identifying the target lamp switch, determining the on/off state of the target lamp switch, comprises:
identifying a YAW rotation angle of a tag of the target lamp switch under a camera coordinate system by using a depth camera;
determining a switching state of the target luminaire switch based on the YAW rotation angle.
4. The robot lamp-on/off control method according to claim 1, wherein the switching on/off of the lamp in accordance with the path of the lamp-on/off action in conjunction with the target lamp switch type comprises:
determining a pressing force of a lamp turning-on/off action based on the target lamp switching type;
when a force sensor on the mechanical arm senses that the mechanical arm is in contact with the target lamp switch, the target switch is pressed according to the pressing force to switch on/off a lamp.
5. The robot on/off lamp control method according to claim 1, further comprising:
the on/off lamp command further includes an on/off lamp timing command;
and navigating to the area where the target lamp switch is positioned according to the lamp on/off timing instruction until the lamp is turned on/off according to the path of the lamp on/off action according to the type of the target lamp switch.
6. The robot lamp-on/off control method according to claim 1, wherein after the lamp is turned on/off in accordance with the path of the lamp-on/off action in conjunction with the target lamp switch type, comprising:
and returning to the area where the target lamp switch is positioned, identifying the target lamp switch, and determining the switch state of the target lamp switch.
7. The robot on/off lamp control method as claimed in claim 6, wherein the returning to the area where the target lamp switch is located, identifying the target lamp switch, and after determining the on/off state of the target lamp switch, includes:
when the on-off state of the target lamp switch is consistent with the on/off lamp action instruction, the mechanical arm is contracted to the initial position.
8. A robot on/off lamp control device, comprising:
the acquisition module is used for acquiring an on/off lamp instruction by the robot, wherein the on/off lamp instruction comprises a target lamp switch code, a target lamp switch type and an on/off lamp action instruction, and the area where the target lamp switch is located is read based on the target lamp switch code;
the identification module is used for navigating to the area where the target lamp switch is located, carrying out object identification on the area where the target lamp switch is located, and determining the target lamp switch and the accurate position thereof, wherein the accurate position of the target lamp switch comprises the height of the target lamp switch;
the determining module is used for adjusting the height of the mechanical arm based on the height of the target lamp switch, identifying the target lamp switch and determining the switching state of the target lamp switch;
the generation module is used for generating a path for controlling the target lamp switch to conduct the lamp on/off action by combining the on/off state of the target lamp switch, the accurate position of the target lamp switch and the lamp on/off action instruction;
and the control module is used for switching on/off the lamp according to the path of the lamp switching on/off action in combination with the target lamp switching type.
9. An electronic device, wherein the electronic device comprises:
a processor; and a memory storing processor-executable instructions that, when executed, cause the processor to perform the method of any of claims 1-7.
10. A computer readable storage medium, wherein the computer readable storage medium stores one or more programs which, when executed by a processor, implement the method of any of claims 1-7.
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| CN202311532922.2A CN117549295A (en) | 2023-11-16 | 2023-11-16 | Robot on/off lamp control method and device and electronic equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311532922.2A CN117549295A (en) | 2023-11-16 | 2023-11-16 | Robot on/off lamp control method and device and electronic equipment |
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| CN117549295A true CN117549295A (en) | 2024-02-13 |
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| CN202311532922.2A Pending CN117549295A (en) | 2023-11-16 | 2023-11-16 | Robot on/off lamp control method and device and electronic equipment |
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| CN (1) | CN117549295A (en) |
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- 2023-11-16 CN CN202311532922.2A patent/CN117549295A/en active Pending
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