CN209951165U - Mobile robot - Google Patents
Mobile robot Download PDFInfo
- Publication number
- CN209951165U CN209951165U CN201920123586.9U CN201920123586U CN209951165U CN 209951165 U CN209951165 U CN 209951165U CN 201920123586 U CN201920123586 U CN 201920123586U CN 209951165 U CN209951165 U CN 209951165U
- Authority
- CN
- China
- Prior art keywords
- mobile robot
- emitting device
- module
- ambient light
- light emitting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model provides a mobile robot, mobile robot includes robot main part, light emitting device and light receiving arrangement and ambient light sense control module, ambient light sense control module with light emitting device connects, ambient light sense control module is configured into at least partial intensity adjustment based on ambient light emitting device's transmitting power and/or the signal of telecommunication of light receiving arrangement output, when ambient light's intensity surpassed ambient light sense control module's default, ambient light sense control module adjusts light emitting device's transmitting power and/or adjusts the signal of telecommunication of light receiving arrangement output for the signal of telecommunication of light receiving arrangement output can resist under the highlight environment the interference of ambient light is avoided the mobile robot carries out the malfunction.
Description
Technical Field
The utility model relates to a robot field especially relates to a mobile robot.
Background
In the prior art, some sweeping robots collect infrared light through infrared receiving tubes and perform infrared distance measurement to achieve the purpose that the sweeping robots avoid obstacles to prevent collision and fall. However, the above-mentioned solutions have drawbacks, when the robot works in strong sunlight, because the wavelength range of the visible light is 400-.
SUMMERY OF THE UTILITY MODEL
For solving the technical problem among the above-mentioned prior art, the utility model provides a mobile robot, the signal of telecommunication of its accessible reinforcing light receiving arrangement output resists the interference of ambient light avoids mobile robot to carry out the malfunction.
The utility model provides a mobile robot, include:
a light emitting device configured to emit light toward a detection target;
a light receiving device configured to receive light from the light emitting device and/or an external environment;
a robot main body on which the light emitting device and the light receiving device are disposed;
an ambient light sensing and control module connected with the light emitting device, the ambient light sensing and control module configured to adjust a transmission power of the light emitting device and/or an electrical signal output by the light receiving device based at least in part on an intensity of ambient light.
In one embodiment, the ambient light sensing and controlling module includes a current adjusting module, the current adjusting module includes at least a first current adjusting module, and when the intensity of the ambient light exceeds a first preset value, a loop in which the first current adjusting module is located is turned on, so that the current passing through the light emitting device and/or the light receiving device is increased.
In one embodiment, the mobile robot comprises a current limiting resistor connected with the light emitting device, and the first current adjusting module comprises a first adjusting resistor connected with the current limiting resistor in parallel.
In one embodiment, the first current adjusting module further includes a first control switch connected to the first adjusting resistor, and the first control switch is turned on when the intensity of the ambient light exceeds the first preset value.
In one embodiment, the first control switch includes any one or more of a transistor, a thyristor, and a relay.
In one embodiment, the current adjusting module further includes at least a second current adjusting module, the first current adjusting module is connected in parallel with the second current adjusting module, and when the intensity of the ambient light exceeds a second preset value, a loop where the second current adjusting module is located is turned on.
In one embodiment, the ambient light sensing module includes a photosensor and a first voltage dividing resistor connected to the photosensor, and the first voltage dividing resistor is connected in parallel with the first current adjusting module.
In one embodiment, a second voltage dividing resistor is connected between the photosensor and the first voltage dividing resistor, and the photosensor is a phototransistor or a photodiode.
In one embodiment, the ambient light sensing and controlling module is connected to the light emitting device, the first control switch includes a first fet, a gate of the first fet is connected between a first voltage dividing resistor and a second voltage dividing resistor, a source of the first fet is connected to the first adjusting resistor, and a drain of the first fet is connected to the light emitting device.
In one embodiment, the mobile robot comprises a control module, the control module comprises a first port and a second port, and the control module is configured to measure the voltage value of the light receiving device through the first port and control the working state of the light emitting device through the second port.
In one embodiment, the light receiving device comprises a sampling resistor and an infrared receiving tube, one end of the infrared receiving tube is connected with a power supply, the other end of the infrared receiving tube is connected with the sampling resistor, the first port is connected with the sampling resistor to collect a first voltage and a second voltage of the sampling resistor when the light emitting device is turned on and turned off, and when the intensity of ambient light exceeds a preset value of the ambient light sensing control module, the emission power of the light emitting device is increased, so that the current passing through the sampling resistor is increased, the first voltage is increased, and the mobile robot is prevented from performing false operation due to the interference of the ambient light.
In one embodiment, the light emitting device includes an infrared emitting tube and a second field effect tube, the infrared emitting tube is connected to a drain of the second field effect tube, a source of the second field effect tube is connected to a power supply, a gate of the second field effect tube is connected to the second port, and the control module controls the second field effect tube to be turned on or off through the second port to control the operating state of the infrared emitting tube.
Compared with the prior art, the embodiment of the utility model, following beneficial effect has at least: the utility model provides a mobile robot, mobile robot includes robot main part, light emitting device and light receiving arrangement and ambient light sense control module, ambient light sense control module at least with light emitting device with one of light receiving arrangement both is connected, ambient light sense control module is configured as the intensity adjustment based on ambient light at least part light emitting device's transmission power and/or the signal of telecommunication of light receiving arrangement output, when the intensity of ambient light surpassed ambient light sense control module's default, ambient light sense control module adjusts light emitting device's transmission power and/or adjusts the signal of telecommunication of light receiving arrangement output for the signal of telecommunication of light receiving arrangement output can resist under the highlight environment the interference of ambient light, avoids control module of mobile robot receives wrong signal, The mobile robot performs a malfunction.
Drawings
Fig. 1 is a schematic view of a mobile robot provided by the present invention in a strong light environment;
fig. 2 is a schematic diagram of a light emitting device and a light receiving device of a mobile robot according to the present invention;
fig. 3 is a schematic circuit diagram of a first embodiment of the present invention;
fig. 4 is a schematic circuit diagram of a second embodiment provided by the present invention;
FIG. 5 is a graph of the high voltage, low voltage waveforms output by the improved front light receiving device in a non-glare environment;
FIG. 6 is a graph of the high voltage, low voltage waveforms output by the improved front light receiving device in a glare environment;
FIG. 7 is a waveform diagram of a voltage difference signal output by the improved pre-sampling device under a non-glare environment;
FIG. 8 is a waveform diagram of a voltage difference signal output by the improved sampling device in a strong light environment;
fig. 9 is a voltage difference signal waveform diagram output by the improved post-sampling device in a strong light environment.
Description of reference numerals:
a mobile robot 1; a light emitting device 10; an infrared emission tube 100; a light receiving device 11; an infrared receiving tube 110; an ambient light sensing and controlling module 12; a current regulation module 120; a photosensor 121; a control module 13; a first port 131; a second port 132; a first field effect transistor Q1; a second field effect transistor Q2; a third field effect transistor Q3; a sampling resistor R1; a current limiting resistor R3; a first regulating resistor R4; a first voltage dividing resistor R7; a second voltage dividing resistor R6; a second regulating resistor R12; a first protection resistor R5; and a second protection resistor R11.
Detailed Description
In order to make the technical problems, technical embodiments and advantageous effects solved by the present invention more clearly understood, the present invention is further described in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "lateral," "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "clockwise," "counterclockwise," and the like are used in the orientation or positional relationship indicated in the drawings, which is only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
The present invention will be further described with reference to the accompanying drawings and embodiments, and it should be noted that the mobile robot of the present invention can be various mobile robots such as business, military, outdoor or home service robots, and for convenience of description, the following embodiments are described by taking a floor sweeping robot as an example, but they should not be construed as limiting the scope of the present invention.
The working principle of the mobile robot is as follows: the infrared transmitting tube 100 is periodically turned on and off while the mobile robot 1 is walking, and the voltage value of the first voltage output by the infrared receiving tube 110, which is measured by the control module 13 of the mobile robot 1 during the period that the infrared transmitting tube 100 is turned on, is recorded as VH1(ii) a During the period that the infrared transmitting tube 100 is closed, the control module 13 of the mobile robot 1 measures the voltage value of the second voltage output by the infrared receiving tube 110 and records as VL1And a handle VH1And VL1Making a difference to obtain u, where the first voltage is greater than the second voltage, that is, the first voltage is a high voltage, and the second voltage is a low voltage, please refer to fig. 5 and 8, and fig. 5 is a graph of waveforms of the high voltage and the low voltage output by the improved front light receiving device 11 in a non-glare environment. C, comparing u with a preset threshold value u0Comparing, when u is less than the preset valueThreshold value u of0Then, a voltage difference signal waveform shown in fig. 8 is obtained, and the control module 13 determines that the mobile robot 1 is in the cliff state at this time, and controls the mobile robot 1 to move backward or turn to the state of being away from the cliff.
Referring to fig. 1, when the mobile robot 1 works in strong sunlight, since the wavelength range of the visible light is 400-760 nm, the receiving spectrum range of the infrared receiving tube 110 is 500-1100 nm, and the wavelength range of the visible light partially overlaps with the receiving spectrum range of the infrared receiving tube 110, the infrared receiving tube 110 can receive the light signal of the ambient light, i.e. the second voltage V output when the infrared transmitting tube 100 is turned off, even if the infrared transmitting tube 100 is not turned on in a strong light environmentLIf the voltage difference u is larger, the control module 13 calculates the output voltage difference u to have an error. The waveform diagram of the output voltage difference signal at this time is shown in fig. 8, and the waveform diagram that should be actually output is shown in fig. 7, so that the control module 13 of the mobile robot 1 at this time erroneously determines that the mobile robot 1 is in the cliff state at this time, and causes the mobile robot 1 to malfunction. Fig. 6 is a graph of waveforms of high voltage and low voltage output by the light receiving device 11 in a strong light environment, and it can be seen from fig. 6 that the voltage difference output by the control module 13 in the strong light environment is smaller before improvement, and finally the waveform of the voltage difference shown in fig. 8 is obtained, when the second voltage V is obtainedLWhen the voltage difference is too large, the output voltage difference u is smaller than the preset threshold value u0The control module 13 erroneously determines that the mobile robot 1 is in the cliff state at this time, and causes the mobile robot 1 to perform a malfunction, and controls the mobile robot 1 to move backward or turn until the mobile robot 1 leaves the cliff state. Therefore, the inventor proposes the present invention to overcome the disadvantage that the existing mobile robot cannot resist the ambient light interference, and the specific content is as follows.
Referring to fig. 2, the present invention provides a mobile robot 1, including:
a light emitting device 10, the light emitting device 10 being configured to emit light toward a detection target;
a light receiving device 11, the light emitting device 10 being configured to receive light from the light emitting device 10 and/or an external environment;
a robot main body on which the light emitting device 10 and the light receiving device 11 are disposed;
the environment light sensing and controlling module 12 is connected to the light emitting device 10, the environment light sensing and controlling module 12 is configured to adjust the emitting power of the light emitting device 10 and/or the electrical signal output by the light receiving device 11 based at least in part on the intensity of the environment light, when the intensity of the environment light exceeds the preset value of the environment light sensing and controlling module 12, the environment light sensing and controlling module 12 adjusts the emitting power of the light emitting device 10 and/or adjusts the electrical signal output by the light receiving device 11, so that the electrical signal output by the light receiving device 11 in a strong light environment can resist the interference of the environment light, and the control module 13 of the mobile robot 1 can be prevented from receiving an incorrect signal and the mobile robot 1 can perform a false operation. The detection target includes a ground, a wall, etc., which is determined according to the environment and the working condition of the mobile robot 1, and the environment light sensing and controlling module 12 is a device capable of sensing an external light signal and controlling the light emitting device 10 and/or the light receiving device 11 according to the light signal.
Further, referring to fig. 3, the ambient light sensing and controlling module 12 includes a current adjusting module 120, the current adjusting module 120 at least includes a first current adjusting module, and when the intensity of the ambient light exceeds a first preset value, a loop where the first current adjusting module is located is turned on, so that the current passing through the light emitting device 10 and/or the light receiving device 11 is increased. The first current adjusting module is used for adjusting the current passing through the sampling resistor R1, so that the corresponding voltage difference is increased when the first voltage measured by the first port 131 is increased, and the situation that the voltage difference measured by the control module 13 is small under the interference of strong environmental light is avoided, so that the control module 13 makes a misjudgment and the mobile robot 1 performs a malfunction is avoided. The ambient light sensing and controlling module 12 can control the voltage signal output by the light receiving device 11 by adjusting the current.
Further, the mobile robot 1 includes a current limiting resistor R3 connected to the light emitting device 10, and the first current adjusting module includes a first adjusting resistor R4, and the first adjusting resistor R4 is connected in parallel to the current limiting resistor R3. The first adjusting resistor R4 is connected in parallel with the current limiting resistor R3, so that the total resistance of a loop in which the light emitting device 10 is located is reduced, and under the condition of a certain voltage, the reduction of the resistance causes the current to be increased, and the current passing through the light emitting device 10 is increased, so that the emission power of the light emitting device 10 is increased. Specifically, the ambient light sensing and controlling module 12 includes a photosensor 121 connected to the current adjusting module 120, in this embodiment, a loop where the first adjusting resistor R4 is located is directly controlled by the photosensor 121, and when the intensity of the ambient light exceeds a preset value, the photosensor 121 is turned on, and the first adjusting resistor R4 is connected in parallel to the current limiting resistor R3. So that the ambient light sensing and controlling module 12 can adjust the current based on the light signal to control the output voltage of the light receiving device 11.
Further, the first current adjusting module further includes a first control switch connected to the first adjusting resistor R4, and when the intensity of the ambient light exceeds the first preset value, the first control switch is turned on. According to the scheme, a first control switch is introduced, the first control switch can be an electronic switch, such as a field effect transistor, and the voltage of a grid electrode of the field effect transistor is controlled to control a first current regulation module, so that the mobile robot 1 can well resist the interference of strong environmental light. The first current regulation module further comprises a first protection resistor R5, wherein the first protection resistor R5 is connected with the grid electrode of the first field effect transistor Q1 and is used for protecting the first current regulation module from being damaged by the first field effect transistor Q1 caused by overlarge voltage.
Further, the first control switch includes any one or more of a transistor, a thyristor and a relay. Specifically, the first control switch may be an electronic switch element such as a transistor or a thyristor, an electrical component such as a relay, or a combination of any two of the transistor, the thyristor, and the relay, or even a combination of the transistor, the thyristor, and the relay.
Further, referring to fig. 4, the current adjusting module 120 at least further includes a second current adjusting module, the first current adjusting module is at least connected in parallel with the second current adjusting module, and when the intensity of the ambient light exceeds a second preset value, a loop where the second current adjusting module is located is turned on.
Specifically, as shown in fig. 4, the second current regulation module includes a second regulation resistor R12, a third field effect transistor Q3 and a second protection resistor R11, which are connected in series, and by connecting the first current regulation module in parallel with the second current regulation module, when the intensity of the ambient light exceeds a first preset value and does not exceed a second preset value, the first current regulation module is turned on, the second current regulation module is turned off, and at this time, only the first current regulation module is connected in parallel with the current limiting resistor R3; when the intensity of the ambient light exceeds the first preset value and the second preset value at the same time, the first current regulation module, the second current regulation module and the current limiting resistor R3 form parallel connection, so that the ambient light sensing control module 12 forms a plurality of gear regulation currents, the regulation sensitivity of the current regulation module 120 is improved, and the control module 13 of the mobile robot 1 is prevented from receiving an error signal and the mobile robot 1 performs a false operation.
Further, referring to fig. 3, the ambient light sensing and controlling module 12 includes a photo sensor 121 and a first voltage dividing resistor R7 connected to the photo sensor 121, the first voltage dividing resistor R7 is connected in parallel to the current adjusting module 120, and the voltage of the current adjusting module 120 is equal to the voltage of the first voltage dividing resistor R7.
Furthermore, a second voltage dividing resistor R6 is connected between the photosensor 121 and the first voltage dividing resistor R7, and the photosensor 121 is a phototransistor or a photodiode. According to the principle of serial resistor voltage division, by connecting the first voltage dividing resistor R7 and the second voltage dividing resistor R6 in series, the first voltage dividing resistor R7 can be adjusted to divide the obtained voltage to realize the control of the first field effect transistor Q1.
Further, the ambient light sensing and controlling module 12 is connected to the light emitting device 10, the first control switch includes a first fet Q1, a gate of the first fet Q1 is connected between a first voltage dividing resistor R7 and a second voltage dividing resistor R6, a source of the first fet Q1 is connected to the first adjusting resistor R4, and a drain of the first fet Q1 is connected to the light emitting device 10.
Further, the mobile robot 1 includes a control module 13, the control module 13 includes a first port 131 and a second port 132, and the control module 13 is configured to measure a voltage value of the light receiving device 11 through the first port 131 and control an operating state of the light emitting device 10 through the second port 132.
Further, the light receiving device 11 includes a sampling resistor R1 and an infrared receiving tube 110, one end of the infrared receiving tube 110 is connected to a power supply, the other end is connected to the sampling resistor R1, the first port 131 is connected to the sampling resistor R1 to collect a first voltage and a second voltage of the sampling resistor R1 when the light emitting device 10 is turned on and off, when the intensity of the ambient light exceeds the preset value of the ambient light sensing control module 12, the emission power of the light emitting device 10 is increased to increase the current passing through the sampling resistor R1 so that the first voltage is increased to resist the ambient light interference to avoid the mobile robot 1 from performing a malfunction.
Further, the light emitting device 10 includes an infrared emission tube 100 and a second field effect tube Q2, the infrared emission tube 100 is connected to the drain of the second field effect tube Q2, the source of the second field effect tube Q2 is connected to the power supply, the gate of the second field effect tube is connected to the second port 132, and the control module 13 controls the second field effect tube Q2 to be turned on or off through the second port 132 to control the operating state of the infrared emission tube 100. The first field effect transistor Q1 is an NPN type field effect transistor, and the second field effect transistor Q2 is a PNP type field effect transistor.
Wherein the ambient light sensing and controlling module 12 is connected to at least one of the light emitting device 10 and the light receiving device 11, and the ambient light sensing and controlling module 12 is configured to adjust the emitting power of the light emitting device 10 and/or the electrical signal output by the light receiving device 11 based on at least part of the intensity of the ambient light, and specifically includes at least the following two embodiments.
In the first embodiment, the ambient light sensing and controlling module 12 is connected to the light emitting device 10, and when the intensity of the ambient light exceeds a preset value of the ambient light sensing and controlling module 12, the ambient light sensing and controlling module 12 adjusts and increases the emitting power of the light emitting device 10, so that the electrical signal output by the light receiving device 11 is enhanced to resist the interference of the ambient light and avoid the mobile robot 1 from performing a malfunction; specifically, as shown in fig. 3, the first fet Q1 is an NPN-type fet, the gate of the first fet Q1 is connected to the side of the first voltage-dividing resistor R7 with a high potential, that is, the voltage of the gate of the first fet Q1 is substantially equal to the voltage of R7, the drain of the first fet Q1 is connected to the light emitting device 10, the source of the first fet Q1 is grounded via the first adjusting resistor R4, when the intensity of the ambient light exceeds the preset value of the ambient light sensing and control module 12, the intensity of the ambient light is greater, that is, the light is more intense, the current generated by the photosensor 121 of the ambient light sensing and control module 12 is greater, the voltage drops generated by the first voltage-dividing resistor R7 and the second voltage-dividing resistor R6 are greater, and the voltage of the first voltage-dividing resistor R7 is denoted as UR7Let the voltage across the photosensor 121 be VLight (es)Then, then
When the voltage of the first voltage-dividing resistor R7 exceeds the threshold low voltage of the first fet Q1, the first fet Q1 is turned on to connect the first adjusting resistor R4 and the current-limiting resistor R3 in parallel, and the total resistance in the loop in which the light-emitting device 10 is connected in parallel changes and changes to the total resistance
It is obvious that
Smaller than R3, according to ohm's law I ═ U/R, the current in the loop where the light emitting device 10 is located inevitably increases, according to the photoelectric characteristics of the light emitting device 10 and the light receiving device 11, the emission power of the light emitting device 10 increases, the current generated by the light receiving device 11 increases, the first voltage on the sampling resistor R1 increases, and the first port increases131 to increase in voltage difference signal to prevent the mobile robot 1 from performing a malfunction against the interference of the ambient light. After the scheme is adopted, the waveform diagram of the voltage difference signal is shown in fig. 9, so that the output voltage difference can be increased.
In a second embodiment, as shown in fig. 4, the current adjusting module 120 includes a first current adjusting module and a second current adjusting module, the first current adjusting module and the second current adjusting module are connected in parallel, the second current adjusting module includes a second adjusting resistor R12, a third fet Q3 and a second protection resistor R11, which are sequentially connected to each other, and by connecting the first current adjusting module and the second current adjusting module in parallel, when the intensity of the ambient light exceeds a first preset value and does not exceed a second preset value, the first current adjusting module is turned on, the second current adjusting module is turned off, and at this time, only the first current adjusting module is connected in parallel with the current limiting resistor R3; when the intensity of the ambient light exceeds the first preset value and the second preset value at the same time, the first current regulation module, the second current regulation module and the current limiting resistor R3 form parallel connection, so that the ambient light sensing control module 12 forms a plurality of gear regulation currents, the regulation sensitivity of the current regulation modules is improved, and the light emitting device 10 has three kinds of emission power, wherein the two kinds of emission power corresponding to the triggering of the ambient light sensing control module 12 can prevent the control module 13 of the mobile robot 1 from receiving an error signal and the mobile robot 1 from performing a false operation. In this embodiment, the current regulation module 120 is provided with the first current regulation module and the second current regulation module only by way of example, and does not limit the number of sub-modules of the current regulation module 120, and the current regulation module 120 may also be provided with more than two sub-modules, and the composition of each sub-module is similar to that of the first current regulation module and the second current regulation module, and details are not repeated.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (12)
1. A mobile robot, comprising:
a light emitting device configured to emit light toward a detection target;
a light receiving device configured to receive light from the light emitting device and/or an external environment;
a robot main body on which the light emitting device and the light receiving device are disposed;
an ambient light sensing and control module connected with the light emitting device, the ambient light sensing and control module configured to adjust a transmission power of the light emitting device and/or an electrical signal output by the light receiving device based at least in part on an intensity of ambient light.
2. The mobile robot of claim 1, wherein the ambient light sensing and controlling module comprises a current adjusting module, the current adjusting module comprises at least a first current adjusting module, and when the intensity of the ambient light exceeds a first preset value, a loop in which the first current adjusting module is located is turned on, so that the current passing through the light emitting device and/or the light receiving device is increased.
3. The mobile robot of claim 2, wherein the mobile robot comprises a current limiting resistor connected to the light emitting device, and wherein the first current regulating module comprises a first regulating resistor connected in parallel to the current limiting resistor.
4. The mobile robot of claim 3, wherein the first current adjustment module further comprises a first control switch connected to the first adjustment resistor, the first control switch being turned on when the intensity of the ambient light exceeds the first preset value.
5. The mobile robot of claim 4, wherein the first control switch comprises any one or more of a transistor, a thyristor, and a relay.
6. The mobile robot of any one of claims 2 to 5, wherein the current regulation module further comprises at least a second current regulation module, the first current regulation module is connected in parallel with at least the second current regulation module, and when the intensity of the ambient light exceeds a second preset value, a loop where the second current regulation module is located is turned on.
7. The mobile robot as claimed in any one of claims 4 to 5, wherein the ambient light sensing and control module comprises a photo sensor and a first voltage dividing resistor connected to the photo sensor, and the first voltage dividing resistor is connected in parallel with the first current adjusting module.
8. The mobile robot of claim 7, wherein a second voltage dividing resistor is connected between the photoelectric sensor and the first voltage dividing resistor, and the photoelectric sensor is a phototriode or a photodiode.
9. The mobile robot of claim 8, wherein the ambient light sensing and controlling module is connected to the light emitting device, the first control switch comprises a first fet, a gate of the first fet is connected between a first voltage dividing resistor and a second voltage dividing resistor, a source of the first fet is connected to the first adjusting resistor, and a drain of the first fet is connected to the light emitting device.
10. The mobile robot according to claim 1, wherein the mobile robot comprises a control module including a first port and a second port, the control module being configured to measure a voltage value of the light receiving device through the first port and to control an operating state of the light emitting device through the second port.
11. The mobile robot of claim 10, wherein the light receiving device comprises a sampling resistor and an infrared receiving tube, one end of the infrared receiving tube is connected with a power supply, the other end of the infrared receiving tube is connected with the sampling resistor, the first port is connected with the sampling resistor to collect a first voltage and a second voltage of the sampling resistor when the light emitting device is turned on and off, and when the intensity of the ambient light exceeds a preset value of the ambient light sensing and control module, the emission power of the light emitting device is increased to increase the current passing through the sampling resistor so as to increase the first voltage, so as to resist the ambient light interference and avoid the mobile robot from performing malfunction.
12. The mobile robot of claim 10, wherein the light emitting device comprises an infrared emitting tube and a second field effect tube, the infrared emitting tube is connected to a drain of the second field effect tube, a source of the second field effect tube is connected to a power supply, a gate of the second field effect tube is connected to the second port, and the control module controls the second field effect tube to be turned on or off through the second port to control an operating state of the infrared emitting tube.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920123586.9U CN209951165U (en) | 2019-01-24 | 2019-01-24 | Mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920123586.9U CN209951165U (en) | 2019-01-24 | 2019-01-24 | Mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209951165U true CN209951165U (en) | 2020-01-17 |
Family
ID=69238158
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920123586.9U Active CN209951165U (en) | 2019-01-24 | 2019-01-24 | Mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209951165U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113119128A (en) * | 2021-04-25 | 2021-07-16 | 广州科语机器人有限公司 | Robot, operation control method thereof, electronic device, and storage medium |
| CN113566960A (en) * | 2020-04-28 | 2021-10-29 | 广东博智林机器人有限公司 | Configuration method and system of visual sensor, electronic device and medium |
| CN115890690A (en) * | 2023-03-09 | 2023-04-04 | 广东隆崎机器人有限公司 | Robot zero point adjustment method, device, equipment and readable storage medium |
-
2019
- 2019-01-24 CN CN201920123586.9U patent/CN209951165U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113566960A (en) * | 2020-04-28 | 2021-10-29 | 广东博智林机器人有限公司 | Configuration method and system of visual sensor, electronic device and medium |
| CN113119128A (en) * | 2021-04-25 | 2021-07-16 | 广州科语机器人有限公司 | Robot, operation control method thereof, electronic device, and storage medium |
| CN115890690A (en) * | 2023-03-09 | 2023-04-04 | 广东隆崎机器人有限公司 | Robot zero point adjustment method, device, equipment and readable storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN209951165U (en) | Mobile robot | |
| US9190433B2 (en) | Ambient light sensing with stacked photodiode structure with dual PN junction | |
| EP0745868B1 (en) | Temperature compensated APD detector bias and transimpedance amplifier circuitry for laser range finders | |
| WO2020061967A1 (en) | Ranging device and time measuring method based on ranging device | |
| US7616422B2 (en) | Over current protection circuit for power supplies | |
| WO2019153653A1 (en) | Voltage output circuit and electronic cigarette | |
| CN110220541B (en) | Infrared detection device and infrared photoelectric sensor | |
| CN110651199B (en) | Photodetector and portable electronic device | |
| JP2016225453A (en) | Photosensor | |
| EP3854240A1 (en) | Voltage output circuit and electronic cigarette | |
| CN112260672B (en) | Method for adjusting induction distance of infrared device | |
| CN112098973A (en) | Light receiving device for laser radar and dynamic adjustment method of light receiving device | |
| KR100919769B1 (en) | Apparatus for driving light emitting diodes and method for controlling the same | |
| CN111381289A (en) | Infrared lamp self-adaptive environment obstacle detection method and mobile device | |
| TWI512954B (en) | Ambient light sensing with stacked photodiode | |
| CN210836475U (en) | Control circuit of smoke sensor and intelligent smoke sensor | |
| KR102273534B1 (en) | LED strobe apparatus synchronized with camera | |
| US8384511B2 (en) | Photoreceptor device, liquid crystal apparatus, and electronic apparatus | |
| CN212843970U (en) | Anti-mutation photosensitive circuit and device | |
| CN212231760U (en) | Filter type light-operated induction lamp | |
| CN217335423U (en) | Power supply driving circuit with overvoltage protection | |
| CN217034092U (en) | Alternating voltage detection circuit for inhibiting temperature drift of photoelectric coupler | |
| CN217883395U (en) | Isolation device and electronic equipment | |
| CN213990760U (en) | Infrared lamp regulating circuit and law enforcement record appearance | |
| CN112687214B (en) | Screen control circuit and electronic equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 518110 1701, building 2, Yinxing Zhijie, No. 1301-72, sightseeing Road, Xinlan community, Guanlan street, Longhua District, Shenzhen, Guangdong Province Patentee after: Shenzhen Yinxing Intelligent Group Co.,Ltd. Address before: 518110 building A1, Yinxing hi tech Industrial Park, Guanlan street, Longhua District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Silver Star Intelligent Technology Co.,Ltd. |
|
| CP03 | Change of name, title or address |