KR20160028239A - Lighting Control System There of Control Method - Google Patents

Abstract

The present invention provides a lighting control system which comprises: a plurality of lighting devices configured to irradiate light to each of setup regions formed indoors; and a robot module with an illumination intensity sensor which measures illumination intensities of the lighting devices. Therefore, the system guarantees an optimum illumination intensity and reduces power consumption.

Description

FIELD OF THE INVENTION The present invention relates to a lighting control system,

The present invention relates to a lighting control system and a control method thereof, and more particularly, to a lighting control system and a control method thereof, And a robot module.

Robots have been developed for industrial use and have been used as part of factory automation or in collecting or collecting information on behalf of humans in extreme environments that humans can not tolerate.

Recently, as researches of these robots have become active, robots used in everyday life as well as robots used in the cutting-edge space development industry have been developed.

On the other hand, robots used in everyday life include cleaning robots for cleaning a certain area such as houses or objects, and positioning robots for guiding their positions in museums or large buildings.

Among them, there is a problem in that the manager directly grasps whether the lighting device is on or off without considering the brightness of the lighting device in the indoor space, and the lighting device can not immediately recognize the lighting device when the failure occurs.

Published Patent No. 10-2010-0064861 (June 15, 2010) Published Patent No. 10-2009-0061355 (June 16, 2009)

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a lighting system, a lighting system, It is an object of the present invention to control the current or the voltage so as to correspond to the illuminance value set in comparison with the predetermined illuminance value using the illuminance value.

According to an aspect of the present invention, there is provided an illuminating apparatus comprising: a plurality of illuminating devices for illuminating light in a setting area formed in a room; And a robot module including an illuminance sensor for measuring illuminance of the illuminating device.

The robot module may further include a battery for supplying power required for driving, and may further include a charger for charging the battery by wire or wirelessly.

The robot module may include a position recognition unit for recognizing a current position within the setting area.

The illumination device may include a position sensor for sensing the setting area where the illumination measurement is made.

The illumination device may include a controller for controlling the current or the voltage so as to correspond to the illuminance value that is set by comparing the illuminance value provided from the robot module with the predetermined illuminance value.

The robot module may include a communication unit for acquiring illuminance values of the illumination devices for each of the setting areas and transmitting the acquired illumination values to the control unit.

The controller may include a storage unit for storing data on predetermined illumination values or data on illuminance values measured for each setting area.

The control unit may include transmitting the state of the specific area to the terminal device of the manager when the illuminance value of the specific area in the setting area is less than a predetermined illuminance value.

Further, the present invention is characterized in that the robot module includes an illuminance measurement step for measuring illumination of the illuminating device in a setting area, and a communication part for the robot module in the illuminance measuring step, And a control method of the lighting control system.

Comparing the current or voltage with a preset illuminance value by using the measured illuminance value provided in the step of transmitting to the controller, and comparing the current or voltage with the illuminance value of the illuminator in the comparison and analysis step And if so, moving to the next area.

An illuminance value deviation checking step of checking the illuminance value deviation of the illuminance value measured according to the deviation between the illuminance value measured in the comparative analysis step and the predetermined illuminance value; And if it does not reach the set illuminance value, raising the current or voltage.

A blinking state checking step in accordance with the predetermined illuminance value deviation check on the illuminance value of the specific area in the setting area in the deviation checking step and a step of transmitting the state of the specific area to the terminal device of the manager in the blinking state checking step .

According to the lighting control system and the control method of the present invention, the robot module provided with the illuminance sensor for measuring the illuminance can control the illuminance of the illuminating device in the submerged state, It has the effect of reducing power consumption while ensuring illumination.

1 is a front view showing a front view of a robot module according to the present invention.
2 is a rear view showing a rear surface of the robot module according to the present invention.
3 is a view schematically showing a lighting apparatus according to the present invention and a state where a control unit is installed in a room.
4 is a flowchart showing a lighting control system and a control method according to the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. The terms and words used in the specification and claims should not be construed to be limited to ordinary or dictionary meanings, and the inventor should appropriately define the concept of the term to describe its invention in the best way possible It should be construed in the meaning and concept consistent with the technical idea of the present invention.

FIG. 1 is a front view showing a front view of a robot module according to the present invention, FIG. 2 is a rear view showing a rear surface of a robot module according to the present invention, FIG. 3 is a perspective view showing a lighting device according to the present invention, Fig. 4 is a flowchart showing a lighting control system and a control method according to the present invention.

1 and 2, the robot module 100 according to the present invention includes an illuminance sensor 110 for checking the brightness of the illumination device 300 within a predetermined area, A sensor 130 for detecting obstacles on the movement path and data of illuminance values of the illuminating device 300 measured by the illuminance sensor 110 are transmitted to the control unit 400 A charging unit 150 for wiredly or wirelessly charging power of the robot module 100 and a traveling unit 160 for moving the body of the robot.

The illuminance sensor 110 is a sensor for measuring a plurality of the illuminating devices 300 that irradiate light within a setting area formed in a room, in which a current such as an insulator does not flow in a sound field without visible light, The current is made to flow so that the internal resistance value is changed in accordance with the brightness of the set illumination, and the variable resistor is formed to operate the connected circuit.

Also, the illuminance sensor 110 is provided with a photoconductive effect type, a photovoltaic effect type, and a photoelectron emission type.

The photoconductive effect type is a phenomenon in which when a semiconductor is irradiated with light, the carrier density of the semiconductor increases and the conductivity increases. As a result, free electrons of the valence band are excited by the light energy obtained from the outside, do.

In the photovoltaic effect type, electrons and holes are generated when light is irradiated on the boundary layer between N-type and P-type semiconductors in the PN junction, and the electrons and holes are transferred from the electric field and thermal diffusion to the potential barrier of the PN junction, Or an electromotive force is generated when light is irradiated on a junction surface between a semiconductor and a metal.

The over-electron emission type is a phenomenon in which energy is acquired by irradiation of light to a metal or a metal oxide, and electrons are emitted to the metal surface when the frequency of the set light is increased. However, the type of the illuminance sensor 110 is not limited thereto.

The position recognizing unit 120 is provided on the upper surface of the robot for tracking the position of the robot and includes position sensors 310 '1, 310' 2 and 310 3 'at predetermined intervals in a path where the robot module 100 is measured, 310 `8 are provided to recognize the current position.

The obstacle detection sensor 130 detects obstacles located on the front side and detects obstacles and avoids obstacles during traveling using an ultrasonic sensor, an image sensor, and an infrared sensor.

When the obstacle is detected through the ultrasonic sensor, the width and the avoidance space of the obstacle are determined through the image inputted from the image sensor, and the image sensor and the ultrasonic sensor Thereby performing continuous obstacle avoidance driving.

Accordingly, an ultrasonic array is configured to detect the distance of the obstacle through the ultrasonic sensor, and the distance can be detected 150 ° ahead. The distance detection method calculates the distance using TOF (Time of flight) The input image is prepared so as to avoid the obstacle by calculating the width of the obstacle, the length of the avoiding space, and the steering angle after dividing the area.

In order to map the environment in which the robot module 100 is located, the robot recognizes an identification place placed in an environment where the mobile robot is located, for example, a floor, a wall, a ceiling or the like.

Accordingly, the image sensor photographs the obstacles that the robot module 9100 can appear during traveling, and stores the obstacles in the image storage area. At this time, the possible obstacles may be moving obstacles such as a person or an animal, or may recognize fixed obstacles such as furniture or objects.

In addition, the image sensor is provided with a tilt motor to control the field of view (FOV) when an obstacle is detected, so that the image sensor can receive images of 45 ° to 50 ° from the front to the ground, And the like.

The infrared sensor operates when approaching a peripheral object by a predetermined distance, and is used to measure a distance value of a surrounding object. The predetermined distance indicates a sensing distance of the infrared sensor and indicates a distance from the outer surface of the surrounding object of the robot module 100 to a near side. The infrared sensor indicates the front, left, right, And at least one infrared ray sensor in the rear side.

However, the type of the fault detection sensor 130 is not limited thereto.

The first communication unit 140 transmits the illuminance data measured by the illuminance sensor 110 and the analog signal of the area to be measured from the position recognition sensor 120 to a second communication unit 410). The first communication unit 140 and the second communication unit 410 are configured to maintain a communication state and thus the first communication unit 140 is formed of various communication modules such as a mobile communication module and a short- However, it is preferable that the communication module is formed as a short distance communication module in consideration of characteristics of the indoor environment.

Particularly, since the communication unit 140 forms a communication channel, it is preferable that the communication unit 140 is formed of Bluetooth or ZigBee, which is currently widely used.

Here, the Bluetooth is a standard for near-field, one-to-many, radio frequency for voice and data transmission, and can communicate through solid rather than metal. The Bluetooth is capable of inter-terminal communication within a distance of about 10 cm to 10 m, and can extend up to 100 m by increasing the radio wave. The Bluetooth uses an ISM (Inducstrial Scientific Medical) band (2.4 GHz to 2.480 GHz) in the 2.4 GHz band and uses a transmission speed of 1 Mbps and a frequency hopping method for preventing interference, Up to 30mA when transmitting and receiving), and transmission distances up to 10m and 100m are possible. The Bluetooth includes a low guard band between 2.4 GHz and 2.402 GHz in the band and an up guard band between 2.48 GHz and 2.4835 GHz to prevent signal interference.

The Bluetooth uses GFSK (Guassian Frequency Shift Keying) modulation method and supports 3-channel voice of A-Law, U-Law, PCM and CVSDs.

The ZigBee is a standard technology for a home automation and data network having a low transmission rate. It is able to perform a control and an indoor security system VCR on / off in an indoor space formed by one operation with one button, So that home automation can be provided more conveniently. Standardized in IEEE802.15.4, the frequency band is 2.4Ghz, 868 / 915Mgz is used as the dual PHY type, the direct mode spread spectrum (DS-SS) is used as the modem type, and the data transmission rate is 20 to 250Kbps.

The battery 150 supplies power to the robot module 100, and when the power source has a value of a certain level or less, the battery 150 is connected to a specific socket to charge the power source.

The battery 150 may be a battery cell or the like capable of operating for 40 minutes to 100 minutes or more, but it is preferable that a lithium polymer battery is used in consideration of efficiency of use. The battery 150 can automatically move to the charging socket and perform power charging.

In addition, the battery 150 further includes a charging unit (not shown) for charging the battery 150 by electric power supplied from a power source.

The wireless charging method is a charging method that can be charged without connecting the robot module 100 to a charger connected to an outlet by wire, and may be provided by an electromagnetic wave method, a magnetic induction method, or a magnetic resonance method.

When the electromagnetic wave is generated in the transmitter, the receiver receives electromagnetic waves using Rectenna, which is a combination of an antenna and a rectifier, and converts the received electromagnetic waves into electric power.

The magnetic induction system is provided in such a manner that, when a magnetic field is generated in the power transmitter coil, electromagnetic induction is induced in the receiver coil due to the influence of the magnetic field.

The magnetic resonance method is a method using resonance and electromagnetic induction law. The magnetic resonance method generates a magnetic field that oscillates at a resonance frequency at a transmission coil, and energy is intensively transmitted to a reception coil designed at the same resonance frequency.

However, the wireless charging method is not limited thereto.

The traveling unit 160 includes a left wheel motor 161 for driving the left wheel 161 'of the roughness measuring mobile robot 100 and a right wheel motor 162 for driving the right wheel wheel 162' The driving of the roughness measuring mobile robot 100 is performed by independently or reversely driving the left wheel motor 161 and the right wheel motor 162 under the control of the travel unit 160, The right wheel 161 'and the right wheel 162' preferably have three or more wheels in consideration of mobility and preferably have a structure capable of rotating 360 °.

As shown in FIG. 2, the illuminating device 300 for illuminating light in a setting area formed in the room 200 includes the illumination lamps 300 '1 and 300' 8, the position sensors 310 1 and 310 ' A plurality of brightness sensors 320 and 320 and a plurality of brightness sensors 320 and 320 and a plurality of brightness sensors 320 and 320 are disposed in the center of the lighting device 300, As shown in Fig.

The illumination device 300 includes the controller 400 for controlling the plurality of brightness controllers 320 1 and 330 '8, the brightness controllers 320' and 320 ' And a control line 400'1 for connecting the power supply 400 to each other.

The illumination lamps 300 '1 and 300' 8 may be provided as LED lamps or fluorescent lamps, and the types are not limited thereto.

The brightness adjusting units 320 `1 and 320` 8 are devices for adjusting the brightness of the illumination of the illumination lamps 300 `1 and 300` 8, and input a pulse type power source for adjusting the brightness of the illumination Receive. In order to brighten the brightness of the illumination, the brightness of the illumination can be controlled by a PWM (Pulse Warm Modulation) control method in which the interval of the high signal is increased and the brightness of the illumination is decreased by increasing the interval of the low signal.

Therefore, the brightness adjusting units 320 '1 and 320' 8 are provided with a plurality of resistive elements for adjusting the current applied to the switching unit (not shown), and the pulse type input power is limited to the rated power and supplied A diode (not shown), and a capacitor (not shown) for removing noise of the applied signal.

Next, the operation of the brightness adjusting units 320 '1 and 320' 8 may limit the current according to the ratio of the resistive elements provided with a plurality of signals of the set pulse type.

In addition, the brightness controllers 320 '1 and 320' 8 include diodes (not shown) to supply power within a certain range regardless of the magnitude of the input power. The diode is a Zener diode, and is designed to prevent damage to the circuit due to overload of the input power source.

The control unit 400 may control the brightness of the illumination apparatuses 320 '1 and 320' 'based on the correlation value between the predetermined illumination value and the illuminance values of the illumination apparatuses 320' 1 and 320 ' (Not shown) in which a program for obtaining a current or a voltage and an illuminance value to be supplied to the lamps 320 '1 and 320' 8, a program for obtaining a current or a voltage and an illuminance value, (Not shown) for transmitting the state of the specific area to the terminal device of the manager is provided.

The storage unit (not shown) stores data on a preset illuminance value or data on an illuminance value measured for each setting area transmitted from the communication unit (not shown), and the predetermined illuminance value is provided, Wherein the controller is configured to calculate a deviation of the predetermined illuminance value by receiving the illuminance value measured from the illuminance sensor 110, and when a deviation value corresponding to a deviation between the measured illuminance value and the predetermined illuminance value is generated, The controller 400 generates a correction value according to the deviation difference value, and inputs the correction value to the brightness controllers 320 '1 and 320' 8 to perform brightness control.

The storage unit (not shown) may be a hard disk, a CD-ROM, a USB, or an external hard disk. However, it may be provided in plural, and the kind is not limited thereto.

The communication unit (not shown) receives contents related to failure or malfunction of the lighting apparatus transmitted to the terminal unit of the manager by a text message, and the administrator performs a function of recognizing the text message contents.

In the present embodiment, the terminal device of the administrator is set as a mobile phone, but the present invention is not limited to this, and a PDA (Personal Digital Assistant), a PC (Personal Computer), or the like can be used.

As shown in FIG. 3, a robot module including an illuminance sensor is provided so as to measure illuminance values generated from a plurality of illuminating devices for illuminating light in a setting area formed in a room.

The left and right wheel motors 161 and 162 are moved in the setting area so that the traveling part provided in the robot module can move the left and right wheels 161 ' (Step S100).

The communication unit provided in the robot module in the illuminance measurement step (S100) and the controller transmit and receive the measured illuminance value in real time and transmit the measured illuminance value from the robot module to the controller in step S110 .

In step S110, the control unit compares the illuminance value provided from the robot module with a preset illuminance value and performs a comparison analysis step (S120) with the illuminance value set in advance.

If the illuminance value of the illumination device is normal in the comparative analysis step (S120), the process moves to the next area (S130).

In step S140, an illuminance value deviation check is performed on the illuminance value measured according to the deviation between the illuminance value measured in the comparative analysis step S120 and the predetermined illuminance value.

If it is determined in the deviation checking step (S140) that the predetermined illumination value of the illumination device is not reached in accordance with the preset deviation check, step S150 of raising the current or voltage is performed.

In the deviation checking step S140, it is determined whether the lighting apparatus is malfunctioning or not according to a predetermined illuminance value deviation check on the illuminance value of the specific area in the setting area, and the blinking state checking step S160 is performed.

If the illuminance value of the setting area specifying area is smaller than the predetermined illuminance value in the blinking state checking step (S160), the step S161 of transmitting the state of the specific area to the terminal device of the manager is performed.

While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

100: robot module 110: illuminance sensor
120: position recognition unit 130:
140: communication unit 150: battery
160: Travel section 161: Left-hand motor
161`: left wheel wheel 162: right wheel motor
162`: right wheel wheel 163: auxiliary wheel
200: Indoor 300: Lighting device
300`1, 300`8: Light lamp 310`1, 310`8: Position sensor
320` 1, 320` 8: Brightness adjustment unit 400:

Claims (12)

A plurality of illumination devices each for irradiating light within a setting area formed in a room;
A robot module including an illuminance sensor for measuring illuminance of the illumination device;
≪ / RTI > The method according to claim 1,
Wherein the robot module includes a battery for providing power necessary for driving,
Further comprising a charging unit charging the battery by wire or wirelessly. The method according to claim 1,
The robot module includes:
And a position recognition unit for recognizing a current position within the setting area. The method according to claim 1,
The illumination device includes:
And a position sensor for sensing the setting area where the illumination measurement is made. The method according to claim 1,
The illumination device includes:
And a controller for controlling the current or the voltage so as to correspond to a predetermined illuminance value by comparing the illuminance value provided from the robot module with a predetermined illuminance value. The method of claim 5,
The robot module includes:
And a communication unit for acquiring and transmitting the illumination values of the illumination devices to the control unit for each of the setting areas. The method of claim 6,
Wherein,
And a storage unit for storing data on a preset illuminance value or data on illuminance values measured for each setting region. The method of claim 7,
Wherein,
And transmits the state of the specific area to the terminal device of the manager when the illuminance value of the specific area of the setting area is smaller than a predetermined illuminance value. An illuminance measurement step for the illuminance measurement of the illuminating device in the setting area,
Wherein the robot module includes a communication unit for acquiring the illuminance values of the illumination devices for each setting area and transmitting the illuminance values to the control unit in the illuminance measurement step,
And a control unit for controlling the lighting control system. The method of claim 9,
Analyzing the current or voltage so as to correspond to a predetermined illuminance value by comparing the measured illuminance value provided in the step of transmitting to the controller,
If the illumination value of the illumination device is normal in the comparison and analysis step, moving to the next area;
And a control unit for controlling the lighting control system. The method of claim 10,
An illuminance value deviation check step of comparing the illuminance value measured in the comparative analysis step with the predetermined illuminance value,
Raising a current or a voltage when the deviation is less than the predetermined illuminance value of the illumination device in accordance with the predetermined deviation check in the deviation checking step;
And a control unit for controlling the lighting control system. The method of claim 11,
A blinking state checking step in accordance with the predetermined illuminance value deviation check on the illuminance value of the specific area in the setting area in the deviation checking step,
Transmitting a status of a specific area to the terminal device of the manager in the blinking status checking step;
And a control unit for controlling the lighting control system.

Images