WO2014029365A1 - Robot intelligent et procédé pour le déplacer vers l'emplacement le plus lumineux - Google Patents

Robot intelligent et procédé pour le déplacer vers l'emplacement le plus lumineux Download PDF

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Publication number
WO2014029365A1
WO2014029365A1 PCT/CN2013/082218 CN2013082218W WO2014029365A1 WO 2014029365 A1 WO2014029365 A1 WO 2014029365A1 CN 2013082218 W CN2013082218 W CN 2013082218W WO 2014029365 A1 WO2014029365 A1 WO 2014029365A1
Authority
WO
WIPO (PCT)
Prior art keywords
light intensity
intensity information
intelligent robot
information value
maximum light
Prior art date
Application number
PCT/CN2013/082218
Other languages
English (en)
Chinese (zh)
Inventor
汤进举
单俊杰
Original Assignee
科沃斯机器人科技(苏州)有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 科沃斯机器人科技(苏州)有限公司 filed Critical 科沃斯机器人科技(苏州)有限公司
Publication of WO2014029365A1 publication Critical patent/WO2014029365A1/fr

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Definitions

  • the invention belongs to the technical field of smart devices, and in particular relates to an intelligent robot and a method for moving to a brightest position. Background technique
  • existing home service robots return to a specified location by infrared or laser path finding when the work is completed or the battery power is low.
  • the existing robot is usually equipped with a charging base.
  • the charging base is provided with an infrared emitter/laser transmitter.
  • the robot is provided with a receiver for receiving infrared/laser signals.
  • the charging base transmits a signal. Guide the robot back to the charging stand.
  • the use of such matching sensor components is costly, and these accessories typically operate continuously and consume a certain amount of electrical energy.
  • the robot When the robot's remaining power is not enough to provide the robot to return to the cradle, the robot may be hidden in a dark position that is not easily found, such as the sofa, the bottom of the table, or the bottom of the bed. When recharging, the robot needs to be searched, causing great inconvenience to the user. Summary of the invention
  • an object of the present invention is to provide an intelligent robot and a method for moving to a brightest position, and determining a light intensity information value in an environment surrounding the intelligent robot, so that the intelligent robot can reach a position where the light is strong, which is easy Found by the user.
  • the intelligent robot provided by the invention comprises a walking unit, a function unit, a driving unit and a control unit.
  • the walking unit is arranged at the bottom of the intelligent robot, and the control unit is connected with the driving unit.
  • the driving unit drives the walking unit to move, setting The photosensitive sensor on the intelligent robot is used for detecting the intensity of the light, and the signal of the photosensitive sensor is transmitted to the control unit.
  • the control unit comprises: an information storage subunit, storing the light intensity information value detected by the photosensitive sensor; the information processing subunit, processing the information storage The value of the light intensity information stored in the subunit and the direction of the light source.
  • the information processing subunit compares the light intensity information values stored by the information storage subunit to obtain a maximum light intensity information value.
  • a power threshold is preset in the information storage subunit. When the battery power is lower than the threshold, the robot starts to find the light source mode and moves to the brightest position in the working space.
  • the photosensor is disposed at the front end of the robot walking direction or at the center of the robot.
  • the photosensor is connected to a drive mechanism that drives the photosensor to rotate at any angle.
  • the intelligent robot is a ground cleaning robot or an air purifying robot or a security robot.
  • the present invention provides a method of moving the above-described intelligent robot to the brightest position, the method comprising the following steps:
  • Step A The intelligent robot rotates in place, and the photosensitive sensor continuously detects the light intensity around the intelligent robot.
  • Step B The control unit compares the detected light intensity information values to obtain the first maximum light intensity information value, and determines the first The direction of the maximum light intensity information value;
  • Step C The intelligent robot rotates to the direction of the first maximum light intensity information value, the walking unit starts to walk, and the photosensitive sensor continuously detects the instantaneous light intensity in the direction;
  • Step D The control unit compares the detected instantaneous light intensity information value with the first maximum light intensity information value. When the detected light intensity information value is greater than the first maximum light intensity information value, the light intensity information value becomes new. The first maximum light intensity information value, the walking unit continues to walk; otherwise, the intelligent robot rotates in place, and the photosensitive sensor continuously detects and compares the light intensity around the intelligent robot to obtain a second maximum light intensity information value;
  • Step E The control unit compares the size of the first and second maximum light intensity information values. If the second maximum light intensity information value is greater than the first maximum light information intensity value, return to step A; otherwise, the intelligent robot stops walking.
  • step A The control unit compares the amount of power in the intelligent robot with a preset power threshold in the control unit.
  • the present invention also provides another method for moving an intelligent robot to a brightest position, characterized in that: the method comprises the following steps:
  • Step A The intelligent robot or the photosensitive sensor rotates in place, and the photosensitive sensor continuously detects the light intensity of the intelligent robot for four weeks;
  • Step B The control unit compares the detected light intensity information values to obtain a first maximum light intensity information value, and determines a direction of the first maximum light intensity information value;
  • Step C The intelligent robot rotates to the direction of the first maximum light intensity information value, the walking unit starts to walk, and the photosensitive sensor continuously detects the instantaneous light intensity in the direction;
  • Step D The control unit compares the detected instantaneous light intensity information value with the first maximum light intensity information value. When the detected light intensity information value is greater than the first maximum light intensity information value, the light intensity information value becomes new. The first maximum light intensity information value, the walking unit continues to walk; otherwise, the intelligent robot or the photosensitive sensor rotates in place, and the photosensitive sensor continuously detects and compares the light intensity around the intelligent robot to obtain a second maximum light intensity information value;
  • Step E The control unit compares the magnitudes of the first and second maximum light intensity information values, if the second largest light If the intensity information value is greater than the first maximum light information intensity value, the second light intensity information value becomes the new first maximum light intensity information value, and returns to step C; otherwise, the intelligent robot stops walking.
  • the photosensitive sensor continuously detects the brightness of the environment around the intelligent robot.
  • the intelligent robot always moves in the direction of the strongest light through the control unit.
  • the intelligent robot stops running. .
  • FIG. 1 is a schematic diagram showing the relationship between an intelligent robot and a light source according to the present invention
  • FIG. 2 is a block diagram showing the structure connection of the intelligent robot of the present invention.
  • the intelligent robot of the present invention comprises a walking unit 2, a function unit 3, a control unit 5 and a driving unit (not shown).
  • the walking unit 2 is disposed at the bottom of the intelligent robot, and the control unit 5 is connected to the driving unit.
  • the driving unit drives the walking unit 2 to move, the photosensitive sensor 4 disposed on the intelligent robot is used for detecting the light intensity, and the signal of the photosensitive sensor is transmitted to the control unit 5.
  • the control unit 5 further includes: an information storage device The unit stores the light intensity information value detected by the light sensor; the information processing subunit processes the light intensity information value stored by the information storage subunit, and determines the direction of the light source.
  • the positional relationship between the intelligent robot and the light source is as shown in FIG. 1.
  • the photosensitive sensor 4 is disposed at the front end of the intelligent robot walking direction or at the middle of the intelligent robot.
  • the information processing subunit compares the light intensity information values stored in the information storage subunit to obtain a maximum light intensity information value.
  • the direction of the maximum light intensity information value sensed by the photosensitive sensor is determined as the direction of the light source 1 (or light). Since the robot control unit itself has recorded the light intensity information value corresponding to the rotation angle, when determining the maximum light information intensity value, the intelligent robot can determine the direction in which the light source 1 (or light) is located corresponding to the search rotation angle; or the intelligent robot rotates in place.
  • the maximum light intensity information value is determined in one week, and the direction in which the light source 1 (or light) is located can be determined by continuing to rotate to the position of the maximum light intensity information value; or the intelligent robot rotates one circle in place, and the encoder records the maximum light intensity correspondingly.
  • the number of turns of the drive wheel corresponding to the information value determines the direction in which the light source 1 (or light) is located. It should be emphasized that the present invention is not limited to the above various methods to determine the positional correspondence between the maximum light intensity information value and the light source 1 (or light).
  • the photosensitive sensor itself may be rotated in situ to determine the direction of the light source or the light, and then the intelligent robot rotates to the light source or the direction of the light.
  • the photosensor is coupled to a drive mechanism, such as a microdrive motor, and the drive mechanism drives the photosensor to rotate at any angle.
  • Intelligent robots can be various home service robots, such as ground cleaning robots or air purification robots or security robots.
  • a power threshold is also preset in the information storage subunit. When the intelligent robot is working or the battery level is below the threshold, the intelligent robot starts looking for the light source and moves to the brightest position.
  • the method for moving the intelligent robot of the present invention to the brightest position includes the following steps:
  • Step A The intelligent robot rotates in place, and the photosensitive sensor 4 continuously detects the light intensity around the intelligent robot;
  • Step B The control unit 5 compares the detected light intensity information values to obtain a first maximum light intensity information value, and determines a direction of the first maximum light intensity information value;
  • Step C The intelligent robot rotates to the direction of the first maximum light intensity information value, the walking unit 2 starts to walk, and the photosensitive sensor 4 continuously detects the instantaneous light intensity in the direction;
  • Step D The control unit 5 compares the detected instantaneous light intensity information value with the first maximum light intensity information value, and when the detected light intensity information value is greater than the first maximum light intensity information value, the light intensity information value becomes The new first maximum light intensity information value, the walking unit 2 continues to walk; otherwise, the intelligent robot rotates in place, and the photosensitive sensor 4 continuously detects the light intensity around the intelligent robot and compares it to obtain a second maximum light intensity information value;
  • Step E The control unit 5 compares the magnitudes of the first and second maximum light intensity information values. If the second maximum light intensity information value is greater than the first maximum light information intensity value, return to step A; otherwise, the intelligent robot stops running.
  • control unit 5 compares the amount of power in the intelligent robot with a preset power threshold in the control unit 5.
  • the invention also provides another method for moving the intelligent robot to the brightest position, comprising the following steps: Step A: The intelligent robot or the photosensitive sensor 4 rotates in place, and the photosensitive sensor 4 continuously detects the light intensity around the intelligent robot;
  • Step B The control unit 5 compares the detected light intensity information values to obtain a first maximum light intensity information value, and determines a direction of the first maximum light intensity information value;
  • Step C The intelligent robot rotates to the direction of the first maximum light intensity information value, and the walking unit 2 starts. Walking, the photosensor 4 continuously detects the instantaneous light intensity in the direction;
  • Step D The control unit 5 compares the detected instantaneous light intensity information value with the first maximum light intensity information value, and when the detected light intensity information value is greater than the first maximum light intensity information value, the light intensity information value becomes The new first maximum light intensity information value, the walking unit 2 continues to walk; otherwise, the intelligent robot or the photosensitive sensor 4 rotates in place, and the photosensitive sensor 4 continuously detects the light intensity around the intelligent robot and compares it to obtain the second maximum light intensity information.
  • Step E The control unit 5 compares the magnitudes of the first and second maximum light intensity information values. If the second maximum light intensity information value is greater than the first maximum light information intensity value, the second light intensity information value becomes the new first. The maximum light intensity information value, and return to step C; otherwise, the intelligent robot stops walking.
  • the invention continuously detects the brightness of the environment around the intelligent robot through the photosensitive sensor, so that the intelligent robot always advances in the direction of the strongest light, and finally finds the brightest position, the intelligent robot stops running. In this way, the intelligent robot can automatically leave the dark corners when the battery is low, making it easy for users to find, so as to charge them in time.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un robot intelligent et un procédé pour le déplacer vers l'emplacement le plus lumineux, le robot intelligent comprenant une unité de marche (2), une unité de fonction (3), une unité d'entraînement et une unité de commande (5) ; l'unité de marche (2) est disposée au niveau de la partie inférieure du robot intelligent ; l'unité de commande (5) est reliée à l'unité d'entraînement ; sous l'action de l'unité de commande (5), l'unité d'entraînement amène l'unité de marche (2) à se déplacer ; un capteur photosensible (4) disposé à l'avant du robot intelligent est utilisé pour détecter une intensité de lumière ; le signal du capteur photosensible (4) est transmis à l'unité de commande (5) ; l'unité de commande (5) comprend : une sous-unité de mémorisation d'informations pour mémoriser une valeur d'information d'intensité de lumière détectée par le capteur photosensible (4) et une sous-unité de traitement d'informations pour traiter la valeur d'information d'intensité de lumière mémorisée par la sous-unité de mémorisation d'informations et pour déterminer la direction d'une source de lumière (1). Le robot intelligent peut déterminer la valeur d'information d'intensité de lumière dans les environs et atteindre l'emplacement le plus lumineux, en étant ainsi facile à trouver par un utilisateur.
PCT/CN2013/082218 2012-08-24 2013-08-23 Robot intelligent et procédé pour le déplacer vers l'emplacement le plus lumineux WO2014029365A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201210304181.8A CN103631267B (zh) 2012-08-24 2012-08-24 智能机器人及其移动至最亮位置的方法
CN201210304181.8 2012-08-24

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Publication Number Publication Date
WO2014029365A1 true WO2014029365A1 (fr) 2014-02-27

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CN (1) CN103631267B (fr)
WO (1) WO2014029365A1 (fr)

Cited By (1)

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CN105798931A (zh) * 2016-04-26 2016-07-27 南京玛锶腾智能科技有限公司 智能机器人唤醒方法及装置

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CN104571133B (zh) * 2014-12-03 2017-06-13 杭州德宝威智能科技有限公司 机器人室内充电方法、系统及室内活动方法
CN106142104B (zh) * 2015-04-10 2019-01-22 科沃斯机器人股份有限公司 自移动机器人及其控制方法
CN106737700A (zh) * 2015-11-23 2017-05-31 芋头科技（杭州）有限公司 一种移动至明亮位置的智能设备系统及方法
CN107632595B (zh) * 2016-07-18 2020-09-22 苏州宝时得电动工具有限公司 自动行走设备的路径回归方法、自动行走设备及路径回归系统
CN107030686B (zh) * 2016-02-04 2023-08-29 科沃斯机器人股份有限公司 自移动机器人系统及其方向校准方法
WO2018023227A1 (fr) * 2016-07-31 2018-02-08 杨洁 Procédé d'acquisition de données de technologie mobile de robot et robot
WO2018023229A1 (fr) * 2016-07-31 2018-02-08 杨洁 Procédé permettant de déplacer un robot en fonction de l'intensité lumineuse, et robot
WO2018023228A1 (fr) * 2016-07-31 2018-02-08 杨洁 Procédé de poussée d'informations pour déplacer un robot en fonction d'une intensité lumineuse et robot
JP6624139B2 (ja) * 2017-03-24 2019-12-25 カシオ計算機株式会社 自律移動装置、自律移動方法及びプログラム
CN107361707B (zh) * 2017-06-12 2021-03-30 北京小米移动软件有限公司 光强信息处理方法及装置
CN109279037A (zh) * 2018-12-03 2019-01-29 海南大学 空间移动光线屏蔽装置
CN109603143B (zh) * 2018-12-07 2020-08-11 纳恩博（北京）科技有限公司 电动滑板车的自动控制方法及电动滑板车
CN110151062B (zh) * 2019-04-10 2021-03-30 深圳市云鼠科技开发有限公司 一种扫地机器人智能清扫识别方法
CN116755452B (zh) * 2023-08-17 2023-11-03 深圳安培时代数字能源科技有限公司 一种基于电池保护盒的移动电源自主巡逻方法和装置

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CN105798931B (zh) * 2016-04-26 2018-03-09 南京玛锶腾智能科技有限公司 智能机器人唤醒方法及装置

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