WO2014029365A1 - Intelligent robot and method for moving same to brightest location - Google Patents
Intelligent robot and method for moving same to brightest location Download PDFInfo
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- 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
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- light intensity
- intensity information
- intelligent robot
- information value
- maximum light
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- 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
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- 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
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- 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
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- 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
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- 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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- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
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Description
智能机器人及其移动至最亮位置的方法 技术领域 Intelligent robot and method for moving to the brightest position
本发明属于智能设备技术领域， 特别涉及一种智能机器人及其移动至最亮位置的 方法。 背景技术 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
一般现有的家庭服务机器人在工作完成或电池电量较低时， 通过红外或激光寻路 回到指定位置。 现有的机器人通常配备有充电座， 充电座上设置有红外发射器 /激光发 射器，机器人上相应设有接收红外 /激光信号的接收器，当机器人工作完成或电量低时， 充电座发射信号引导机器人回到充电座上。 使用这类配套的传感器件成本较高， 并且 这些附件通常是不断电工作， 会消耗一定的电能。 当机器人剩余电量不足以提供机器 人返回充电座时， 机器人可能隐藏在沙发旁、 桌底、 床底等不易发现的阴暗位置。 重 新充电时， 需搜寻机器人， 给用户造成较大不便。 发明内容 Generally, 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. When the robot is working or the power is low, 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. 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
鉴于上述问题， 本发明的目的在于提供一种智能机器人及其移动至最亮位置的方 法， 对智能机器人周围环境中的光线强度信息值做出判断， 能够使智能机器人到达光 线强的位置， 容易被用户发现。 In view of the above problems, 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.
本发明提供的智能机器人包含行走单元、 功能单元、 驱动单元和控制单元， 行走 单元设置在智能机器人的底部， 控制单元与驱动单元连接， 在控制单元的作用下， 驱 动单元驱动行走单元移动， 设置在智能机器人上的光敏传感器用于检测光线强度， 光 敏传感器的信号传送给控制单元， 控制单元包括： 信息存储子单元， 存储光敏传感器 检测到的光线强度信息值； 信息处理子单元， 处理信息存储子单元存储的光线强度信 息值， 并判断光源的方向。 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. Under the action of the control 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.
进一步地， 信息处理子单元比较信息存储子单元所存储的光线强度信息值， 得出 最大光线强度信息值。 Further, the information processing subunit compares the light intensity information values stored by the information storage subunit to obtain a maximum light intensity information value.
信息存储子单元中预设一电量阈值， 当电池电量低于该阈值时， 机器人启动寻找 光源模式， 移动至作业空间最亮位置。 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.
进一步地， 光敏传感器设置于机器人行走方向的前端或者设置在机器人的中部。 光敏传感器连接有驱动机构，所述驱动机构驱动光敏传感器进行任意角度的旋转。 智能机器人为地面清洁机器人或空气净化机器人或保安机器人。 Further, 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.
本发明提供一种将上述智能机器人移动至最亮位置的方法， 所述方法包括以下步 骤： The present invention provides a method of moving the above-described intelligent robot to the brightest position, the method comprising the following steps:
步骤 A: 智能机器人原地旋转， 光敏传感器不断检测智能机器人四周的光线强度； 步骤 B: 控制单元将检测到的光线强度信息值进行比较， 得出第一最大光线强度 信息值， 并判断第一最大光线强度信息值的方向； 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;
步骤 C: 智能机器人旋转到第一最大光线强度信息值的方向， 行走单元开始行走， 光敏传感器不断检测该方向的即时光线强度； 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;
步骤 D: 控制单元将检测到的即时光线强度信息值与第一最大光线强度信息值进 行比较， 当检测到的光线强度信息值大于第一最大光线强度信息值时， 此光线强度信 息值成为新的第一最大光线强度信息值， 行走单元继续行走； 否则， 智能机器人原地 旋转， 光敏传感器不断检测智能机器人四周的光线强度并进行比较， 得到第二最大光 线强度信息值； 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;
步骤 E: 控制单元比较第一、 第二最大光线强度信息值的大小， 若第二最大光线 强度信息值大于第一最大光线信息强度值， 返回步骤 A; 否则， 智能机器人停止行走。 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.
在步骤 A前还包括以下步骤： 控制单元将智能机器人中的电量与控制单元中预设 的一电量阈值进行比较。 The following steps are also included before step A: The control unit compares the amount of power in the intelligent robot with a preset power threshold in the control unit.
本发明还提供另一种智能机器人移动至最亮位置的方法， 其特征在于： 所述方法 包括以下步骤： 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:
步骤 A: 智能机器人或光敏传感器原地旋转， 光敏传感器不断检测智能机器人四 周的光线强度； 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;
步骤 B: 控制单元将检测到的光线强度信息值进行比较， 得出第一最大光线强度 信息值， 并判断第一最大光线强度信息值的方向； 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;
步骤 C: 智能机器人旋转到第一最大光线强度信息值的方向， 行走单元开始行走， 光敏传感器不断检测该方向的即时光线强度； 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;
步骤 D: 控制单元将检测到的即时光线强度信息值与第一最大光线强度信息值进 行比较， 当检测到的光线强度信息值大于第一最大光线强度信息值时， 此光线强度信 息值成为新的第一最大光线强度信息值， 行走单元继续行走； 否则， 智能机器人或光 敏传感器原地旋转， 光敏传感器不断检测智能机器人四周的光线强度并进行比较， 得 到第二最大光线强度信息值； 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;
步骤 E: 控制单元比较第一、 第二最大光线强度信息值的大小， 若第二最大光线 强度信息值大于第一最大光线信息强度值， 则以第二光线强度信息值成为新的第一最 大光线强度信息值， 并返回步骤 C; 否则， 智能机器人停止行走。 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.
当智能机器人工作完成或电量低时， 光敏传感器不断检测智能机器人周围环境的 亮度， 通过控制单元让智能机器人始终朝着光线最强的方向前进， 最终找到一个最亮 的位置时， 智能机器人停止运行。 附图说明 When the intelligent robot works or the power is low, 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. When the brightest position is finally found, the intelligent robot stops running. . DRAWINGS
图 1为本发明智能机器人与光源位置关系示意图； 1 is a schematic diagram showing the relationship between an intelligent robot and a light source according to the present invention;
图 2为本发明智能机器人的结构连接框图。 2 is a block diagram showing the structure connection of the intelligent robot of the present invention.
附图标记： Reference mark:
1.光源 2.行走单元 3.功能单元 1. Light source 2. Walking unit 3. Functional unit
4.光敏传感器 5.控制单元 具体实施方式 4. Photosensor 5. Control unit
如图 2所示， 本发明智能机器人包含行走单元 2、 功能单元 3、 控制单元 5和驱 动单元（图中未示）， 行走单元 2设置在智能机器人的底部， 控制单元 5与驱动单元连 接， 在控制单元 5的作用下， 驱动单元驱动行走单元 2移动， 设置在智能机器人上的 光敏传感器 4用于检测光线强度， 光敏传感器的信号传送给控制单元 5， 控制单元 5 还包括： 信息存储子单元， 存储光敏传感器检测到的光线强度信息值； 信息处理子单 元， 处理信息存储子单元存储的光线强度信息值， 并判断光源的方向。 智能机器人与 光源位置关系如图 1所示， 较佳的， 光敏传感器 4设置在智能机器人行走方向的前端 或者设置在智能机器人的中部。 信息处理子单元比较信息存储子单元所存储的光线强 度信息值， 得出最大光线强度信息值。 此时， 智能机器人以光敏传感器感测到的最大 光线强度信息值所在的方向确定为光源 1 (或光亮） 的方向。 由于机器人控制单元本 身已经记录旋转角度对应的光线强度信息值， 当确定最大光线信息强度值时， 智能机 器人对应查找旋转角度即可确定光源 1 (或光亮） 所在的方向； 或者智能机器人原地 旋转一周确定了最大光线强度信息值， 继续原地旋转到最大光线强度信息值的位置即 可确定光源 1 (或光亮） 所在的方向； 或者智能机器人原地旋转一圈， 编码器对应记 录最大光线强度信息值所对应的驱动轮旋转的圈数来确定光源 1 (或光亮） 所在的方 向。 需要强调的是， 本发明并不限于上述各种方式来确定最大光线强度信息值和光源 1 (或光亮） 的位置对应关系。 除了上述智能机器人原地旋转光敏传感器探测并确定光源方向的方案外， 类似 地， 也可以采用光敏传感器本身原地旋转确定光源或光亮的方向后， 然后智能机器人 才旋转到光源或光亮的方向行走。 简单的， 光敏传感器连接驱动机构， 如微型驱动电 机等， 驱动机构驱动光敏传感器进行任意角度的旋转。 As shown in FIG. 2, 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. Under the action of the control unit 5, 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. Preferably, 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. At this time, 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). In addition to the above-described scheme in which the intelligent robot in situ rotates the photosensitive sensor to detect and determine the direction of the light source, similarly, 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. . Typically, 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.
智能机器人可以是各种家庭服务机器人， 如地面清洁机器人或空气净化机器人或 保安机器人等。 Intelligent robots can be various home service robots, such as ground cleaning robots or air purification robots or security robots.
其中， 信息存储子单元中还预设一电量阈值。 当智能机器人工作完成或电池电量 低于阈值时， 智能机器人开始寻找光源并移动至最亮位置。 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.
本发明智能机器人移动至最亮位置的方法包括以下步骤： The method for moving the intelligent robot of the present invention to the brightest position includes the following steps:
步骤 A: 智能机器人原地旋转， 光敏传感器 4不断检测智能机器人四周的光线强 度； Step A: The intelligent robot rotates in place, and the photosensitive sensor 4 continuously detects the light intensity around the intelligent robot;
步骤 B : 控制单元 5将检测到的光线强度信息值进行比较， 得出第一最大光线强 度信息值， 并判断第一最大光线强度信息值的方向； 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;
步骤 C: 智能机器人旋转到第一最大光线强度信息值的方向， 行走单元 2开始行 走， 光敏传感器 4不断检测该方向的即时光线强度； 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;
步骤 D : 控制单元 5将检测到的即时光线强度信息值与第一最大光线强度信息值 进行比较， 当检测到的光线强度信息值大于第一最大光线强度信息值时， 此光线强度 信息值成为新的第一最大光线强度信息值， 行走单元 2继续行走； 否则， 智能机器人 原地旋转， 光敏传感器 4不断检测智能机器人四周的光线强度并进行比较， 得到第二 最大光线强度信息值； 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;
步骤 E: 控制单元 5比较第一、 第二最大光线强度信息值的大小， 若第二最大光 线强度信息值大于第一最大光线信息强度值， 返回步骤 A; 否则， 智能机器人停止行 走。 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.
在步骤 A前还包括以下步骤：控制单元 5将智能机器人中的电量与控制单元 5中 预设的一电量阈值进行比较。 Before step A, the following steps are further included: the control unit 5 compares the amount of power in the intelligent robot with a preset power threshold in the control unit 5.
本发明还提供另一种智能机器人移动至最亮位置的方法， 包括以下步骤： 步骤 A: 智能机器人或光敏传感器 4原地旋转， 光敏传感器 4不断检测智能机器 人四周的光线强度； 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;
步骤 B : 控制单元 5将检测到的光线强度信息值进行比较， 得出第一最大光线强 度信息值， 并判断第一最大光线强度信息值的方向； 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;
步骤 C: 智能机器人旋转到第一最大光线强度信息值的方向， 行走单元 2开始行 走， 光敏传感器 4不断检测该方向的即时光线强度； 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;
步骤 D : 控制单元 5将检测到的即时光线强度信息值与第一最大光线强度信息值 进行比较， 当检测到的光线强度信息值大于第一最大光线强度信息值时， 此光线强度 信息值成为新的第一最大光线强度信息值， 行走单元 2继续行走； 否则， 智能机器人 或光敏传感器 4原地旋转， 光敏传感器 4不断检测智能机器人四周的光线强度并进行 比较， 得到第二最大光线强度信息值； 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. Value
步骤 E: 控制单元 5比较第一、 第二最大光线强度信息值的大小， 若第二最大光 线强度信息值大于第一最大光线信息强度值， 则以第二光线强度信息值成为新的第一 最大光线强度信息值， 并返回步骤 C; 否则， 智能机器人停止行走。 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.
本发明通过光敏传感器不断检测智能机器人周围环境的亮度， 让智能机器人始终 朝着光线最强的方向前进， 最终找到一个最亮的位置时， 智能机器人停止运行。 通过 此种方式， 智能机器人在电量低时， 能够自动离开光线较暗的角落， 使用户易于发现， 以便及时为其充电。 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.
Claims
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| CN201210304181.8 | 2012-08-24 | ||
| CN201210304181.8A CN103631267B (en) | 2012-08-24 | 2012-08-24 | Intelligent robot and its method for being moved to most bright position |
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