CN107898387B - Recharge control method and system, readable storage medium and intelligent device - Google Patents
Recharge control method and system, readable storage medium and intelligent device Download PDFInfo
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- CN107898387B CN107898387B CN201710958027.5A CN201710958027A CN107898387B CN 107898387 B CN107898387 B CN 107898387B CN 201710958027 A CN201710958027 A CN 201710958027A CN 107898387 B CN107898387 B CN 107898387B
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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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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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
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Abstract
The invention relates to a recharge control method, a recharge control system, a readable storage medium and intelligent equipment, which are applied to a robot, wherein the robot is provided with at least three infrared decoding tubes and at least two infrared geminate transistors, and the method comprises the following steps: acquiring a current infrared code value decoded by any one infrared decoding tube, and judging whether the current infrared code value is equal to a corresponding preset code value or not; if yes, controlling the two infrared geminate transistors to be closed and judging whether an upper seat recharging signal is received within a first preset time; and if so, controlling the infrared decoding tube to be closed. The refilling control method provided by the invention can effectively avoid the influence of infrared light emitted by the infrared geminate transistor on the infrared code value received by the infrared decoding tube in the process of refilling the upper seat, improves the success rate of the upper seat and meets the requirement of practical application.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a recharge control method, a recharge control system, a readable storage medium and intelligent equipment.
Background
The floor sweeping robot, which may be called an automatic sweeper, an intelligent dust collector or a robot cleaner, is a common intelligent household appliance. The floor cleaning machine has certain artificial intelligence and can complete floor cleaning work in a room. Divide according to clean mode, generally including brush and sweep and vacuum mode, absorb the rubbish receiver that gets into self earlier with ground debris to accomplish the function of ground clearance.
Home intelligent floor sweepers are usually equipped with an automatic recharging device, also commonly referred to as a "recharging stand". When the electric energy of the sweeping robot is insufficient, the sweeping robot can automatically identify the position of the recharging seat and return to charge. In the process that the sweeping robot returns to the recharging seat, the obstacle needs to be avoided in time, and the infrared decoding tube is combined to finally determine the position of the recharging seat, so that the power-on recharging operation is realized. The existing automatic obstacle avoidance mode can be generally realized by an infrared distance measurement sensor, an ultrasonic distance measurement sensor or a contact sensor. The infrared distance measuring sensor has poor directivity, cannot penetrate through an object, can only be positioned in a sight distance range, and loses signals if the object is shielded; the ultrasonic ranging sensor is greatly influenced by multipath effect and non-line-of-sight propagation, and the manufacturing cost of the circuit is high, so that the ultrasonic ranging sensor is not suitable for the field of smart homes; the contact sensor determines the related information of the measured object through the contact with the measured object, and has the advantages of simple structure, easy signal processing, strong adaptability and low price. At present, the infrared distance measuring sensor (infrared pair tube) is most widely applied by combining various factors.
However, when the sweeping robot approaches the wall or is near the recharging seat, the infrared rays emitted by the infrared pair tubes generate certain interference on the adjacent infrared decoding tubes, so that the normal decoding operation of the infrared decoding tubes is influenced, and the success rate of the sweeping robot for sitting on the seat is reduced.
Disclosure of Invention
Based on this, the present invention aims to provide a recharge control method, a recharge control system, a readable storage medium and an intelligent device, which are applied to a robot, wherein the robot is provided with at least three infrared decoding tubes and at least two infrared pair tubes, and the method comprises the following steps:
acquiring a current infrared code value decoded by any one infrared decoding tube, and judging whether the current infrared code value is equal to a corresponding preset code value or not;
if yes, controlling the two infrared geminate transistors to be closed and judging whether an upper seat recharging signal is received within a first preset time;
and if so, controlling the infrared decoding tube to be closed.
According to the recharging control method provided by the invention, when the current infrared code value obtained by decoding the infrared decoding tube arranged on the robot is equal to the preset code value, the fact that the infrared decoding tube on the robot enters the decoding area can be determined, at the moment, the infrared pair tube is correspondingly closed to avoid the influence of the infrared rays emitted by the infrared pair tube on the decoding of the infrared decoding tube, and because the interference on the infrared decoding tube is reduced, if a seat-up recharging signal is received within the first preset time, the seat-up is successful at the moment, and the infrared decoding tube can be correspondingly closed. The refilling control method provided by the invention can effectively avoid the influence of infrared light emitted by the infrared geminate transistor on the infrared code value received by the infrared decoding tube in the process of refilling the upper seat, improves the success rate of the upper seat and meets the requirement of practical application.
The recharging control method, wherein after the step of controlling the infrared pair transistors to be turned off, the method further comprises:
timing to obtain a first time length after controlling the infrared pair tubes to be closed. The setting is mainly used for monitoring the time length of the sweeping robot during the sitting and recharging operation.
The recharging control method comprises the following steps of timing to obtain a first time length after controlling the infrared pair transistors to be turned off, and the method further comprises the following steps:
judging whether the upper seat recharging signal is received or not;
if not, judging whether the first time length is longer than the first preset time or not;
and if so, controlling the infrared geminate transistors to be opened. The arrangement is mainly used for starting the infrared pair tubes to perform wall inspection again to improve the seat-on success rate when the floor-sweeping robot cannot finish the seat-on charging operation within the specified time.
The recharging control method is characterized in that an ultrasonic sensor is further arranged on the robot, and the method further comprises the following steps:
and when the current infrared code value is judged to be equal to the preset code value, controlling the ultrasonic sensor to be closed. The arrangement is mainly used for turning off the ultrasonic sensor to save the whole power consumption when the sweeping robot is confirmed to enter the infrared decoding domain.
The recharging control method comprises the following steps that the robot and a recharging base are matched with each other for charging, the recharging base is sequentially provided with three infrared transmitting tubes from left to right, the three infrared transmitting tubes respectively transmit different infrared code value signals, and signal transmitting areas of the infrared transmitting tubes are partially overlapped to form at least three different decoding domains, wherein a first decoding domain only comprises infrared code values corresponding to the infrared code value signals transmitted by the infrared transmitting tubes on the left side of the recharging base, a second decoding domain only comprises infrared code values corresponding to the infrared code value signals transmitted by the infrared transmitting tubes on the right side of the recharging base, and a third decoding domain simultaneously comprises the infrared code values corresponding to the infrared code value signals transmitted by the infrared transmitting tubes, and the method further comprises the following steps:
when the infrared decoding tube on the left side of the robot acquires the infrared code value of a second decoding domain, controlling the robot to move to a first direction in a first time period;
when the infrared decoding tube on the right side of the robot acquires the infrared code value of a first decoding domain, the robot is controlled to move towards a second direction in a first time period;
when the infrared decoding tube on the left side of the robot does not acquire the infrared code value of the second decoding domain, and when the infrared decoding tube on the right side of the robot does not acquire the infrared code value of the first decoding domain, the robot is controlled to move to the third direction in the first time period. The arrangement can enable the sweeping robot to freely adjust the moving direction so as to finally and successfully realize the charging of the upper seat.
The invention also provides a recharge control system, which is applied to a robot, wherein the robot is provided with at least three infrared decoding tubes and at least two infrared geminate transistors, and the system comprises:
the code value judging module is used for acquiring a current infrared code value obtained by decoding any one infrared decoding tube and judging whether the current infrared code value is equal to a corresponding preset code value or not;
the first switch module is used for controlling the two infrared geminate transistors to be closed and judging whether an upper seat recharging signal is received within first preset time or not if the current infrared code value is equal to the corresponding preset code value;
and the second switch module is used for controlling the infrared decoding tube to be closed if the upper seat recharging signal is received within the first preset time.
The recharging control system, wherein the system further comprises a timing module, specifically configured to:
timing to obtain a first time length after controlling the infrared pair tubes to be closed. The setting is mainly used for monitoring the time length of the sweeping robot during the sitting and recharging operation.
The recharging control system, wherein the first switch module is further specifically configured to:
judging whether the upper seat recharging signal is received or not;
if not, judging whether the first time length is longer than the first preset time or not;
and if so, controlling the infrared geminate transistors to be opened. The arrangement is mainly used for starting the infrared pair tubes to perform wall inspection again to improve the seat-on success rate when the floor-sweeping robot cannot finish the seat-on charging operation within the specified time.
Recharge control system, wherein still be equipped with an ultrasonic sensor on the robot, the second switch module still specifically is used for:
and when the current infrared code value is judged to be equal to the preset code value, controlling the ultrasonic sensor to be closed. The arrangement is mainly used for turning off the ultrasonic sensor to save the whole power consumption when the sweeping robot is confirmed to enter the infrared decoding domain.
Recharging control system, wherein, the robot charges with recharging seat mutually supports mutually, recharging seat sets up three infrared emission pipe, and is three according to the preface from a left side to the right side infrared emission pipe transmits different infrared code value signals respectively, and the regional part of signalling each other overlaps and forms the decoding domain of at least three difference, wherein first decoding domain only includes the infrared code value that the infrared code value signal that recharges the left infrared emission pipe of seat transmission corresponds, and second decoding domain only includes the infrared code value that the infrared code value signal that recharges the right side infrared emission pipe transmission corresponds, the third decoding domain includes threely simultaneously the infrared code value that the infrared code value signal that infrared emission pipe transmitted corresponds, the system still includes an upper seat control module, specifically is used for:
when the infrared decoding tube on the left side of the robot acquires the infrared code value of a second decoding domain, controlling the robot to move to a first direction in a first time period;
when the infrared decoding tube on the right side of the robot acquires the infrared code value of a first decoding domain, the robot is controlled to move towards a second direction in a first time period;
when the infrared decoding tube on the left side of the robot does not acquire the infrared code value of the second decoding domain, and when the infrared decoding tube on the right side of the robot does not acquire the infrared code value of the first decoding domain, the robot is controlled to move to the third direction in the first time period. The arrangement can enable the sweeping robot to freely adjust the moving direction so as to finally and successfully realize the charging of the upper seat.
The present invention also proposes a readable storage medium having stored thereon a computer program, wherein the program, when executed by a processor, implements the recharge control method as described above.
The invention also provides an intelligent device, which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor executes the program to realize the recharge control method, the intelligent device is a robot, and the robot is provided with at least three infrared decoding tubes and at least two infrared geminate transistors.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
Fig. 1 is a schematic block diagram of a backfill control method according to a first embodiment of the present invention;
fig. 2 is a schematic structural view of a robot in a first embodiment of the present invention;
fig. 3 is a schematic structural diagram of a decoding domain in the backfill control method according to the first embodiment of the present invention;
fig. 4 is a schematic flowchart of a recharge control method according to a second embodiment of the present invention;
fig. 5 is a schematic structural diagram of a recharge control system according to a third embodiment of the present invention.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1 to 3, for the recharging control method in the first embodiment of the present invention, which is applied to a robot, the robot is a sweeping robot 10, an infrared decoding tube 101 is respectively disposed in the middle, the left side, and the right side of the sweeping robot 10, an infrared pair tube 102 is respectively disposed on the left side and the right side of the sweeping robot 10, wherein the infrared pair tube 102 includes an infrared transmitting tube 1021 and an infrared receiving tube 1022, and the sweeping robot 10 is charged in cooperation with a recharging base (not shown in the drawings), and the method includes the following steps:
s101, acquiring a current infrared code value obtained by decoding any one infrared decoding tube, and judging whether the current infrared code value is equal to a corresponding preset code value.
For the recharging seat, three infrared transmitting tubes are sequentially arranged from left to right on the recharging seat (note that the infrared transmitting tubes are different from the infrared transmitting tube 1021 in the infrared pair tube 102, the infrared transmitting tubes arranged on the recharging seat are mainly used for transmitting infrared code value signals to the sweeping robot 10 so as to decode the infrared decoding tube 101 arranged on the sweeping robot 10, and the infrared transmitting tube 1021 arranged in the infrared pair tube 102 is matched with the infrared receiving tube 1022 for obstacle avoidance).
As shown in fig. 3, three infrared transmitting tubes that set up on recharging seat transmit different infrared code value signals respectively, and the regional part of signalling each other overlaps and forms 7 different decoding domains, wherein first decoding domain A only includes the infrared code value that the infrared code value signal that recharges the left infrared transmitting tube of seat transmission corresponds, second decoding domain B only includes the infrared code value that the infrared code value signal that recharges the right infrared transmitting tube transmission of seat corresponds, third decoding domain C includes the infrared code value that the infrared code value signal that three infrared transmitting tube transmission corresponds simultaneously.
The three infrared decoding tubes 101 arranged on the sweeping robot 10 can receive the infrared code value signals sent by the infrared transmitting tubes in the charging seat, and analyze the received infrared code value signals to obtain corresponding infrared code values. After the ir decoding tube 101 decodes the corresponding ir code value, the decoded ir code value is compared with the corresponding preset code value.
And S102, if yes, controlling the two infrared geminate transistors to be closed and judging whether an upper seat recharging signal is received within a first preset time.
As described above, after the infrared decoding tube 101 provided on the cleaning robot 10 decodes the infrared code value, it is determined whether the infrared code value is equal to the preset code value. If the two are confirmed to be matched, the sweeping robot 10 can be determined to enter the decoding domain of the recharging seat at the moment. In other words, the ir decoding tube 101 disposed in the middle of the sweeping robot 10 has entered into the decoding area of the refill seat.
It can be understood that, at this time, the sweeping robot 10 is very close to the recharging seat (wall), and an infrared pair tube 102 is respectively arranged on the left side and the right side of the robot 10, and the distance between the infrared pair tube 102 and the infrared decoding tube 101 is very close. At this time, the infrared ray emitted by the infrared emission tube 1021 in the infrared pair tube 102 will generate a certain interference to the adjacent infrared decoding tube 101, so that the infrared code value received by the infrared decoding tube 101 generates a certain deviation. Therefore, the infrared pair transistors 102 arranged at the left and right sides of the sweeping robot 10 are closed to eliminate the interference to the infrared decoding tube 101, so that the seating success rate is improved.
Further, after the infrared pair tube 102 is turned off, although it can be determined that the sweeping robot 10 has entered the decoding area of the recharging seat, it is possible to successfully charge the seat at any time, at this time, the sweeping robot 10 does not successfully charge the seat. Therefore, in the present embodiment, a first preset time (for example, 20s) is set, and it is determined whether the sweeping robot 10 can complete the seat-up charging operation within the first preset time (20 s).
And S103, if yes, controlling the infrared decoding tube to be closed.
As described above, after it is determined that the charging of the upper seat is achieved within the first preset time (20s), all of the three ir decoding tubes 101 provided in the cleaning robot 10 may be turned off at this time. Up to this point, the upper seat charging operation is successfully realized.
According to the recharging control method provided by the invention, when the current infrared code value obtained by decoding the infrared decoding tube arranged on the robot is equal to the preset code value, the fact that the infrared decoding tube on the robot enters the decoding area can be determined, at the moment, the infrared pair tube is correspondingly closed to avoid the influence of the infrared rays emitted by the infrared pair tube on the decoding of the infrared decoding tube, and because the interference on the infrared decoding tube is reduced, if a seat-up recharging signal is received within the first preset time, the seat-up is successful at the moment, and the infrared decoding tube can be correspondingly closed. The refilling control method provided by the invention can effectively avoid the influence of infrared light emitted by the infrared geminate transistor on the infrared code value received by the infrared decoding tube in the process of refilling the upper seat, improves the success rate of the upper seat and meets the requirement of practical application.
Referring to fig. 4, a recharging control method according to a second embodiment of the present invention includes the following steps:
first, the wall inspection of the cleaning robot 10 is started (i.e. the infrared pair tube 102 is started) and the infrared decoding tube 101 is started. In this embodiment, the sweeping robot 10 is further provided with an ultrasonic sensor, and the ultrasonic sensor is also turned on at the same time. The ultrasonic sensor is mainly used for detecting a long-distance obstacle, and the infrared pair tube 102 is mainly used for short-distance obstacle avoidance.
Then, whether the infrared code value decoded by any one of the infrared decoding tubes 101 is equal to the corresponding preset code value or not is judged, and if the infrared code value decoded by any one of the infrared decoding tubes 101 is identical to the corresponding preset code value, it can be determined that the sweeping robot 10 has entered into the decoding domain of the recharging seat.
It will be appreciated that after the infrared decoder tube 101 has obtained the correct code value, the sweeping robot 10 is now very close to the refill seat (wall). As described above, the infrared ray emitted by the infrared emission tube 1021 in the pair of infrared tubes 102 disposed near the infrared decoding tube 101 may generate a certain interference to the infrared decoding tube 101, so that the infrared code value received by the infrared decoding tube 101 generates a certain deviation. Therefore, the infrared pair tube 102 is closed (i.e. the wall inspection is closed) to eliminate the interference to the infrared decoding tube 101, and the success rate of seat-in is improved.
Further, the sweeping robot 10 continues to search for the recharging path to confirm the specific position of the recharging seat and realize seat-up. In this embodiment, the backfill path finding method may be: when the infrared decoding tube 101 on the left side of the sweeping robot 10 acquires the infrared code value of the second decoding domain B, controlling the sweeping robot 10 to turn left in a first time period (for example, 5 s); when the infrared decoding tube 101 on the right side of the sweeping robot 10 obtains the infrared code value of the first decoding domain A, controlling the sweeping robot to turn right within a first time period (5 s); when the infrared decoding tube 101 on the left side of the sweeping robot 10 does not acquire the infrared code value of the second decoding domain B, and the infrared decoding tube 101 on the right side does not acquire the infrared code value of the first decoding domain A, the robot is controlled to move straight in a first time period (5 s). Additionally, the first time period may be specifically set according to the actual application requirement. The path searching mode can freely change the moving direction of the robot so as to finally realize the refilling of the upper seat.
Further, immediately after the infrared pair tubes 102 are turned off, a timer is started to obtain a first time length. It is understood that when the seat is successfully seated, a seat refill signal is generated. After the infrared pair tube 102 is turned off, since it is uncertain when the sweeping robot 10 successfully sits on the floor, it is necessary to determine whether a sitting recharging signal is received, and if the sitting recharging signal is received, the whole sitting recharging process is completed, and the infrared pair tube 102 (wall inspection), the infrared decoding tube 101 and the ultrasonic sensor are correspondingly turned off.
When the upper seat recharging signal is not received, it is determined whether the first time duration obtained by timing is greater than a first preset time (for example, 20 s). If the first time (for example, 22s) is confirmed to be longer than the first preset time (20s), the infrared pair tube 102 is controlled to be opened. That is, the sweeping robot 10 does not smoothly realize upper seat recharging within the preset time after the infrared pair transistors 102 are turned off (in this case, the position of the sweeping robot may deviate due to lack of the auxiliary obstacle avoidance function of the infrared pair transistors, so that the upper seat recharging cannot be completed within the preset time). Therefore, the infrared pair tube 102 needs to be opened and the search for the recharging path needs to be performed again.
It should be further noted that, in this embodiment, an ultrasonic sensor is further disposed on the sweeping robot 10, and when it is determined that the current infrared code value is equal to the preset code value, it is also determined that the infrared decoding tube 101 of the sweeping robot 10 is located in the decoding domain, at this time, the ultrasonic sensor is not required to perform obstacle avoidance detection, and the ultrasonic sensor is correspondingly turned off.
Referring to fig. 5, for the recharging control system in the third embodiment, the recharging control system is applied to a robot, an infrared decoding tube is respectively arranged in the middle, the left side and the right side of the robot, an infrared pair tube is respectively arranged on the left side and the right side of the robot, and the robot is charged in cooperation with a recharging base, wherein the recharging control system includes a code value determining module 11, a first switch module 12, a second switch module 13 and an upper base control module 14, which are sequentially connected.
The code value determining module 11 is specifically configured to:
acquiring a current infrared code value decoded by any one infrared decoding tube, and judging whether the current infrared code value is equal to a corresponding preset code value or not;
the first switch module 12 is specifically configured to:
if the current infrared code value is equal to the corresponding preset code value, controlling the two infrared geminate transistors to be closed and judging whether an upper seat recharging signal is received within first preset time;
the second switch module 13 is specifically configured to:
and if the upper seat recharging signal is received within the first preset time, controlling the infrared decoding tube to be closed.
It is right to fill control system again, fill back and fill the seat and set up three infrared transmitting tube, three according to the preface from a left side to the right side infrared transmitting tube launches different infrared code value signals respectively, and the regional part of signalling each other overlaps and forms at least three different decoding domain, wherein first decoding domain only includes fill back the infrared code value that the infrared code value signal that the left infrared transmitting tube of seat launched corresponds, second decoding domain only includes fill back the infrared code value that the infrared code value signal that the right side infrared transmitting tube launched corresponds, the third decoding domain includes three simultaneously infrared code value that the infrared code value signal that infrared transmitting tube launched corresponds, the system still includes an upper seat control module 14, wherein upper seat control module 14 specifically is used for:
when the infrared decoding tube on the left side of the robot acquires the infrared code value of a second decoding domain, controlling the robot to turn left in a first time period;
when the infrared decoding tube on the right side of the robot acquires the infrared code value of a first decoding domain, controlling the robot to turn right in a first time period;
and when the infrared decoding tube on the left side of the robot does not acquire the infrared code value of the second decoding domain, and when the infrared decoding tube on the right side of the robot does not acquire the infrared code value of the first decoding domain, controlling the robot to move straightly in the first time period.
In addition, the system further comprises a timing module 15, specifically configured to:
timing to obtain a first time length after controlling the infrared pair tubes to be closed.
The first switch module 12 is further specifically configured to:
judging whether the upper seat recharging signal is received or not;
if yes, judging whether the first time length is longer than the first preset time;
and if so, controlling the infrared geminate transistors to be opened.
The second switch module 13 is further specifically configured to:
and when the current infrared code value is judged to be equal to the preset code value, controlling the ultrasonic sensor to be closed.
The present invention also proposes a readable storage medium having stored thereon a computer program, wherein the program, when executed by a processor, implements the recharge control method as described above.
The invention also provides an intelligent device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the recharge control method.
Those skilled in the art will appreciate that all or part of the steps in the method for implementing the above embodiments may be implemented by a program instructing the relevant hardware. The program may be stored in a computer-readable storage medium. Which when executed comprises the steps of the method described above. The storage medium includes: ROM/RAM, magnetic disk, optical disk, etc.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (6)
1. A recharging control method is applied to a robot, at least three infrared decoding tubes and at least two infrared pair tubes are arranged on the robot, and the method is characterized by comprising the following steps:
acquiring a current infrared code value decoded by any one infrared decoding tube, and judging whether the current infrared code value is equal to a corresponding preset code value or not;
if yes, controlling the two infrared geminate transistors to be closed and judging whether an upper seat recharging signal is received within a first preset time;
if yes, controlling the infrared decoding tube to be closed;
after the step of controlling the infrared pair transistors to be turned off, the method further comprises:
timing to obtain a first duration after controlling the infrared pair transistors to be closed;
judging whether the upper seat recharging signal is received or not;
if not, judging whether the first time length is longer than the first preset time or not;
and if so, controlling the infrared geminate transistors to be opened.
2. The method of claim 1, wherein an ultrasonic sensor is disposed on the robot, the method further comprising:
and when the current infrared code value is judged to be equal to the preset code value, controlling the ultrasonic sensor to be closed.
3. The recharging control method of claim 1, wherein the robot and the recharging base are cooperatively charged, and the recharging base is sequentially provided with three infrared transmitting tubes from left to right, wherein the three infrared transmitting tubes respectively transmit different infrared code value signals, and signal transmitting areas of the three infrared transmitting tubes are partially overlapped to form at least three different decoding domains, wherein a first decoding domain only includes an infrared code value corresponding to an infrared code value signal transmitted by an infrared transmitting tube on the left side of the recharging base, a second decoding domain only includes an infrared code value corresponding to an infrared code value signal transmitted by an infrared transmitting tube on the right side of the recharging base, and a third decoding domain simultaneously includes infrared code values corresponding to infrared code value signals transmitted by the three infrared transmitting tubes, and the method further comprises:
when the infrared decoding tube on the left side of the robot acquires the infrared code value of a second decoding domain, controlling the robot to move to a first direction in a first time period;
when the infrared decoding tube on the right side of the robot acquires the infrared code value of a first decoding domain, the robot is controlled to move towards a second direction in a first time period;
when the infrared decoding tube on the left side of the robot does not acquire the infrared code value of the second decoding domain, and when the infrared decoding tube on the right side of the robot does not acquire the infrared code value of the first decoding domain, the robot is controlled to move to the third direction in the first time period.
4. The utility model provides a recharge control system, is applied to a robot be equipped with at least three infrared decoding pipe and two at least infrared geminate transistors on the robot, its characterized in that, the system includes:
the code value judging module is used for acquiring a current infrared code value obtained by decoding any one infrared decoding tube and judging whether the current infrared code value is equal to a corresponding preset code value or not;
the first switch module is used for controlling the two infrared geminate transistors to be closed and judging whether an upper seat recharging signal is received within first preset time or not if the current infrared code value is equal to the corresponding preset code value;
the second switch module is used for controlling the infrared decoding tube to be closed if the upper seat recharging signal is received within the first preset time;
the system further comprises a timing module, specifically configured to:
timing to obtain a first duration after controlling the infrared pair transistors to be closed;
the first switch module is further specifically configured to:
judging whether the upper seat recharging signal is received or not;
if not, judging whether the first time length is longer than the first preset time or not;
and if so, controlling the infrared geminate transistors to be opened.
5. A readable storage medium on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out the backfill control method according to any one of the preceding claims 1-3.
6. An intelligent device comprising a memory, a processor and a computer program stored on the memory and operable on the processor, wherein the processor executes the program to implement the backfill control method according to any one of claims 1-3, and the intelligent device is a robot, and at least three infrared decoding tubes and at least two infrared pair tubes are arranged on the robot.
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| CN109101020A (en) * | 2018-08-08 | 2018-12-28 | 安徽亚辉电气自动化有限公司 | The unmanned cruising inspection system of electricity substation based on Internet of Things |
| CN110448241B (en) * | 2019-07-18 | 2021-05-18 | 华南师范大学 | Robot trapped detection and escaping method |
| CN110867925B (en) * | 2019-11-29 | 2022-03-04 | 小狗电器互联网科技（北京）股份有限公司 | Recharging method, recharging equipment and recharging storage medium |
| CN110989588A (en) * | 2019-11-29 | 2020-04-10 | 小狗电器互联网科技（北京）股份有限公司 | Robot and recharging system |
| CN112198873B (en) * | 2020-09-03 | 2022-04-01 | 美智纵横科技有限责任公司 | Control method and device of electronic equipment, electronic equipment and computer storage medium |
| CN112731924A (en) | 2020-12-17 | 2021-04-30 | 深圳市银星智能科技股份有限公司 | Recharging method for mobile robot, mobile robot and storage medium |
| CN113625226B (en) * | 2021-08-05 | 2024-06-25 | 美智纵横科技有限责任公司 | Position determining method, device, household appliance and storage medium |
| CN114355911B (en) * | 2021-12-24 | 2024-03-29 | 深圳甲壳虫智能有限公司 | Charging method and device for robot, robot and storage medium |
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