CN108519355A - Clean robot barrier reflects material power judgment method - Google Patents
Clean robot barrier reflects material power judgment method Download PDFInfo
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- CN108519355A CN108519355A CN201810137668.9A CN201810137668A CN108519355A CN 108519355 A CN108519355 A CN 108519355A CN 201810137668 A CN201810137668 A CN 201810137668A CN 108519355 A CN108519355 A CN 108519355A
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- infrared
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- receiving tube
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- 230000004888 barrier function Effects 0.000 title claims abstract description 35
- 238000000034 method Methods 0.000 title claims abstract description 21
- 241001417527 Pempheridae Species 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/47—Scattering, i.e. diffuse reflection
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/47—Scattering, i.e. diffuse reflection
- G01N2021/4733—Discriminating different types of scatterers
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Geophysics And Detection Of Objects (AREA)
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Abstract
The invention discloses a kind of clean robot barriers to reflect material power judgment method, an infrared transmitting tube and two infrared receiving tubes is arranged in the front of clean robot in the method, and left and right directions of the infrared transmitting tube with the infrared receiving tube along the clean robot is arranged in parallel, the first infrared receiving tube is less than second infrared receiving tube at a distance from infrared transmitting tube at a distance from infrared transmitting tube；Infrared transmitting tube emits the infrared pulse wave of certain frequency, first infrared receiving tube and the second infrared receiving tube receive the wave reflected barrier and receive, pass through the power for the back wave that the first infrared receiving tube and the second infrared receiving tube receive, judge whether to run into barrier, and obtains the power of the reflection material of barrier.This method is realized simply, can distinguish processing to the barrier of unlike material, can achieve the effect that reducing outer bound pair infrared characteristic influences by software programming.
Description
Technical field
The present invention relates to sweeping robot control method technical fields more particularly to a kind of clean robot barrier to reflect
Material power judgment method.
Background technology
With the increasingly raising of people's living standard, liberation both hands are so that people preferably enjoy life as people's one kind
Common requirements, the appearance of sweeper are wiped ground and are recharged automatically because it can be automatically performed to sweep the floor in the case of unmanned participate in
The functions such as electricity become a kind of very popular smart home.But sweeper in the prior art cannot be to the anti-of barrier
It penetrates material to distinguish, causes control effect bad.
Invention content
The technical problem to be solved by the present invention is to how to provide it is a kind of the reflection material of barrier can be judged,
Reduce the method that sunlight influences infrared characteristic.
In order to solve the above technical problems, the technical solution used in the present invention is：A kind of clean robot barrier reflection
Material power judgment method, it is characterised in that：
In the front of clean robot, one infrared transmitting tube and two infrared receiving tubes are set, and the infrared transmitting tube with
The infrared receiving tube is arranged in parallel along the left and right directions of the clean robot, the first infrared receiving tube and infrared transmitting tube
Distance is less than second infrared receiving tube at a distance from infrared transmitting tube；
Infrared transmitting tube emits the infrared pulse wave of certain frequency, and first infrared receiving tube and the second infrared receiving tube receive
The wave of barrier reflection is received, the back wave received by the first infrared receiving tube and the second infrared receiving tube it is strong
It is weak, judge whether to run into barrier, and obtain the power of the reflection material of barrier.
Further technical solution is that the judgment method of the reflection material power of barrier is as follows：
Infrared transmitting tube emits 200Hz infrared pulse waves；
First infrared receiving tube and the second infrared receiving tube receive the infrared signal of infrared transmitting tube transmitting, and the wave received
Peak voltage reads out and makees difference operation, respectively Vb and Vc with peak voltage；
1）If Vc<0.5v, then disturbance in judgement object is reflection material unobvious, skips to step 2）, otherwise it is adjusted to step 3）；
2）If Vb-Vc>0.2v, then judgement encounter the reflection unconspicuous barrier of material；
3）If Vb>1v and Vb-Vc>0.3v, then judgement encounter the reflection obvious barrier of material.
Further technical solution is：Between first infrared receiving tube and the infrared transmitting tube keep one section away from
From first infrared receiving tube is close to be arranged with second infrared receiving tube.
It is using advantageous effect caused by above-mentioned technical proposal：This method realization is simple, can be to the barrier of unlike material
Hinder object to distinguish processing, it is extraneous that reduction can be reached by software programming（Sunlight）The effect that infrared characteristic is influenced.
Description of the drawings
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 is the position relationship between infrared transmitting tube, infrared receiving tube and wall in the method for the embodiment of the present invention
Figure；
Wherein：1, infrared transmitting tube 2, the first infrared receiving tube 3, the second infrared receiving tube 4, wall.
Specific implementation mode
With reference to the attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground describes, it is clear that described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still the present invention can be with
Implemented different from other manner described here using other, those skilled in the art can be without prejudice to intension of the present invention
In the case of do similar popularization, therefore the present invention is not limited by following public specific embodiment.
The embodiment of the invention discloses a kind of clean robot barriers to reflect material power judgment method, including walks as follows
Suddenly：
In the front of clean robot, one infrared transmitting tube and two infrared receiving tubes are set, and the infrared transmitting tube with
The infrared receiving tube is arranged in parallel along the left and right directions of the clean robot, the first infrared receiving tube and infrared transmitting tube
Distance is less than second infrared receiving tube at a distance from infrared transmitting tube；
Infrared transmitting tube emits the infrared pulse wave of certain frequency, and first infrared receiving tube and the second infrared receiving tube receive
The wave of barrier reflection is received, the back wave received by the first infrared receiving tube and the second infrared receiving tube it is strong
It is weak, judge whether to run into barrier, and obtain the power of the reflection material of barrier.Fig. 1 is the method for the embodiment of the present invention
Location diagram between middle infrared transmitting tube, infrared receiving tube and wall, as shown in Figure 1, first infrared receiving tube with
A distance, first infrared receiving tube is kept to be close to set with second infrared receiving tube between the infrared transmitting tube
It sets.
The specific judgment method of the reflection material power of barrier is as follows：
Infrared transmitting tube emits 200Hz infrared pulse waves；
First infrared receiving tube and the second infrared receiving tube receive the infrared signal of infrared transmitting tube transmitting, and the wave received
Peak voltage reads out and makees difference operation, respectively Vb and Vc with peak voltage；
1）If Vc<0.5v, then disturbance in judgement object is reflection material unobvious, skips to step 2）, otherwise it is adjusted to step 3）；
2）If Vb-Vc>0.2v, then judgement encounter the reflection unconspicuous barrier of material；
3）If Vb>1v and Vb-Vc>0.3v, then judgement encounter the reflection obvious barrier of material.
The back wave that the method is received by the first infrared receiving tube and the second infrared receiving tube（Infrared transmitting tube is sent out
It penetrates）Power, this method is realized simple, can distinguish processing to the barrier of unlike material, can be reached by software programming
It is extraneous to reducing（Sunlight）The effect that infrared characteristic is influenced.
Claims (3)
1. a kind of clean robot barrier reflects material power judgment method, it is characterised in that：
In the front of clean robot, one infrared transmitting tube and two infrared receiving tubes are set, and the infrared transmitting tube with
The infrared receiving tube is arranged in parallel along the left and right directions of the clean robot, the first infrared receiving tube and infrared transmitting tube
Distance is less than second infrared receiving tube at a distance from infrared transmitting tube；
Infrared transmitting tube emits the infrared pulse wave of certain frequency, and first infrared receiving tube and the second infrared receiving tube receive
The wave of barrier reflection is received, the back wave received by the first infrared receiving tube and the second infrared receiving tube it is strong
It is weak, judge whether to run into barrier, and obtain the power of the reflection material of barrier.
2. clean robot barrier as described in claim 1 reflects material power judgment method, which is characterized in that barrier
Reflection material power judgment method it is as follows：
Infrared transmitting tube emits 200Hz infrared pulse waves；
First infrared receiving tube and the second infrared receiving tube receive the infrared signal of infrared transmitting tube transmitting, and the wave received
Peak voltage reads out and makees difference operation, respectively Vb and Vc with peak voltage；
1）If Vc<0.5v, then disturbance in judgement object is reflection material unobvious, skips to step 2）, otherwise it is adjusted to step 3）；
2）If Vb-Vc>0.2v, then judgement encounter the reflection unconspicuous barrier of material；
3）If Vb>1v and Vb-Vc>0.3v, then judgement encounter the reflection obvious barrier of material.
3. clean robot barrier as described in claim 1 reflects material power judgment method, it is characterised in that：Described
Keep a distance between one infrared receiving tube and the infrared transmitting tube, first infrared receiving tube and described second infrared
Reception pipe is close to be arranged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810137668.9A CN108519355B (en) | 2018-02-10 | 2018-02-10 | Method for judging the strength of the reflective material of the cleaning robot obstacle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810137668.9A CN108519355B (en) | 2018-02-10 | 2018-02-10 | Method for judging the strength of the reflective material of the cleaning robot obstacle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108519355A true CN108519355A (en) | 2018-09-11 |
| CN108519355B CN108519355B (en) | 2020-11-20 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810137668.9A Active CN108519355B (en) | 2018-02-10 | 2018-02-10 | Method for judging the strength of the reflective material of the cleaning robot obstacle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111948661A (en) * | 2019-04-30 | 2020-11-17 | 科沃斯机器人股份有限公司 | Self-moving equipment and detection device |
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2018
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| US5361023A (en) * | 1992-10-26 | 1994-11-01 | Samsung Electronics Co., Ltd. | Movable robot |
| CN2881746Y (en) * | 2006-01-10 | 2007-03-21 | 雅一国际有限公司 | Self-propelled device with obstacle detection function |
| JP2009037378A (en) * | 2007-08-01 | 2009-02-19 | Panasonic Corp | Autonomous traveling device and program |
| CN103324193A (en) * | 2012-03-22 | 2013-09-25 | 鸿奇机器人股份有限公司 | Cleaning robot and method for controlling cleaning robot to walk along obstacle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111948661A (en) * | 2019-04-30 | 2020-11-17 | 科沃斯机器人股份有限公司 | Self-moving equipment and detection device |
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| CN108519355B (en) | 2020-11-20 |
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