CN109991966A - Control method and device of illumination robot - Google Patents
Control method and device of illumination robot Download PDFInfo
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- CN109991966A CN109991966A CN201711482677.3A CN201711482677A CN109991966A CN 109991966 A CN109991966 A CN 109991966A CN 201711482677 A CN201711482677 A CN 201711482677A CN 109991966 A CN109991966 A CN 109991966A
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- 238000005286 illumination Methods 0.000 title claims abstract description 53
- 238000000034 method Methods 0.000 title claims abstract description 53
- 230000007613 environmental effect Effects 0.000 claims abstract description 31
- 238000004590 computer program Methods 0.000 claims description 20
- 230000004888 barrier function Effects 0.000 claims description 18
- 230000008033 biological extinction Effects 0.000 claims description 17
- 238000001514 detection method Methods 0.000 claims description 7
- 238000010411 cooking Methods 0.000 claims description 3
- 230000007547 defect Effects 0.000 abstract 1
- 230000008569 process Effects 0.000 description 13
- 230000006870 function Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 6
- 230000001276 controlling effect Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 239000012491 analyte Substances 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000010422 painting Methods 0.000 description 2
- 230000000638 stimulation Effects 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 230000002087 whitening effect Effects 0.000 description 2
- 239000011324 bead Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
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- 238000006073 displacement reaction Methods 0.000 description 1
- 230000003760 hair shine Effects 0.000 description 1
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- 230000003287 optical effect Effects 0.000 description 1
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- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F21—LIGHTING
- F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
- F21V23/00—Arrangement of electric circuit elements in or on lighting devices
- F21V23/003—Arrangement of electric circuit elements in or on lighting devices the elements being electronics drivers or controllers for operating the light source, e.g. for a LED array
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F21—LIGHTING
- F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
- F21V33/00—Structural combinations of lighting devices with other articles, not otherwise provided for
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Circuit Arrangement For Electric Light Sources In General (AREA)
Abstract
The invention is suitable for the technical field of robots and provides a control method and a device of an illumination robot, wherein the control method comprises the following steps: receiving an input target position; planning a moving path according to the current position and the target position; controlling the lighting robot to move to the target position according to the moving path; acquiring environmental parameters of the target position; setting illumination parameters of the illumination robot according to the environment parameters; and controlling the lighting robot to provide lighting according to the lighting parameters. The invention combines the robot capable of moving automatically with the lighting equipment, and solves the defect that the traditional lighting equipment can not move at any time and can only be fixed at a certain position. The illumination robot can also adjust the position or adjust the illumination parameters independently according to the environment state of the target position, so that the illumination is more intelligent and interesting.
Description
Technical field
The invention belongs to robotic technology field more particularly to a kind of control method and device of lighting robot.
Background technique
With the rapid development of lighting engineering, the application of illumination is increasingly toward intelligent development, using also more and more wide.
Traditional lighting apparatus be all it is irremovable, some position can only be fixed on or passively change position, this meeting is so that certain
Area illumination dim light is too strong, is easy to cause to damage to human eye.And works as and need to carry out another place
When illumination, need to reinstall lighting apparatus or mobile original lighting apparatus, especially when we need danger zone into
When row illumination, need artificially to enter that lighting apparatus is installed, it is extremely dangerous in this way.In addition, when we need to carry out lighting apparatus
When brightness or color are replaced, lamp bead can only be re-replaced, causes to waste.
Summary of the invention
In view of this, the embodiment of the invention provides a kind of control method and device of lighting robot, it is existing to solve
Conventional illumination device is unable to autonomous in technology, can only be fixed on some position or passively change position, and cannot root
The problem of according to ambient enviroment automatic regulating lightness color.
The first aspect of the embodiment of the present invention provides a kind of control method of lighting robot, comprising:
Receive the target position of input；
Movement routine is cooked up according to current location and the target position；
The lighting robot, which is controlled, according to the movement routine is moved to the target position；
Obtain the environmental parameter of the target position；
The lighting parameter of the lighting robot is set according to the environmental parameter；
It controls the lighting robot and provides illumination according to the lighting parameter.
Further, described that the target position is moved to according to the movement routine control lighting robot, it wraps
It includes:
The detection device that breaks the barriers detects whether to encounter barrier；
If detecting the presence of barrier, movement routine is planned again, and control institute according to the movement routine planned again
It is mobile to state lighting robot, until the lighting robot reaches the target position.
Further, the environmental parameter for obtaining the target position, comprising:
Detect the ambient light intensity of the target position；It rotates a circle in the target position and obtains ambient video image；
The color of object in environment is judged according to the ambient video image, and with the presence or absence of extinction or the object of reflected light.
Further, the lighting parameter that the lighting robot is set according to the environmental parameter, comprising:
If the ambient light intensity is less than preset strength threshold value, and there is no extinction or the object of reflected light, then institute is arranged
The illuminating color for stating lighting robot is the color being adapted to the color of object in the environment；The lighting robot is set
Illumination intensity is the intensity being adapted to the ambient light intensity；
If the ambient light intensity is less than preset strength threshold value, and there are extinction or the objects of reflected light, then described in setting
The illuminating color of lighting robot is the color being adapted to the color of object in the environment；The photograph of the lighting robot is set
Bright intensity is the intensity being adapted to the ambient light intensity；The illumination direction that the lighting robot is arranged is the relatively described extinction
Or the opposite direction of object of reflected light.
Further, the lighting parameter that the lighting robot is set according to the environmental parameter, further includes:
If the ambient light intensity is greater than or equal to preset strength threshold value,
The illumination intensity that the lighting robot is arranged is zero, and controls the lighting robot and leave the target position
It sets；Or
The illumination intensity that the lighting robot is arranged is zero, according to the ambient video image judge ambient light intensity compared with
Weak orientation controls the lighting robot and leaves the target position, and the orientation weaker toward ambient light intensity is mobile.
Further, further includes:
If receiving the lighting parameter setting instruction of input, controls the lighting robot and set according to the lighting parameter
The lighting parameter that instruction includes is set to be illuminated.
Further, if receiving the lighting parameter setting instruction of input, the lighting robot is controlled according to
Before the lighting parameter that lighting parameter setting instruction includes is illuminated, further includes:
It receives and instruction is arranged by the lighting parameter that user terminal or user speech input.
The second aspect of the embodiment of the present invention provides a kind of control device of lighting robot, comprising:
Receiving unit, target position for receiving input；
Path planning unit, for cooking up movement routine according to current location and the target position；
Mobile control unit is moved to the target position for controlling the lighting robot according to the movement routine
It sets；
Acquiring unit, for obtaining the environmental parameter of the target position；
Lighting parameter setting unit, for the lighting parameter of the lighting robot to be arranged according to the environmental parameter；
Lighting control unit provides illumination according to the lighting parameter for controlling the lighting robot.
The third aspect of the embodiment of the present invention provides a kind of lighting robot, comprising: memory, processor and storage
In the memory and the computer program that can run on the processor.The processor executes the computer program
Shi Shixian as described in relation to the first aspect method the step of.
The fourth aspect of the embodiment of the present invention provides a kind of computer readable storage medium, comprising: the computer can
It reads storage medium and is stored with computer program.Method as described in relation to the first aspect is realized when the computer program is executed by processor
The step of.
Existing beneficial effect is the embodiment of the present invention compared with prior art:
The present invention by can autonomous robot and lighting apparatus be combined together, solving conventional illumination device cannot be with
Shi Yidong, and the shortcomings that some position can only be fixed on, lighting robot can also be according to the environmental parameter of present position, independently
Adjustment position or adjustment lighting parameter so that illuminate more intelligent and interest and appeal.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is a kind of implementation process schematic diagram of the control method of lighting robot provided in an embodiment of the present invention；
Fig. 2 is that the implementation process of step S104 in a kind of control method of lighting robot provided in an embodiment of the present invention is shown
It is intended to；
Fig. 3 is that the implementation process of step S105 in a kind of control method of lighting robot provided in an embodiment of the present invention is shown
It is intended to；
Fig. 4 is the implementation process schematic diagram of the control method of another lighting robot provided in an embodiment of the present invention；
Fig. 5 is a kind of schematic diagram of the control device of lighting robot provided in an embodiment of the present invention；
Fig. 6 is the schematic diagram of another lighting robot provided in an embodiment of the present invention.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, in case unnecessary details interferes description of the invention.
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
It is a kind of implementation process signal of the control method of lighting robot provided in an embodiment of the present invention with reference to Fig. 1, Fig. 1
Figure, including step S101-S106.
Step S101 receives the target position of input.
Lighting robot receives the target position of user's input.User can input target position by voice, or pass through
The user terminal input target position of application program of mobile phone is installed, or target position is inputted by the keyboard of robot, or logical
Cross the touch-screen input target position of robot.
In addition, user can also be defeated by being equipped with the personal computer (PersonalComputer, PC) of application program
Enter target position；Alternatively, target position can be sent to server, then by server by the PC of connection server by user
It is transmitted to the lighting robot, target position is received by lighting robot.
Step S102 cooks up movement routine according to current location and the target position.
Path Planning Technique is a pith of mobile robot research field, and many international renowned companies are all right
It has made intensive studies, therefore the various Path Planning Techniques that have been born, and Path Planning Technique can for broad aspect
To be divided into 2 major class: global path planning technology and local Path Planning Technique, global path planning technology and local paths planning
Below this 2 major class of technology it is again each there are many branch technique.Because of the diversity of Path Planning Technique, the research and development of company, robot
Emphasis is different, and the mobile robot that thus company, robot is produced is also different.Preferably, of the invention one
Kind used in the examples is the robot of excellent essential company, it will be understood by those skilled in the art that being merely illustrative table herein
It states, can not be interpreted as to concrete restriction of the invention.
After robot receives the target position of user's input, robot is planned according to current location and the target position
Movement routine out, the movement routine can be the shortest optimal movement routine in path.
Step S103 controls the lighting robot according to the movement routine and is moved to the target position.
Lighting robot is moved according to the movement routine planned in above-mentioned steps 102, is stopped until reaching target position
Only move.If user cancels this illumination command in robot movement on the way, then robot is by backtracking or stops moving
It moves or another object position is gone to according to the order of user.The embodiment of the present invention there are also another situation, if robot according to
Movement routine carry out it is mobile during encounter barrier, such case needs again to plan movement routine, this can be
It is discussed in detail in the following examples, the present embodiment, which is not done, excessively to be repeated.
Step S104 obtains the environmental parameter of the target position.
After robot reaches target position, the environmental parameter of the target position is detected, thus according to the environmental parameter
The lighting parameter of the lighting robot is set.
Optionally, as shown in Fig. 2, step S104 includes S1041 and S1042.
Step S1041 detects the ambient light intensity of the target position；
Step S1042 rotates a circle in the target position and obtains ambient video image；According to the ambient video image
Judge the color of object in environment, and with the presence or absence of extinction or the object of reflected light.
The ambient light intensity refers to the intensity of illumination of the target position, is used to indicate the power of illumination.According to described
Ambient light intensity, judges whether target position region has existed sunlight or the illumination of other lighting apparatus.
In an embodiment of the present invention, the lighting robot is provided with illumination photometer, using illumination photometer to target position
The ambient light intensity set measures.It should be noted that the embodiment of the present invention can also obtain target using other methods
The ambient light intensity of position, for example, the lighting robot is provided with photo resistance, photosensitive in a kind of embodiment of the invention
The resistance value of resistance changes with the variation of intensity of illumination, and lighting robot obtains environmental light intensity information by photo resistance,
Then environmental light intensity information is converted into digital signal, becomes more intuitive digital quantity, i.e. ambient light intensity.It should be understood that this
Place is merely illustrative statement, can not be interpreted as to concrete restriction of the invention.
It after lighting robot reaches target position, rotates a circle in the target position and obtains ambient video image, illuminate
Robot carries out pan-shot to the ambient enviroment of target position using the photographic device of oneself and obtains ambient video image.
The color of object in environment is judged according to the ambient video image, to be arranged according to the color of object in environment
Lighting parameter obtains better illuminating effect.Wherein, in environment object color be environment in object primary color, such as:
According to the ambient video image, determine that the lighting robot is locating to be indoor, the color of surroundings wall is mainly white, then
Determine the color of object in environment for white；For another example: according to the ambient video image, determining locating for the lighting robot and be
Garden, most of is green vegetation, it is determined that the color of object is green in environment.
The object of extinction or reflected light is judged whether there is according to the ambient video image, thus according in environment whether
There are extinction or the objects of reflected light, obtain better illuminating effect.
For example, being that the object of black may determine that as extinction, white object may determine that as reflected light in picture.This is
Because black just shows black just because of light is absorbed, black is exactly the performance of not light, and white is most of just because of reflection
Light ability whitening color, assorted optical superposition is with regard to whitening color.
It should be noted that step S1042 can also be executed before step S1041, it can also be with step S1041 simultaneously
It executes, the present invention is not particularly limited the sequencing of two steps.
The lighting parameter of the lighting robot is arranged according to the environmental parameter by step S105.
The lighting parameter of the lighting robot is set according to the environmental parameter, to obtain better illuminating effect.
Lighting parameter includes: illuminating color, illumination intensity and illumination direction.
Optionally, as shown in figure 3, step S105 includes S1051-S1055.
S1051, judges whether the ambient light intensity is less than preset strength threshold value；If so, S1052 is executed, if it is not, then
Execute S1055.
Preset strength threshold value is an empirical value, for measuring the size of ambient light intensity.The empirical value obtain it is excessive and
It is too small all improper, this is because lighting robot may be made not need to illuminate if the acquirement of preset strength threshold value is excessive
In the case where also illuminated, waste of resource.If the acquirement of preset strength threshold value is too small, it may be such that robot is needing to shine
It is left in the case where bright.Certainly, in some special circumstances, preset strength threshold value can be arbitrarily arranged according to the hobby of user.
The present invention is not particularly limited the preset strength threshold value.
S1052 judges in environment if the ambient light intensity is less than preset strength threshold value with the presence or absence of extinction or reflection
The object of light, if so, S1053 is executed, if it is not, then executing S1054.
S1053, if there are extinction or the object of reflected light in environment, the illuminating color that the lighting robot is arranged is
The color being adapted to the color of object in the environment；Be arranged the lighting robot illumination intensity be and the environmental light intensity
Spend the intensity of adaptation；The illumination direction of the lighting robot side opposite for the object of the relatively described extinction or reflected light is set
To.
S1054, if the illuminating color of the lighting robot is arranged there is no extinction or the object of reflected light in environment
For the color being adapted to the color of object in the environment；Be arranged the lighting robot illumination intensity be and the environment light
The intensity of intensity adaptation.
If the ambient light intensity is less than preset strength threshold value, and there is no extinction or the object of reflected light, then institute is arranged
The illuminating color for stating lighting robot is the color being adapted to the color of object in the environment；The lighting robot is set
Illumination intensity is the intensity being adapted to the ambient light intensity.By this set, the ideal illuminating effect of user is obtained.
For example, parlor integrates multi-functional public space as one if target position is in parlor, need exist for
Relatively soft uniform light environment.For illumination general control between 150~300Lx, colour temperature can be according to decoration style and function
Regional demand is different and changes, and the warm colour temperature within 4000K can be used, to build a kind of warm, comfortable household
Atmosphere.
For another example, if target position is in study, people often carry out study reading, writing thinking, Yi Ji electricity in study
The work such as brain exchange.Therefore study should have higher brightness value, there is quiet luminous environment again.So the illumination in study is not
Should exist it is any stimulation eyes dazzle, required illuminator should light efficiency it is higher, light is soft, and diffusive is good.It is directed to
The different using area in study, it should have different lighting requirements, for example, local illumination should reach 300 when illuminating on desk
~400Lx, in favor of creating the good condition read and write.And the lighting environment of computer is preferably formed with weaker light throwing and is shielding
Stimulation on curtain, to avoid the strong comparison light formed on screen to eyes.If having calligraphy and painting or photo wall on wall, thrown using shot-light
Light, thus the position of prominent calligraphy and painting, this can show certain cultural in a sense.
S1055, if the ambient light intensity is greater than or equal to preset strength threshold value,
The illumination intensity that the lighting robot is arranged is zero, and controls the lighting robot and leave the target position
It sets；Or
The illumination intensity that the lighting robot is arranged is zero, according to the ambient video image judge ambient light intensity compared with
Weak orientation controls the lighting robot and leaves the target position, and the orientation weaker toward ambient light intensity is mobile.
When the ambient light intensity of target position is greater than or equal to preset strength threshold value, it is meant that illumination is filled under current environment
Foot, does not need to be illuminated.Such case can control the lighting robot and leave the target position, it is described leave it is described
Target position includes the movement routine backtracking that can make robot according to memory, or is judged according to the ambient video image
The weaker orientation of ambient light intensity controls the lighting robot and leaves the target position, toward the weaker side of ambient light intensity
Displacement is dynamic, measures in moving process to ambient light intensity, when measuring ambient light intensity less than preset strength threshold value
Stop movement, reacquires environmental parameter in current location, the illumination of the lighting robot is set according to the environmental parameter
Parameter.
Step S106 controls the lighting robot according to the lighting parameter and provides illumination.
According to the lighting parameter that above-mentioned steps 105 obtain, lighting parameter setting instruction is generated, robot receives input
Lighting parameter setting instruction, then control the lighting robot according to the lighting parameter setting instruction include lighting parameter into
Row illumination.
Further, if receiving the lighting parameter setting instruction of input, the lighting robot is controlled according to
Before the lighting parameter that lighting parameter setting instruction includes is illuminated, further includes: receive and pass through user terminal or user speech
Instruction is arranged in the lighting parameter of input.Illuminated automatically if user does not need robot, user can by user terminal or
User speech inputs lighting parameter setting instruction, allows lighting robot to input lighting parameter setting instruction according to user and shines
It is bright.
Lighting robot passes through the movement routine cooked up in the embodiment of the present invention, reaches target position, obtains target position
The lighting parameter of the lighting robot is arranged according to environmental parameter for the environmental parameter set, control the lighting robot according to
The lighting parameter that the lighting parameter setting instruction includes is illuminated.The embodiment of the present invention by can autonomous robot and
Lighting apparatus is combined together, and solves conventional illumination device the shortcomings that cannot moving at any time, can only being fixed on some position, can be with
Lighting robot is set to replace people that danger zone is gone to illuminate.Lighting robot can also according to the ambient condition of target position,
The various parameters of autonomous adjustment position or adjustment illumination, so that illuminating more intelligent and interest and appeal.
In above-described embodiment, if robot encounters barrier, this feelings during carrying out mobile according to movement routine
Condition needs again to plan movement routine, is another lighting robot provided in an embodiment of the present invention with reference to Fig. 4, Fig. 4
Control method implementation process schematic diagram, the present embodiment controls above-described embodiment step S103 according to the movement routine
The lighting robot is moved to the target position, has done specific restriction, the something in common of the present embodiment and above-described embodiment,
Details are not described herein again, only describes place unlike the embodiments above.As shown in figure 4, step S103 includes step S201-S202.
Step S201, the detection device that breaks the barriers, which detects, encounters barrier.
Detecting lighting robot front, whether there are obstacles, is realized by placing obstacles analyte detection device, the present invention
In embodiment, obstacle detector can be contact or contactless.Lighting robot uses the detection of obstacles of contact
Device expands investigative range and sensitivity by lengthening feeler arm.When lighting robot bumps against the barrier of front, obstacle
The signal end of analyte detection device can return to a high level, it is possible thereby to which there is barriers in face of knowing.Contactless
What obstacle detector then limit environmental condition without.By contactless obstacle detector emit sound wave or certain
Kind of ray or infrared ray when encountering barrier, sound wave or ray or infrared ray is reflected back, and are received by sensor, at this point,
Lighting robot determination has found barrier.
One kind of the invention used in the examples is contactless obstacle detector, can be to avoid the bright machine of control
It is artificial at damage, prevent from illuminating out of control.
Further, in the embodiment of the present invention, range sensor can be applied in obstacle detector, so that according to
Bright robot can not only find out the presence of barrier, can also find out the distance that distance touches barrier.It should be understood that herein
It is merely illustrative statement, can not be interpreted as to concrete restriction of the invention.
Step S202 plans movement routine again, and controls the lighting robot according to the movement routine planned again
It is mobile, until the lighting robot reaches the target position.
Obstacle detector detects encounter barrier after, robot according to current location and the target position again
Movement routine is cooked up, and controls the lighting robot movement according to the movement routine planned again, until the flare-aircraft
Device people reaches the target position.
In the embodiment of the present invention, encountered in robot moving process barrier can automatic avoiding obstacles, plan again
Optimal movement routine out allows robot most rapidly to reach target position in the case where guaranteeing lossless security situation.
Fig. 5 is a kind of schematic diagram of the control device 50 of lighting robot provided in an embodiment of the present invention, including is received single
Member 51, path planning unit 52, mobile control unit 53, acquiring unit 54, lighting parameter setting unit 55, lighting control unit
56。
Receiving unit 51, target position for receiving input.
Path planning unit 52, for cooking up movement routine according to current location and the target position.
Mobile control unit 53 is moved to the target position for controlling the lighting robot according to the movement routine
It sets.
Acquiring unit 54, for obtaining the environmental parameter of the target position.
Lighting parameter setting unit 55, for the lighting parameter of the lighting robot to be arranged according to the environmental parameter.
Lighting control unit 56 provides illumination according to the lighting parameter for controlling the lighting robot.
In the above-described embodiments without the part for being described in detail or recording, the associated description of other embodiments may refer to.
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in above-described embodiment, each process
Execution sequence should be determined by its function and internal logic, the implementation process without coping with the embodiment of the present invention constitutes any limit
It is fixed.
Fig. 6 is a kind of schematic diagram for lighting robot that one embodiment of the invention provides.As shown in fig. 6, the embodiment
A kind of lighting robot 6 includes: processor 60, memory 41 and is stored in the memory 61 and can be in the processor
The computer program 62 run on 60.The processor 60 realizes that above-mentioned each method is implemented when executing the computer program 62
Step in example, such as step 101 shown in FIG. 1 is to 106.Alternatively, when the processor 60 executes the computer program 62
Realize the function of each module/unit in above-mentioned each Installation practice, such as the function of module 51 to 56 shown in Fig. 5.
Illustratively, the computer program 62 can be divided into one or more module/units, it is one or
Multiple module/units are stored in the memory 61, and are executed by the processor 60, to complete the present invention.Described one
A or multiple module/units can be the series of computation machine program instruction section that can complete specific function, which is used for
Implementation procedure of the computer program 62 in a kind of lighting robot 6 is described.
A kind of lighting robot 6 may include, but be not limited only to, processor 60, memory 61.Those skilled in the art
It is appreciated that Fig. 6 is only a kind of example of lighting robot 6, the restriction to a kind of lighting robot 6 is not constituted, it can be with
Including perhaps combining certain components or different components, such as the lighting robot than illustrating more or fewer components
It can also include input-output equipment, network access equipment, bus, illumination photometer or photo resistance, photographic device, detection of obstacles
Device etc..
Alleged processor 60 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory 61 can be a kind of internal storage unit of lighting robot 6, such as a kind of lighting machine
The hard disk or memory of people 6.The memory 61 is also possible to a kind of External memory equipment of lighting robot 6, such as described one
The plug-in type hard disk being equipped on kind lighting robot 6, intelligent memory card (Smart Media Card, SMC), secure digital
(Secure Digital, SD) card, flash card (Flash Card) etc..Further, the memory 61 can also both include
A kind of internal storage unit of lighting robot 6 also includes External memory equipment.The memory 61 is described for storing
Other programs and data needed for computer program and a kind of lighting robot.The memory 61 can be also used for temporarily
When store the data that has exported or will export.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of described device is divided into different functional unit or module, more than completing
The all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit, can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units, it is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function list
Member, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.Above system
The specific work process of middle unit, module, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
In embodiment provided by the present invention, it should be understood that disclosed device/terminal device and method, it can be with
It realizes by another way.For example, device described above/terminal device embodiment is only schematical, for example, institute
The division of module or unit is stated, only a kind of logical function partition, there may be another division manner in actual implementation, such as
Multiple units or components can be combined or can be integrated into another system, or some features can be ignored or not executed.Separately
A bit, shown or discussed mutual coupling or direct-coupling or communication connection can be through some interfaces, device
Or the INDIRECT COUPLING or communication connection of unit, it can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated module/unit be realized in the form of SFU software functional unit and as independent product sale or
In use, can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-mentioned implementation
All or part of the process in example method, can also instruct relevant hardware to complete, the meter by computer program
Calculation machine program can be stored in a computer readable storage medium, the computer program when being executed by processor, it can be achieved that on
The step of stating each embodiment of the method.Wherein, the computer program includes computer program code, the computer program generation
Code can be source code form, object identification code form, executable file or certain intermediate forms etc..The computer-readable medium
It may include: any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic that can carry the computer program code
Dish, CD, computer storage, read-only memory (Read-Only Memory, ROM), random access memory (Random
Access Memory, RAM), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that the meter
The content that calculation machine readable medium includes can carry out increase and decrease appropriate according to the requirement made laws in jurisdiction with patent practice,
It such as does not include electric carrier signal and telecommunications according to legislation and patent practice, computer-readable medium in certain jurisdictions
Signal.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although referring to aforementioned reality
Applying example, invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution should all
It is included within protection scope of the present invention.
Claims (10)
1. a kind of control method of lighting robot characterized by comprising
Receive the target position of input；
Movement routine is cooked up according to current location and the target position；
The lighting robot, which is controlled, according to the movement routine is moved to the target position；
Obtain the environmental parameter of the target position；
The lighting parameter of the lighting robot is set according to the environmental parameter；
It controls the lighting robot and provides illumination according to the lighting parameter.
2. control method as described in claim 1, which is characterized in that described to control the flare-aircraft according to the movement routine
Device people is moved to the target position, comprising:
The detection device that breaks the barriers detects whether to encounter barrier；
If detecting the presence of barrier, movement routine is planned again, and control the photograph according to the movement routine planned again
Bright robot is mobile, until the lighting robot reaches the target position.
3. control method as described in claim 1, which is characterized in that the environmental parameter for obtaining the target position, packet
It includes:
Detect the ambient light intensity of the target position；It rotates a circle in the target position and obtains ambient video image；According to
The ambient video image judges the color of object in environment, and with the presence or absence of extinction or the object of reflected light.
4. control method as claimed in claim 3, which is characterized in that described that the flare-aircraft is arranged according to the environmental parameter
The lighting parameter of device people, comprising:
If the ambient light intensity is less than preset strength threshold value, and there is no extinction or the object of reflected light, then the photograph is arranged
The illuminating color of bright robot is the color being adapted to the color of object in the environment；The illumination of the lighting robot is set
Intensity is the intensity being adapted to the ambient light intensity；
If the ambient light intensity is less than preset strength threshold value, and there are extinction or the object of reflected light, then the illumination is arranged
The illuminating color of robot is the color being adapted to the color of object in the environment；The illumination that the lighting robot is arranged is strong
Degree is the intensity being adapted to the ambient light intensity；The illumination direction that the lighting robot is arranged is the relatively described extinction or anti-
Penetrate the opposite direction of the object of light.
5. control method as described in claim 3 or 4, which is characterized in that described that the photograph is arranged according to the environmental parameter
The lighting parameter of bright robot, further includes:
If the ambient light intensity is greater than or equal to preset strength threshold value,
The illumination intensity that the lighting robot is arranged is zero, and controls the lighting robot and leave the target position；Or
The illumination intensity that the lighting robot is arranged is zero, judges that ambient light intensity is weaker according to the ambient video image
Orientation controls the lighting robot and leaves the target position, and the orientation weaker toward ambient light intensity is mobile.
6. control method as described in claim 1, which is characterized in that further include:
If receiving the lighting parameter setting instruction of input, controls the lighting robot and referred to according to lighting parameter setting
The lighting parameter that order includes is illuminated.
7. control method as claimed in claim 6, which is characterized in that if receiving the lighting parameter setting instruction of input,
Control the lighting robot according to the lighting parameter setting instruction include lighting parameter illuminated before, further includes:
It receives and instruction is arranged by the lighting parameter that user terminal or user speech input.
8. a kind of control device of lighting robot characterized by comprising
Receiving unit, target position for receiving input；
Path planning unit, for cooking up movement routine according to current location and the target position；
Mobile control unit is moved to the target position for controlling the lighting robot according to the movement routine；
Acquiring unit, for obtaining the environmental parameter of the target position；
Lighting parameter setting unit, for the lighting parameter of the lighting robot to be arranged according to the environmental parameter；
Lighting control unit provides illumination according to the lighting parameter for controlling the lighting robot.
9. a kind of lighting robot, including memory, processor and storage are in the memory and can be in the processor
The computer program of upper operation, which is characterized in that the processor realized when executing the computer program as claim 1 to
The step of any one of 7 the method.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In when the computer program is executed by processor the step of any one of such as claim 1 to 7 of realization the method.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711482677.3A CN109991966A (en) | 2017-12-29 | 2017-12-29 | Control method and device of illumination robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711482677.3A CN109991966A (en) | 2017-12-29 | 2017-12-29 | Control method and device of illumination robot |
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| CN109991966A true CN109991966A (en) | 2019-07-09 |
Family
ID=67109123
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711482677.3A Pending CN109991966A (en) | 2017-12-29 | 2017-12-29 | Control method and device of illumination robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114365193A (en) * | 2019-09-09 | 2022-04-15 | 昕诺飞控股有限公司 | Identify alternative locations for lighting equipment for improved accessibility |
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Application publication date: 20190709 |