A mobile robot, comprising: a body and a drive system for driving a movement of the mobile robot, a light emitter for emitting light toward a surface to be detected, a photoelectric sensor responsive to light from an environment and/or emitted by the light emitter, a variable impedance unit connected to the photoelectric sensor and having a reduced impedance when the photoelectric sensor is responsive to light of a preset intensity, and a control unit, where the light emitter is controlled by the control unit to form at least two operating states in which light is emitted at different intensities, and in the operating state other than the last operating state, if a sampling difference value determined when the light emitter is in the OFF state and ON state does not satisfy a preset condition, an operating state of the light emitter is changed to prevent misjudgment.
1. A mobile robot, comprising:
a body and a drive system, the drive system being connected to the body and configured to drive a movement of the mobile robot;
a light emitter carried by the body and configured to emit light toward a surface to be detected;
a photoelectric sensor carried by the body and responsive to light from an environment and/or emitted by the light emitter;
a variable impedance unit connected to the photoelectric sensor and configured to have a reduced impedance when the photoelectric sensor is responsive to light of a preset intensity; and
a control unit configured to adjust the light emitter to form at least two operating states in which light is emitted at different intensities, wherein in the operating state other than a last operating state, if a sampling difference value determined when the light emitter is in an OFF state and in an ON state does not satisfy a preset condition, an operating state of the light emitter is changed to prevent occurrence of a misjudgment causing the mobile robot to perform an unexpected action,
wherein the control unit has a control end connected to the light emitter and a sampling end connected between the photoelectric sensor and the variable impedance unit and the control unit is configured to:
adjust the light emitter through the control end to form at least two operating states in which light is emitted at different intensities;
turn off or turn on the light emitter through the control end in the operating state other than the last operating state, and acquire an OFF sampling value or an ON sampling value through the sampling end when the light emitter is in the OFF state or in the ON state; and
change the operating state of the light emitter to prevent occurrence of a misjudgment causing the mobile robot to perform an unexpected action, if the sampling difference value determined by a difference between the ON sampling value and the OFF sampling value does not satisfy the preset condition.
2. The mobile robot according to claim 1 , wherein the control unit is configured to:
acquire, when the light emitter is in the OFF state, a plurality of OFF sampling values through the sampling end and obtain an average OFF sampling value based on the plurality of OFF sampling values; and
acquire, when the light emitter is in the ON state, a plurality of ON sampling values through the sampling end and obtain an average ON sampling value based on the plurality of ON sampling values, wherein the sampling difference value is a difference between the average ON sampling value and the average OFF sampling value.
3. The mobile robot according to claim 1 , wherein the control unit is configured to:
turn off the light emitter through the control end;
acquire an OFF sampling value through the sampling end;
turn on the light emitter through the control end, and adjust the light emitter to be in a first operating state;
acquire a first ON sampling value through the sampling end when the light emitter is in a first operating state;
judge whether a first sampling difference value determined by a difference between the first ON sampling value and the OFF sampling value satisfies the preset condition, wherein if not, the light emitter is adjusted through the control end to be in a second operating state, and if yes, the mobile robot is controlled to perform a normal action;
acquire a second ON sampling value through the sampling end when the light emitter is in the second operating state; and
judge whether a second sampling difference value determined by a difference between the second ON sampling value and the OFF sampling value satisfies the preset condition, wherein if not, the mobile robot is controlled to perform a predetermined action, and if yes, the mobile robot is controlled to perform a normal action.
4. The mobile robot according to claim 3 , wherein the light emitter and the photoelectric sensor are disposed in pair at a bottom of the body, and the light emitter is configured to emit light toward ground.
5. The mobile robot according to claim 3 , wherein the light emitter and the photoelectric sensor are disposed in pair on an outer periphery of the body, and the light emitter is configured to emit light toward a wall surface.
6. The mobile robot according to claim 1 , wherein the light emitter is configured to emit infrared light toward the surface to be detected, and the photoelectric sensor is responsive to infrared light from the environment and/or emitted by the light emitter.
7. The mobile robot according to claim 1 , wherein the variable impedance unit comprises a first resistor, a second resistor and a Zener diode, one end of the first resistor and a cathode of the Zener diode are connected to the photoelectric sensor, the other end of the first resistor is grounded, and an anode of the Zener diode is grounded via the second resistor.
8. The mobile robot according to claim 1 , wherein the variable impedance unit comprises a first resistor, a second resistor, and a Zener diode, one end of each of the first resistor and the second resistor is connected to the photoelectric sensor, the other end of the first resistor is grounded, the other end of the second resistor is connected to a cathode of the Zener diode, and an anode of the Zener diode is grounded.
9. The mobile robot according to claim 1 , wherein the control unit comprises a controller and a drive circuit connected to the controller and the light emitter, and the drive circuit is configured to adjust the light emitter in response to a control instruction of the controller to form at least two operating states in which light is emitted at different intensities.
10. The mobile robot according to claim 9 , wherein the drive circuit comprises a constant current source circuit or a constant voltage source circuit.
11. The mobile robot according to claim 1 , wherein the light emitter is configured to emit infrared light toward the surface to be detected, and the photoelectric sensor is responsive to infrared light from the environment and/or emitted by the light emitter.
12. The mobile robot according to claim 3 , wherein the light emitter is configured to emit infrared light toward the surface to be detected, and the photoelectric sensor is responsive to infrared light from the environment and/or emitted by the light emitter.
13. The mobile robot according to claim 4 , wherein the light emitter is configured to emit infrared light toward the surface to be detected, and the photoelectric sensor is responsive to infrared light from the environment and/or emitted by the light emitter.
14. The mobile robot according to claim 2 , wherein the variable impedance unit comprises a first resistor, a second resistor, and a Zener diode, one end of the first resistor and a cathode of the Zener diode are connected to the photoelectric sensor, the other end of the first resistor is grounded, and an anode of the Zener diode is grounded via the second resistor.
15. The mobile robot according to claim 4 , wherein the variable impedance unit comprises a first resistor, a second resistor, and a Zener diode, one end of the first resistor and a cathode of the Zener diode are connected to the photoelectric sensor, the other end of the first resistor is grounded, and an anode of the Zener diode is grounded via the second resistor.
16. The mobile robot according to claim 5 , wherein the variable impedance unit comprises a first resistor, a second resistor, and a Zener diode, one end of the first resistor and a cathode of the Zener diode are connected to the photoelectric sensor, the other end of the first resistor is grounded, and an anode of the Zener diode is grounded via the second resistor.
17. The mobile robot according to claim 1 , wherein the variable impedance unit comprises a first resistor, a second resistor, and a Zener diode, one end of each of the first resistor and the second resistor is connected to the photoelectric sensor, the other end of the first resistor is grounded, the other end of the second resistor is connected to a cathode of the Zener diode, and an anode of the Zener diode is grounded.
18. The mobile robot according to claim 3 , wherein the variable impedance unit comprises a first resistor, a second resistor, and a Zener diode, one end of each of the first resistor and the second resistor is connected to the photoelectric sensor, the other end of the first resistor is grounded, the other end of the second resistor is connected to a cathode of the Zener diode, and an anode of the Zener diode is grounded.
19. The mobile robot according to claim 5 , wherein the variable impedance unit comprises a first resistor, a second resistor, and a Zener diode, one end of each of the first resistor and the second resistor is connected to the photoelectric sensor, the other end of the first resistor is grounded, the other end of the second resistor is connected to a cathode of the Zener diode, and an anode of the Zener diode is grounded.