CN108646651A - A kind of machinery equipment control system and its operating method based on colour sequential identification - Google Patents
A kind of machinery equipment control system and its operating method based on colour sequential identification Download PDFInfo
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- CN108646651A CN108646651A CN201810894994.4A CN201810894994A CN108646651A CN 108646651 A CN108646651 A CN 108646651A CN 201810894994 A CN201810894994 A CN 201810894994A CN 108646651 A CN108646651 A CN 108646651A
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J1/00—Photometry, e.g. photographic exposure meter
- G01J1/42—Photometry, e.g. photographic exposure meter using electric radiation detectors
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J3/00—Spectrometry; Spectrophotometry; Monochromators; Measuring colours
- G01J3/46—Measurement of colour; Colour measuring devices, e.g. colorimeters
- G01J3/50—Measurement of colour; Colour measuring devices, e.g. colorimeters using electric radiation detectors
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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Abstract
The invention discloses a kind of the machinery equipment control systems and its operating method based on colour sequential identification of electronic field application.The control system includes machinery equipment and several drop fronts for placing machinery equipment, the machinery equipment includes the bottom surface towards drop front, several sensors and electromechanical assembly, the drop front be provided with several paths and or color mode, the sensor is corresponding with path or color mode, and pattern recognition unit and mode function table are provided in the machinery equipment.The control system using sensor on drop front path and color mode data carry out data acquisition, and it is transferred into machinery equipment built-in system and carries out data analysis, and corresponding data are retrieved in mode function table and select corresponding feature operation, and then realize autonomous operation, human-computer interaction or the input control from extraneous user is not present in the process, with good flexible in operation, and realize the expansion of application range.
Description
Technical field
The present invention relates to a kind of electronic field application it is a kind of based on colour sequential identification machinery equipment control system and
Its operating method.
Background technology
With popularizing for high-performance microchip, portable computing machine platform is widely used.People usually utilize equipment complete
At various tasks and entertainment selection.Especially, many people are when completing various work requirements, heavy dependence tablet computer
Game with mobile phone and other recreations, to realize decompression using virtual world.Although mobile computing device equipment essence
It is good, it is capable of providing excellent audio-visual virtual environment, but the input-output operation of these equipment is relatively simple, it is most of to be set in calculating
The game of standby upper operation and leisure application program require that user completely focuses on the virtual environment shown on digital display, and
Control operation is realized using other controlling equipments such as mouse.The participation form of user is less in the experience.When the attention of user
It is difficult to realize corresponding function when being removed in the number display that power is provided from computing device, the concentration requirement for user
It is higher, lasting single absorbed behavior the health of user bring great damage, be unfavorable for movable lasting progress.
Invention content
The technical problem to be solved by the present invention is to provide a kind of one kind effectively improving operating flexibility to be known based on colour sequential
Other machinery equipment control system.
The technical solution adopted by the present invention to solve the technical problems is：
A kind of machinery equipment control system based on colour sequential identification, including machinery equipment and several for placing machine
The drop front of equipment, the machinery equipment include the bottom surface towards drop front, several sensors and electromechanical assembly, institute
State drop front be provided with several paths and or color mode, the sensor is corresponding with path or color mode, the machine
Device equipment utilization sensor and electromechanical assembly may be implemented in automatically moving on drop front, and mould is provided in the machinery equipment
Formula recognition unit and mode function table, the pattern recognition unit set for realizing acquisition sensing data and to being stored in machine
Standby internal colour sequential is analyzed, and the mode function table includes colour sequential and corresponding with colour sequential and can be by machine
The function of device equipment identification, the function is for realizing the operation and control to machinery equipment.
The control system using sensor on drop front path and color mode data carry out data acquisition, and
It is transferred into machinery equipment built-in system and carries out data analysis, and retrieve corresponding data and selection pair in mode function table
The feature operation answered, and then realize autonomous operation.Then movement of the control system on drop front there is no human-computer interaction or
Input control from extraneous user has good flexible in operation, and realizes the expansion of application range.
Further, the sensor includes color sensor and optical sensor.
Further, the color sensor is microcam.
Further, the machinery equipment is provided with several light-emitting components towards drop front, the light-emitting component with
Sensor is correspondingly arranged.
Further, the machinery equipment includes the lamp dimmer for controlling light-emitting component working condition.
Further, the machinery equipment includes optical screen shield structure, the optical screen shield structure includes several light shielding plates,
The light shielding plate extends with bottom surface vertical connection and towards drop front.
Further, the sensor is provided with several polarizing films.
Further, the machinery equipment includes several input mechanisms, the input mechanism is for realizing machinery equipment
With the data transmission of other equipment.
Further, being provided with communication system in the machinery equipment, the function includes being used for communication control system
Communication system function.
A kind of operating method of the machinery equipment control system based on color identification, which is characterized in that the operating procedure
As follows：
A) it is according to claim 1 it is a kind of based on color identification machinery equipment control system carry out machinery equipment and
The preparation of drop front；
B) the enterprising walking along the street diameter of drop front and or color mode establishment；
C) machinery equipment establish with above-mentioned path or the corresponding mode function table of color mode；
D) machinery equipment is placed on to the corresponding region of drop front；
E) machinery equipment using sensor generate with path and or the corresponding sensing data of color mode, and according to
Sensing data carries out the retrieval of corresponding color sequence and is retrieved with the function in the mode function table corresponding to colour sequential；
F) when function retrieves, machinery equipment carries out corresponding feature operation according to function；If colour sequential or function
Retrieval failure, then repeatedly step E；
G) reach the condition of completion, machinery equipment operation stops, and operation terminates.
The beneficial effects of the invention are as follows：
1, the control system can utilize sensor to realize machinery equipment in drop front with corresponding path or color mode
On autonomous operation, then machinery equipment moved based entirely on sensing data, and logic is stored in machinery equipment, machinery equipment
Movement on drop front is no human-computer interaction or the input from human user, has good flexible in operation, is expanded
The big application range of control system, guarantee is provided for the health during user's use；
2, the setting that color sensor and optical sensor are combined can determine that data are sentenced to the color of sensor
It is disconnected, it ensure that the accuracy of color sensor, in addition, being easier to determine the difference between greyscale color using optical sensor, be
The validity of sensing data provides guarantee；
3, the use of miniature camera, the light to detect provide higher resolution ratio, while can be the friendship in path
Crunode provides more analyzable data points, to realize functional diversity, and provides guarantee for operational stability；
4, the setting of light shielding plate, reduces the quantity for the ambient light that can reach sensor, while still allowing for machine
Equipment can be moved easily on drop front, and unnecessary rub is caused without scraping bottom surface due to light shield
It wipes.
5, polarizing film avoids sensor and detects the light to produce polarization light value, reduces data error, ensures
The precise acquisition of sensing data.
Description of the drawings
Fig. 1 is the control of the machinery equipment control system and its operating method based on colour sequential identification of the present invention
System structure diagram；
Fig. 2 is the control of the machinery equipment control system and its operating method based on colour sequential identification of the present invention
The component drawings of drop front in system；
Fig. 3 is the control of the machinery equipment control system and its operating method based on colour sequential identification of the present invention
The component drawings of system inner machine equipment；
Fig. 4 is the machine of the machinery equipment control system and its operating method based on colour sequential identification of the present invention
The component drawings of optical sensing module in equipment；
Fig. 5 is the machine of the machinery equipment control system and its operating method based on colour sequential identification of the present invention
The structural schematic diagram of color sensor and the V-shaped arrangement of optical sensor in the bottom surface of equipment；
Fig. 6 is the machine of the machinery equipment control system and its operating method based on colour sequential identification of the present invention
The structural schematic diagram that color sensor and optical sensor linearly arrange in the bottom surface of equipment；
Fig. 7 is the machine of the machinery equipment control system and its operating method based on colour sequential identification of the present invention
Color sensor is located at the structural schematic diagram of machinery equipment rotation center in the bottom surface of equipment；
Fig. 8 is the machine of the machinery equipment control system and its operating method based on colour sequential identification of the present invention
There are two the structural schematic diagrams of color sensor and two optical sensors for tool in the bottom surface of equipment；
Fig. 9 is the static state of the machinery equipment control system and its operating method based on colour sequential identification of the present invention
The structural schematic diagram of color mode embodiment one；
Figure 10 is the quiet of the machinery equipment control system and its operating method based on colour sequential identification of the present invention
The structural schematic diagram of state color mode embodiment two；
Figure 11 is the quiet of the machinery equipment control system and its operating method based on colour sequential identification of the present invention
The structural schematic diagram of state color mode embodiment three；
Figure 12 is the quiet of the machinery equipment control system and its operating method based on colour sequential identification of the present invention
The structural schematic diagram of state color mode example IV；
Figure 13 is the quiet of the machinery equipment control system and its operating method based on colour sequential identification of the present invention
The structural schematic diagram of state color mode embodiment five；
Figure 14 is the quiet of the machinery equipment control system and its operating method based on colour sequential identification of the present invention
The structural schematic diagram of state color mode embodiment six；
Figure 15 is the machine of the machinery equipment control system and its operating method based on colour sequential identification of the present invention
The operating method schematic diagram of device device follows path；
Figure 16 is the machine of the machinery equipment control system and its operating method based on colour sequential identification of the present invention
Device equipment follows the operating method schematic diagram of color mode；
Figure 17 is the control of the machinery equipment control system and its operating method based on colour sequential identification of the present invention
The control application schematic diagram of sensor in system processed；
In figure label for：Drop front 1, tool box 11, machinery equipment 2, bottom surface 21, path 3, color mode 4, face
Colour sensor 5, optical sensor 6, light-emitting component 7, wheel 8, light shielding plate 9.
Specific implementation mode
The present invention is further described with reference to the accompanying drawings and detailed description.
The control system such as Fig. 1 includes a drop front 1 and a machinery equipment 2 as shown in the figure.Drop front 1 can be with
Show paths 3, while path 3 includes one or more color modes 4.Machinery equipment 2 is provided with and path 3 and color mode 4
Corresponding one or more integrated sensor is provided with and the function corresponding to color mode 4 in advance in the machinery equipment 2
Operation.When detecting the color mode 4, machinery equipment 2 executes and the 4 relevant feature operation of color mode that detects.When
When using multiple color pattern 4, then allow machinery equipment 2 by it is autonomous, variable and it is potential it is unpredictable in a manner of by the road
Diameter 3.This autonomous, various, random movement can be used for playing or general amusement.
Above-mentioned drop front 1 can be the equipment of any can show paths 3 and one or more color modes 4.For example,
Drop front 1 can be a computing device, such as tablet computer or mobile phone.The component drawings of the drop front 1 such as Fig. 2 institutes
Show, drop front 1 includes a main system processor and an internal storage location.Main system processor and internal storage location be it is any can
The combination of programming data processing component and data storage, these combinations are operated for executing the various functions of drop front 1.Principal series
Processor of uniting can be an application specific processor, such as application-specific integrated circuit, general purpose microprocessor, field programmable gate array, number
Word signal controller or one group of hardware logic structure (for example, filter, arithmetic logic unit and dedicated state machine).Memory
Unit can be microelectronics or erasable random access storage device.Operating system and application journey for realizing various functions
Sequence is stored in each internal storage location, which will be run or be executed by main system processor, to realize drop front 1
Various required functions.In addition, drop front 1 may be set to be including a numerical display device, which can
For liquid crystal display, plasma display, light emitting diode indicator, organic light emitting diode display or any other is similar
Display equipment, with ensure generate coloured image, to realizing route 3 and required color mode 4 display.In these embodiments
In, path 3 and color mode 4 can be completed by user by UNIVERSAL DRAWING application program or special circuit design application.
At this point, internal storage location is provided with special circuit design application, which can provide use on numerical display device
Family interface.User can use one or more input mechanisms (for example, touch display panel, mouse, keyboard, cribbage-board, control
Device etc.) drafting in path 3 is directly carried out in interface.It is path 3 that user, which can also use the interface of circuit design application,
Addition one or more color mode 4.The path 3 and color mode 4 can be according to the size of machinery equipment 2, machinery equipments 2
Potential maximum speed and in machinery equipment 2 sensor placement location into line width setting.
Drop front 1 removes above-mentioned digital device, it is possible to use nonnumeric equipment is completed.For example, drop front 1 can be one
Paper, one block of cardboard, one piece of blank etc. are opened, as long as it allows user to draw path 3 and the 3 corresponding face of path on the surfaces of the board
Color pattern 4, and machinery equipment 2 is allowed to be moved on its surface, can meet the needs of drop front 1.At this point, user can
To use colour-coded, pen, pencil, paintbrush, chalk or other similar devices that path 3 and its color mode 4 are added to work
On dynamic panel 1.
In addition, may be made of multiple or even various activities panel 1 in control system.For example, control system includes number
With the combination of nonnumeric circuit activity panel, closed seamless connects between adjacent activities panel 1, to realize that machinery equipment 2 exists
It is steadily moved between adjacent activities panel 1.
Machinery equipment 2 is automatic by being implemented in combination on the path 3 on 1 surface of drop front for sensor and mechanical device
Mobile equipment.The machinery equipment 2 moves based entirely on sensing data, and logic is stored in machinery equipment 2, then machine is set
Standby 2 movement on drop front 1 is no human-computer interaction or the input from human user.The component drawings of machinery equipment 2
As shown in figure 4, machinery equipment 2 includes a robot system processor and a robot memory unit, the robot system
Processor and robot memory unit are similar to the main system processor and internal storage location of drop front 1, then at robot system
Reason device, robot memory unit refer to effective combination of any programmable data processing component and data storage, to what is realized
Various functions and operation.Robot system processor can be a kind of processor of specific use, such as ASIC, general microprocessor
Device, FPGA, digital signal controller or one group of hardware logic structure (for example, filter, arithmetic logic unit etc.).Machinery equipment
2 include a set of sensor, can be used for the detection of passage path 3 and color mode 4.Sensor may include color sensor 5
With multiple optical sensors 6.Color sensor 5 is chosen as a kind of photo resistance or phototransistor, it is for measuring different wave length
Detection light intensity.Color sensor 5 may include multiple channels corresponding with different wave length.Each of the color sensor 5
Channel may detect that the intensity of the light of different wave length.The intensity value of the light of these specific wavelengths may be used to determine the face of light
Color.For example, color sensor 5 may include red, green, blue and transparent channel.The red channel of color sensor 5 is closed
It is linked to a corresponding wavelength feux rouges (such as 50 nanometers), the green channel of color sensor 5 can be with the corresponding wavelength of corresponding green light
The blue channel of associated (such as 510 nanometers), color sensor 5 can correspond to blue light (819 nanometers) according to wavelength.In addition lead to
Road could be provided as it is uncorrelated to wavelength, and only by detect light intensity realize.According to these channels to the strong of wavelength
Level readings are spent, color sensor 5 can infer the color of the light detected using the weighted value of these intensity.
Color sensor 5 can be microcam not just for single sensing device.For example, color sensor 5 can
It is set as the micro-camera used in optical mouse.Micro-camera can design a two-dimensional array of sensor elements, each
Array of sensor elements is that multi-wavelength and color (such as red, green, blue) provide light intensity value, and therefore, color sensor 5 can generate wave
Long and color specific light intensity values two-dimensional arrays.The use of miniature camera provides higher resolution for the light detected
Rate.The setting method can provide more data points for the crosspoint in path 3 and be used to analyze, to realize functional diversity, and
Guarantee is provided for operational stability.Unlike color sensor 5, optical sensor 6 may be configured as photo resistance or photoelectricity
Transistor, they can measure the intensity of light in wave-length coverage, maximum gain is realized in specific wavelength.
Except aforesaid way, color sensor 5 and optical sensor 6 can also be including light-emitting components 7 (for example, light-emitting diodes
Pipe).The light-emitting component 7 is positioned close to the position of respective sensor, can in machinery equipment 2 on nonnumeric drop front work
Use when making.For example, when machinery equipment 2 works on nonnumeric drop front (for example, a piece of paper), operating system detects
There is no light and open light-emitting component 7, to illuminate the region close with respective sensor, i.e., path 3 below sensor by
Light-emitting component 7 illuminates.Sensor can realize the induction of reflected light in light-emitting component 7, by each light-emitting component 7 from nonnumeric work
The dynamic reflected light of panel is detected by the sensors and analyzes, to determine the intensity of reflected light, to realize corresponding function behaviour
Make.These sensing datas can help that machinery equipment 2 is guided to move along path 3 and detect color mode 4.Except above-mentioned side
Method, sensor can be operated in the visible spectrum, to detect the visible light for being generated or being reflected by drop front 1.
The bottom surface 21 of machinery equipment 2 is as shown in figure 5, base fabric surface 21 includes sensor and shining with V-arrangement arrangement
Element 7.The movement of machinery equipment 2 makes path 3 divide " V " that sensor is formed equally, and the direction of motion and Fig. 5 of machinery equipment 2
Direction shown in dotted line is consistent.Except sensor being arranged with " V " shape formula in Fig. 5, sensor also can according to demand carry out not
With the arrangement of form, for example, sensor is with linear array as shown in Figure 6.In addition, one or more sensors may be arranged at machine
On the rotary middle point of equipment 2.As shown in fig. 7, color sensor 5 is located at the center of bottom surface 21, while defining machine and setting
Standby 2 rotation center.By the way that color sensor 5 to be placed on to the rotation center of machinery equipment 2, machine can be preferably detected
Light intensity value when equipment 2 rotates.It is in figure that 6 array of optical sensor and the color sensor 5 of center placement is separately positioned, but at it
In his embodiment, 6 array of optical sensor can otherwise be arranged with 5 array of color sensor, such as linear array.This
Outside, color sensor 5 or the rotation center of other sensors positioning machinery equipment 2, and be located on path 3.It is rotating through
Cheng Zhong, sensor can accurately track detection path 3 or color mode 4.The quantity of color sensor 5 and optical sensor 6 can basis
Actual conditions are configured.As shown in figure 8, the bottom surface 21 uses two color sensors 5 and two optical sensors 6.
To reduce the quantity for the ambient light that sensor detects, machinery equipment 2 further includes one group of light shield.The light shield packet
The light shielding plate 9 positioned at 2 front end of machinery equipment is included, which extends under bottom surface 21, achievement unit split screen
Ambient light is covered, makes it that can not reach sensor.For example, wheel 8 can generate 1.0 millis between bottom surface 21 and drop front 1
The gap of rice.The light shielding plate 9 extends 0.5 millimeter in bottom surface 21 towards drop front 1, then reduces bottom surface 21 and live
0.5 millimeter of gap between dynamic panel 1.The diminution in this gap reduces the quantity for the ambient light that can reach sensor, together
When still allow for machinery equipment 2 that can easily be moved on drop front 1, without due to light shield scrape bottom surface 21
And cause unnecessary friction.
In addition, bidirectional linear polarizing film can be placed on sensor.The bidirectional linear polarizing film can prevent ambient light from machine
2 side of equipment reaches sensor.For example, the bidirectional linear polarizing film limits light from perpendicular to the side of 2 direction of motion of machinery equipment
To arrival, while light being allowed to be parallel to the direction of motion.Except the above method, sensor can also use other multichannel polarizing films, such as
Two two-way linear membranes carry out placing mutually orthogonally forms four road polarizing films, and then realizes that limitation light arrives on four direction
Up to sensor.Meanwhile polarizer can be used for further preventing all off-axis lights, for example, circular polarizer can be with
For excluding all light.The prevention of this ambient light ensures the accurately acquisition of sensing data.Light shielding plate 9 and polarization
Piece limits reflection of the ambient light on drop front 1, avoids sensor and detects the light to produce polarization light value.Cause
This, which improves the performance under intense light conditions by shielding environment light.
As shown in figure 3, machinery equipment 2 further includes a kind of electromechanical assembly, to promote machinery equipment 2 in entire drop front 1
On movement.Electromechanical assembly includes one or more motor and several drivers.The driver can be by robot system
Processor and the application program controlling on robot system processor is operated in, to apply voltage to corresponding motor, to
Motor is set to push machinery equipment 2 with desired speed and desired direction.For example, higher voltage is applicable to motor control
Wheel processed is realized, and higher voltage can be applied to the right-hand rotation control of machinery equipment 2.In certain embodiments, journey is driven
Sequence can control motor using pulsewidth modulation.Machinery equipment 2 includes one or more input mechanisms.The input mechanism can be with
Including a keyboard, a mouse or a port, such as a USB port, for receiving number from another equipment
According to.These input mechanisms can also include one or more sensors.In addition, input mechanism may include other kinds of sensing
Device, including thermometer, accelerometer and microphone.Machinery equipment 2 further includes a lamp dimmer and one group of light-emitting component 7.
At this point, this group of light-emitting component 7 is the light emitting diode controlled by lamp dimmer, while it can realize different colors and intensity
Flash operation.
In figure 15 a kind of control method will be described with realize machinery equipment 2 execute it is corresponding with the color mode 4 detected
Function when automatically follow path 3.The operation of each of this method can be held by one or more machinery equipments 2 and drop front 1
Row.As described above, drop front 1 includes line design application, and machinery equipment 2 includes optical sensing module.In this method
Operation then by one or more of circuit design application or optical sensing module element execute.In optical sensing module
The exemplary components figure of element is as shown in figure 4, the component drawings can be used for assisting realizing various functions operation.In other embodiments,
Optical sensing module can include components more more or fewer than component shown and described here.At this point, journey is applied in line design
Sequence is stored in internal storage location as shown in Figure 2, is executed by main system processor.Optical sensing module is stored in machine as shown in Figure 3
In device people's internal storage location, run by robot system processor.Circuit design application and optical sensing module can use
One or more numbers or analog filter and the circuit being separately positioned in drop front 1 and machinery equipment 2 realize operation.Cause
This, line design application and optical sensing module are not limited to main system processor and its software of execution, but can be with
It is embodied as one group of hardware circuit being embedded in drop front 1 or machinery equipment 2.In certain embodiments, in this method operation
Two or more operations may be performed simultaneously or executed within the partly overlapping period.The operation can be in an operating system
The one or more color modes 4 of retrieval simultaneously execute its corresponding function.Color mode 4 is that the fragment sequence of color may be displayed on
On drop front 1.Machinery equipment 2 can when across path 3 collecting sensor data, and by the sensing data with retrieve
Color mode 4 definition be compared.When sensing data is matched with the definition of color mode 4 retrieved in operation,
The function that the color mode 4 for corresponding to and detecting defines can be executed by machinery equipment 2.
The color mode 4 can be a series of colors shown in static representations or dynamic representation.For example, a static face
Colored pattern can be by one group of color or the linear arrangement of color alignment.Color representated by color mode 4 can be primary colors (such as
Red, green, blue) or the mixing of primary colors, the additive combination of mass-tone, gray color or any other color etc. on drop front 1 of mixing colours.
Shape representated by the color of pattern can be round, two-dimentional capsule, rectangle, square, diamond, line segment or any other is similar
Shape.These shapes can be designed to the region that the color pattern of substantially overlay path 3 is covered.In some embodiments
In, the color of color mode 4 can cannot define good shape to indicate with one, and be expressed as on drop front 1
Random QuickDraw.
A kind of static color pattern as shown in Figure 9, color pattern include first segment path and the second section path.First segment
Path can form a circle, and the second section path forms the remaining area of a two-dimentional capsule shape, while by circular shape
It is placed into after the end of capsule shape.In this example, first segment path is set as the first color, and the second section path is set as
Second of color.Therefore, the definition of color mode 4 shown in Fig. 9 can indicate the first color, followed by second of color.
In other embodiments, static color pattern may have more than two paths 3.The static color pattern shown such as Figure 10.The face
Colored pattern includes first segment path, the second section path and third section path.Second section path can be it is circular, and first and
Third section path is the i.e. round centre for being placed on capsule shape of dividing equally of circular two-dimentional capsule shape, such first segment path and
There are identical surface area and dimension in third section path, but rotates 180 °.In this embodiment, first segment path and third section path are
The first color, and the second section path is second of color.Figure 11 shows the static color pattern according to another embodiment.
As shown, color pattern includes first segment path, the second section path, third section path and Section of four path.Second section path
It is made of respective circular shape with third section path, first segment path and the two-dimentional capsule shape that Section of four path is circular shape
Shape, that is, round is likely to be positioned at the centre of capsule shape, then first segment path and Section of four path have identical surface area and
Dimension, but rotate 180 °.In this example, first segment path and Section of four path are the first color, and the second section path is second
Kind color, third section path is the third color.First, second, and third kind of color in Figure 11 may be alternatively provided as all different.
Except the above method, other shapes can also be used for color mode 4.As shown in Figure 12, Figure 13 and Figure 14, colored square and triangle
Shape can be used alone or be applied in combination to indicate color mode 4.
It is symmetrical that each pattern could be provided as one or more axis based on static schema, and color setting is also identical.
In addition, one or more static color patterns can also carry out asymmetric setting, the sequence of each colour sequential can correspond to a list
Only definition and relevant function.For example, the colour sequential detected is red, blue, green to likely correspond to what machinery equipment 2 to be executed
First function, and colour sequential is green, blue, red likely corresponds to second function to be executed of machinery equipment 2.First function
It can be same or different with second function.
The sensor-based position of determination of the color mode 4 of various pieces, the size of sensor, machinery equipment 2 it is latent
Maximum speed and path 3 size, read with ensuring that sensor captures color intensity appropriate.For example, each section road
The possible length and width of diameter 3 is between 3 millimeters to 10 millimeters, and machinery equipment 2 can be moved with the speed of 7.5 cm/s, sensing
Device can be worked with 150 hertz.The size in path 3 can make sensor obtain enough readings, such optical sensing module
It is accurately determined the color in each path 3.
Although the definition of color mode 4 is related with color shape, the definition of color mode 4 can not include any shape
Shape data, then color mode 4 is defined by different color sequences, rather than the shape represented by these parts.However,
In other embodiments, shape data may be embodied in the definition of color mode 4.In addition, although description has with polychrome path 3
It closes, but in certain embodiments, static schema can be based on single color section and define, you can single quiet to be detected on path 3
State color mode.
As described above, the one or more definition of color mode 4 of retrieval may include that retrieval dynamic color pattern is fixed in operation
Justice.The shape that dynamic color pattern can be changed over time color by one or more defines.Such as it is carried out according to different moments
Show a dynamic color pattern.Color mode 4 is shown using round；In other embodiments, dynamic mode can use
Any other shape is shown.At the T1 moment, dynamic color pattern is the first color.The color pattern at T2 moment is
Two kinds of colors.The color pattern at T3 moment is the third color, with first and second kinds of color differences.At this point, T1 and T2, T2 and
Time difference between T3 may be different or identical.For example, the difference between T1 and T2 may be 3.0 milliseconds, T2 and T3
Between difference may be 3.5 milliseconds.In one embodiment, the time difference between color can change, can be according to machine
Difference between the configuration of the sensor of device equipment 2 or maximum speed setting T1, T2, T3 of machinery equipment 2.Color change when
Differential state color mode should can guarantee that sensor has time enough, when the F-Zero of mobile machinery equipment 2, there is enough numbers
The color and light intensity readings of amount determine color in each time interval.In certain embodiments, the definition of color mode 4 can
With in the pulsation colour sequential based on flicker different colours and sequence in time difference between color.Therefore, in use
It states in exemplary embodiment, the time difference between T1 and T2, T2 and T3 may be different.Although describing one group of three kinds of color,
In other embodiments, dynamic color pattern may be by the arbitrary color of two or more whithin a period of time with a kind of specific
Sequence generate.For example, four color change sequences can define a dynamic color pattern.In certain embodiments, face
Color can be shared between discontinuous color change.For example, dynamic color pattern can be red by colour sequential, blue, red and green fixed
Justice.
As set forth, dynamic color pattern can be shown as a series of color of flickers on digital active panel.
In certain embodiments, dynamic color pattern can show corresponding colour sequential.The colour sequential can continuously repeat.Cause
This, dynamic color pattern can be by the way that cyclic switching defines between colors within the discrete or unbounded time cycle.Color mould
Formula 4 can use primary colors or shades of gray/color.In both cases, color sensor 5 can be used for determining color mode 4
Each path 3 color.In certain embodiments, optical sensor 6 can also be used for determining pattern color, or verification color sensing
Color determined by device 5.For example, optical sensor 6 can be sent out according to the light or color pattern part that the part of color pattern is reflected
The light gone out determines the intensity value of light.Since dark colour absorbs more light than light colour, the intensity value of reflection light can
Energy can be different due to the difference of color.According only to this intensity value, so that it may to determine color, and can pass this judgement with color
The color that sensor 5 is individually determined is compared, to verify the accuracy of color sensor 5.Optical sensor 6 is used in this way
May be particularly useful to greyscale color, in greyscale color, optical sensor 6 may be particular enable to determine the difference between color.
Each color mode 4 can join with a functional dependence, and the length of the quantity and colour sequential that can use different colours can
To define the quantity of the unique pattern of system offer, and the quantity of corresponding unique function of associative mode may be distributed to.This
A little functions can define the action to be executed when passing through path 3 of machinery equipment 2, can also in machinery equipment 2 and operation
Color mode 4 definition communicated.The function may include changing the speed of machinery equipment 2.For example, the variation of speed may
It is the increase of speed or the reduction of speed, including stops machinery equipment 2.The variation of speed can be indefinite, defined
In period (such as 10 seconds) or until a predefined project (such as intersect or defined color mode 4).In addition, one
A function can also indicate that machinery equipment 2 suspends 3 seconds.In addition to this, function may include being set by defined degree rotary machine
Standby 2.Such as machinery equipment 2 can rotate 180 °, 360 °, 720 °.In one embodiment, rotation function can make machinery equipment
2 postpone or detect predefined key (for example, intersection) or the rotation later of another pattern predefined.Therefore, machine is set
Standby 2 can detect first with the relevant color mode 4 of rotation process, then just revolved after detecting predefined project
Turn.In addition, function may include that the light in machinery equipment 2 is made to be flickered by defined sequence.For example, the flashing color of lamp can be with
It is changed according to color represented in the color mode 4 detected.
In some cases, these functions may include the mode for changing machinery equipment 2 and handling intersection in path 3.
For example, when decision between handling left or right, function corresponding with the pattern being previously detected can be shown that machinery equipment 2 to
Turn left.In certain embodiments, which may provide different scenes (such as T-shape crossing) or four tunnels based on three-way intersection
Intersection (such as "+" type crossing).At this point, a function can indicate machinery equipment 2 when reaching a three-way intersection to the left
Turn, but directly turns right when reaching a simple intersection.Intersection function ad infinitum can continue or continue one and predefine
Period (such as 5 seconds), or be a predefined intersection quantity.The function may include that machinery equipment 2 is made to cross certain
Paths 3.At this point, a jump function may cause machinery equipment 2 to leave the road along defined direction within the predetermined time
Diameter 3 or machinery equipment 2 follow the path 3 again.The function may include that machinery equipment 2 is made to execute "the" shape movement.One
A zigzag function may result in machinery equipment 2 and be moved in several short sections, the angle between each section be it is variable,
To ensure that machinery equipment 2 can execute "the" shape movement within the predefined period, or it is predefined until detecting
Object execute task.After carrying out "the" shape movement, machinery equipment 2 may attempt to positioning and track path 3.
At this point, function can include a counter function, the object (example that it counts predefined pattern or detects
Such as, intersection) example quantity.When the counter reaches a threshold, predetermined operation will be executed.For example, when detecting 5 four-legs intersections
After mouthful, counter function may result in machinery equipment 2 and carry out acceleration operation.The function performance may include controlling machinery equipment 2
Communication system function.Such as a function may result in machinery equipment 2 and start communication system, establish one and another
The connection of machinery equipment 2, drop front 1 or another equipment (such as remote server).Communication system can use machinery equipment 2
Air radio frequency interface be suitable for one or more agreements (for example, 802.11 standard external members of IEEE, IEEE 802.3, mobile
Communication cell global system (GSM) standard, mobile CDMA (CDMA) standard, long term evolution (LTE) standard, bluetooth standard
Deng).And in other embodiments, one group of artificial capacitor, which touches, can be used for communicating information with the equipment for being equipped with touch screen.At this point,
The position of machinery equipment 2, direction, battery levels, motor speed, motor voltage, the data of color sensor 5, optical sensor 6
The data integrations such as data add from an attachment in machinery equipment 2 or data or are coupled in machinery equipment 2.
Except above-mentioned function, the function of function further includes that machinery equipment 2 is caused to make a sound.For example, machinery equipment 2 can wrap
Containing a loud speaker, when triggering an acoustic playback function, machinery equipment 2 can send out one group of sound by loud speaker.This
Outside, function may include making the record of machinery equipment 2 and the close sound of machinery equipment 2.For example, machinery equipment 2 can include one
A microphone, when triggering a sound-recording function, machinery equipment 2 can use integrated microphone to record sound.Function may be used also
It can include the attachment for making machinery equipment 2 trigger machinery equipment 2.For example, machinery equipment 2 may be coupled to one or more attachmentes.
When triggering attachment function, machinery equipment 2 can trigger attachment and execute predefined operation.
In other embodiments, more different functions can include and be associated with respective color mode 4.In certain realities
It applies in example, the combination of above-mentioned function can also distribute to the definition of single color mode 4.As described above, the definition of color mode 4 and phase
Closing function can be operated in robot operating system.The definition of this color mode 4 and function can by sensor or
The machinery equipment 2 of other input mechanisms is realized.For example, input mechanism may include a data port, the data in machinery equipment 2
Port can be used for the data that the transmission of the machinery equipment 2 into operating system defines color mode 4 and correlation function.Color mode 4
Definition and correlation function can be retrieved and be stored in mode function table by 4 interface of color mode in operation, while can week
Phase property ground query pattern function table with the corresponding color mode 4 of determination and matches the sensing data of measurement and corresponding to detection
The function of the matched color mode 4 arrived, the function can be used for controlling machinery equipment 2.The control mode is as shown in figure 17, this
When five sensors corresponding to mode function table have 32 instruction.
In operation, user can draw on drop front 1 or shape is into a line.Line can form a paths 3, machine
Device equipment 2 will track or pass through this paths 3, and path 3 can also use any technology or input mechanism to be created.For example,
When using nonnumeric drop front, path 3 can be formed using marking pen or pen, the width of line can be according to machinery equipment
2 size or the layout of the sensor in machinery equipment 2 select, the width in path 3 can be selected with ensure when path 3 with pass
When the set of sensor is divided equally, at least one sensor is placed on the outside in path 3.Therefore, sensor may always position
Side in path 3, to ensure correct track path 3.The color in path 3 can be selected as being different from any for color mould
The color of formula 4.For example, path 3 may be black, and no one of definition of color mode 4 received in operation packet
Containing black.
In operation, one or more color patterns can be placed on drop front 1.Color mode 4 can be along road
Diameter 3 is placed close to path 3.Color mode 4 can be added to drop front 1 and use any technology or input mechanism, for example, working as
When using nonnumeric drop front, color mode 4 can be added to active face using different color mark pen, pencil or pen
On plate 1.When using digital active panel, color mode 4 can use one or more input mechanisms to be formed, predefined face
Color pattern 4 may be embodied in the graphical interfaces of line design application offer.As shown in Figure 1, color mode 4 may be displayed on
In tool box 11.User can pull from tool box 11 or otherwise select color mode 4, and place them in road
Diameter 3 leans on near-path 3.As described above, color mode 4 may include static schema A and dynamic mode B, at this time in tool box 11
The pattern for providing both of which is selected for user.In certain embodiments, pattern can freely be drawn on drop front 1.Example
Such as, a user can draw colored dot with a finger and a touch screen on blackboard 1.
As described above, color mode 4 can be placed on path 3, in addition, color mode 4 can also be placed on 3 side of path.Such as
Shown in Fig. 1, color mode 4 is disposed close to the position in path 3.Due to having selected the width in path 3, machinery equipment 2
When sensor is located to except path 3, machinery equipment 2 can detect the color mode 4 except path 3.It is examined except path 3
The color mode 4 measured can equally be handled with the color mode 4 detected in path 3.However, in other embodiments,
The color mode 4 detected except path 3 may be different from 3 corresponding color mode 4 of path.It is retrieved in 401 operations
The definition of color mode 4 may include that the pattern detected in path 3 and the independent of pattern detected in path 3 are defined and corresponded to
Function.In certain embodiments, pattern can be further discriminated between according to their positions except path 3.For example, in path 3
The pattern that left side detects may join compared in the pattern that 3 right side of path detects with an individual functional dependence.This
Outside, can different patterns be detected simultaneously by the both sides in path 3 simultaneously.In the present embodiment, each pattern can individually make
It is handled with individual correlation function, can also be used as and handled with the associated integrated mode of single function.The spirit of this detection pattern
Activity can provide a large amount of scalability for pattern definition.Pattern except path 3 can contact to path 3, or with
In the predefined distance in path 3.For example, color mode 4 may be between 31.0 millimeters to 5.0 millimeters away from path.
After creating path 3 and being added to one or more color modes 4 in drop front 1, behaviour can be executed
Make.In operation, machinery equipment 2 can be placed on drop front 1, in this way, the sensor of machinery equipment 2 can be downwardly
Drop front 1.Machinery equipment 2 can also be placed on path 3 shown in blackboard 1.In this position, the biography of machinery equipment 2
Sensor can generate the luminous intensity corresponding to the sensing data of light intensity and color data i.e. at a particular wavelength, for passing through road
Diameter 3 and detection color mode 4.
In operation, machinery equipment 2 can utilize sensor to generate sensing data.Color sensor 5 as described above can
To measure the intensity of the light detected at a particular wavelength, and optical sensor 6 can measure the light in different wavelength range
Intensity, and the light sent out may be from the light that the drop front 1 of drop front 1 or reflected light is sent out.It lives when machinery equipment 2 passes through
When dynamic panel 1, the sensing data of each sensor may be retrieved constantly for analysis.For example, sensor can be
150 hertz of work are to obtain sensing data.In one embodiment, sensor data block can be retrieved and remember in operation
Record sensing data.
In operation, machinery equipment 2 can use the sensing data track path 3 retrieved.In the present embodiment, may be used
To utilize light intensity rank and color data from each color sensor 5, to ensure that machinery equipment 2 is moved along path 3.Base
In the sensing data constantly obtained, the different electric currents of different voltages level can be by being applied to accordingly by machinery equipment 2
On motor, to make machinery equipment 2 travel to the left or to the right, such machinery equipment 2 will follow path 3.Implement at one
In example, path 3 can be with analyte sensors data and direct suitable driver, to which the specified voltage of application in operation is given
Motor can be carried out track path 3 in this way.
In operation, machinery equipment 2 can analyze the sensing data continuously acquired in operation, to determine whether there is
One or more colour sequentials.Pattern recognition unit can obtain sensing data from sensor data block, and analyze and grasping
The data of colour sequential are stored when making.Color sensor 5 can generate color data in section (for example, 200 millis at the appointed time
Second).These color data can be shown that the color of the light during this period of time detected is changed.For example, color senses
5 data of device may indicate from black to red, from red to green, from green to black.Since path 3 is known as black, behaviour
Make to determine colour sequential red and green presence, because the presence of black represents path in 5 data of color sensor
3.In addition, the light intensity levels data of optical sensor 6 can also be used for determining colour sequential.This light intensity data is for detecting gray scale face
The accuracy of color and confirmation 5 data of color sensor may be particularly useful.
After not detecting colour sequential, back to operation, continue retrieved sensor data, and machinery equipment 2 is
It is moved on drop front 1.In contrast, when detecting colour sequential in operation, the colour sequential detected can be used to look into
Mode function table is ask, is defined with determining whether colour sequential corresponds to color mode 4.In the face for mismatching the definition of color mode 4
On color-sequential row, it can return and continue to obtain sensing data.
When detecting the colour sequential that matching color pattern 4 defines, can retrieve corresponding with the definition of matching color pattern 4
Function.Pattern recognition unit can use the 4 query pattern function table of color mode detected, and retrieval is related in operation
Function.As described previously for operation, mode function table may include that color mode 4 defines letter related to each pattern definition
Number.Function may include that the different motion pattern of machinery equipment 2 is as described above.The function retrieved in operation can use work(
It can control unit execution.In the present embodiment, function control unit can be motor adjustment driver setting, or be adjustment
Lamp dimmer is arranged.
When machinery equipment 2 moves on drop front 1, it may return to operation and continue retrieved sensor data.Therefore,
Method can indefinitely continue, and until reaching termination condition and corresponding function, stop machinery equipment 2.
In certain embodiments, machinery equipment 2 can detect color mode 4, and in the presence of not considering path 3
Execute function.Figure 16 shows the method for controlling machinery equipment 2 using color mode 4.Each operation of this method can be by
One or more machinery equipments 2 and drop front 1 carry out.Machinery equipment 2 may include optical sensing module.As shown in figure 3, light
Learning sensing module can be stored in robot memory unit, be executed by robot system processor.
Method retrieves one or more definition of color mode 4 and corresponding function first.The operation can in aforesaid operations
What is described is similar or identical.Color mode 4 is the colour sequential that can be shown in blackboard 1.Machinery equipment 2 can collect sensing
Device data, and these sensing datas are compared with the definition of color mode 4 retrieved.Then, machinery equipment 2 is placed
On drop front 1, the sensor of machinery equipment 2 faces drop front 1.Machinery equipment 2 can be placed on drop front 1
Numeric display unit on.The sensor of machinery equipment 2 can be generated to be used corresponding to the sensor number of light intensity and color data
In detection color mode 4.Different from aforesaid operations, machinery equipment 2 is not located on path 3, and is usually placed in display
In specified region in equipment or in display equipment.Machinery equipment 2 can utilize sensor to generate sensing data.Institute as above
It states, color sensor 5 can measure the intensity of the light detected at a particular wavelength, and optical sensor 6 can be measured in difference
The intensity of light in wave-length coverage.The light being detected may be from the light that drop front 1 is sent out.Sensor may operate in
150 hertz, to obtain sensing data.Sensor data block can retrieve and/or record sensing data in operation.
In operation, the sensing data that analysis persistently obtains in operation, with a series of presence of colors of determination.Pattern
Recognition unit can obtain sensing data from sensor data block, and analyze at runtime in data with the presence or absence of a series of
Color.Color sensor 5 can generate color data in section (for example, 2 seconds) at the appointed time.This color data can be with table
Show the color change of the light detected.For example, 5 data of color sensor may indicate to become green from red whithin a period of time
Color.
Since compared with aforesaid operations method, machinery equipment 2 does not follow path 3, so machinery equipment 2 in operation may
It is motionless.Therefore, the color detected in operation may be corresponding with dynamic color Mode B.The number of 1 formula of the drop front is aobvious
The whole surface of showing device can be the individual unit of corresponding dynamic color pattern.Therefore, the whole table of numeric display unit
Face can define the area of one or more color patterns.In the present embodiment, the whole region of numeric display unit is persistently dodged
Bright pulsation color, can then be detected by machinery equipment 2.Machinery equipment 2 can not follow path 3, but machinery equipment 2 can specify
Or random manner move on the display device.Although being described as using 5 data of color sensor, as described above, light level
Other data optical sensor 6 can also be used to determine colour sequential in operation.This light intensity data can be used for detecting greyscale color
With the accuracy for confirming 5 data of color sensor.
After it can't detect colour sequential/change, return continues retrieval/generation sensing data.In contrast, it is operating
In when detecting colour sequential, then can be with query pattern function table, to determine it is fixed whether colour sequential corresponds to color mode 4
Justice.When colour sequential and the definition of color mode 4 mismatch, returns and continue retrieved sensor data.Detecting matching color
When the colour sequential that pattern 4 defines, retrieval defines corresponding function with matched color mode 4.Pattern recognition unit can make
With the 4 query pattern function table of color mode detected, and retrieve correlation function.As described above, mode function table may include
Color mode 4 defines and the correlation function of each pattern definition.Function may include that the different motion pattern of machinery equipment 2 is as above
It is described, later, function control unit can be used to execute the function in operation.In the present embodiment, function control unit can be with
To click adjustment driver setting.
Be stored in mode function table and the function that is identified by machinery equipment 2 in addition to example provided above move function it
Outside, the control command to machinery equipment 2 can also be included.Function may include buffer controlling function.Buffer controlling function
The core buffer that machinery equipment 2 can be opened, to store one group of pattern or correlation function.Color mode 4 and function can be by
Storage, until detection terminates damping function accordingly.Pooling feature can be with 2 buffer of closing machine equipment, and triggers machine and set
The playback performance of standby 2 damping functions stored.Therefore, machinery equipment 2 can include storage and the function of multiple patterns, these
Function can be executed by machinery equipment 2 successively in operation.
The sequence performance for running function can be based on the delay between pattern.For example, the with first functional dependence connection
One pattern can be detected in T1, can be detected in T2 with second pattern of second functional dependence connection.
Difference between time T2 and T1 may Δ T.In this example, first function may then execute Δ T delays, Zhi Hou
Two functions may be performed.Therefore, the performance of function can correspond to detect the time series of corresponding color pattern 4.
Above system controls the movement of machinery equipment 2 using color mode 4.Machinery equipment 2 can utilize color to sense
Device 5 and optical sensor 6 detect the color mode 4 on digital drop front or nonnumeric drop front.The pattern can be used for determining
Function of the machinery equipment 2 when moving or being fixed on drop front 1.These functions allow machinery equipment 2 playing game or be
User is moved when providing amusement in a manner of variable control.
Except aforesaid way, the present invention can be a kind of formulation article, wherein readable medium (such as microelectronics of machinery equipment 2
Memory) it is stored in instruction, instruction carries out aforesaid operations to one or more data handling components.Some of them operation can be by
Including the specific hardware components of Hard link logic execute, such as dedicated digital filter block and state machine.These operations also may be used
To be realized by the combination of program data processing component and fixed hardware circuit component.
Particular embodiments described above has carried out further in detail the purpose of the present invention, technical solution and advantageous effect
It describes in detail bright, it should be understood that the above is only a specific embodiment of the present invention, is not intended to restrict the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the guarantor of the present invention
Within the scope of shield.
Claims (10)
1. a kind of machinery equipment control system based on colour sequential identification, which is characterized in that including machinery equipment (2) and several
Drop front (1) for placing machinery equipment (2), the machinery equipment (2) include the bottom surface towards drop front (1)
(21), several sensors and electromechanical assembly, the drop front (1) be provided with several paths (3) and or color mode (4), institute
It is corresponding with path (3) or color mode (4) to state sensor, the machinery equipment (2) can be real using sensor and electromechanical assembly
Automatically moving on present drop front (1), pattern recognition unit and mode function table are provided in the machinery equipment (2),
The pattern recognition unit carries out for realizing acquisition sensing data and to being stored in the internal colour sequential of machinery equipment (2)
Analysis, the mode function table includes colour sequential and function that is corresponding with colour sequential and being identified by machinery equipment (2),
The function is for realizing the operation and control to machinery equipment (2).
2. a kind of machinery equipment control system based on colour sequential identification according to claim 1, which is characterized in that institute
It includes color sensor (5) and optical sensor (6) to state sensor.
3. a kind of machinery equipment control system based on colour sequential identification according to claim 2, which is characterized in that institute
It is microcam to state color sensor (5).
4. a kind of machinery equipment control system based on colour sequential identification according to claim 1, which is characterized in that institute
It states machinery equipment (2) and drop front (1) is provided with several light-emitting components (7), the light-emitting component (7) is corresponding with sensor
Setting.
5. a kind of machinery equipment control system based on colour sequential identification according to claim 4, which is characterized in that institute
It includes the lamp dimmer for controlling light-emitting component (7) working condition to state machinery equipment (2).
6. a kind of machinery equipment control system based on colour sequential identification according to claim 1, which is characterized in that institute
It includes optical screen shield structure to state machinery equipment (2), and the optical screen shield structure includes several light shielding plates (9), the light shielding plate (9)
Extend with bottom surface (21) vertical connection and towards drop front (1).
7. a kind of machinery equipment control system based on colour sequential identification according to claim 1 or 2, feature exist
In the sensor is provided with several polarizing films.
8. a kind of machinery equipment control system based on colour sequential identification according to claim 1, which is characterized in that institute
It includes several input mechanisms to state machinery equipment (2), the input mechanism for realizing machinery equipment (2) and other equipment data
Transmission.
9. a kind of machinery equipment control system based on colour sequential identification according to claim 1, which is characterized in that institute
It states in machinery equipment (2) and is provided with communication system, the function includes the communication system function for communication control system.
10. a kind of operating method of the machinery equipment control system based on colour sequential identification, which is characterized in that the operation step
It is rapid as follows：
A) a kind of machinery equipment control system based on colour sequential identification according to claim 1 carries out machinery equipment
(2) and the preparation of drop front (1)；
B) the enterprising walking along the street diameter (3) of drop front (1) and or color mode (4) establishment；
C) machinery equipment (2) establish with above-mentioned path (3) or color mode (4) corresponding mode function table；
Machinery equipment (2) D) is placed on to the corresponding region of drop front (1)；
E) machinery equipment (2) using sensor generate with path (3) and or color mode (4) corresponding sensing data, and
According to sensing data carry out corresponding color sequence retrieval and with the function in the mode function table corresponding to colour sequential
Retrieval；
F) when colour sequential and function retrieve, machinery equipment (2) carries out corresponding feature operation according to function；If color
Sequence or function retrieval failure, then repeatedly step E；
G) reach the condition of completion, machinery equipment (2) operation stops, and operation terminates.
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