CN104867297A - Multifunctional operation method of intelligent cleaning robot device - Google Patents
Multifunctional operation method of intelligent cleaning robot device Download PDFInfo
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Abstract
The invention relates to a multifunctional operation method of an intelligent cleaning robot device. The multifunctional operation method comprises the following steps: a controller module is connected with an ultrasonic receiving and dispatching module, an infrared sensor detecting module, a contact sensor detecting module, a digital television broadcast signal receiving module, an audio-video data processing module and a main body module of the robot device respectively, wherein the controller module controls the driving and the cleaning of the main body module of the robot device according to the detection results from the ultrasonic receiving and dispatching module, the infrared sensor detecting module and the contact sensor detecting module; the controller module controls the digital television broadcast signal receiving module and the audio-video data processing module to process the received digital television broadcast signals and outputs audio-video signals suitable for various interface formats of external audio-video playing equipment. Through the multifunctional operation method disclosed by the invention, the barriers around the robot device can be accurately detected, and the robot device can clean everywhere; in addition, when the wireless radio signals are strong enough, the robot device can play multimedia content stored inside, so that the usage experiences of users are enriched.
Description
The divisional application of the patent of " Intelligent cleaning robot apparatus multifunction method of operating " that the present invention is application number is 2013101402252, the applying date, to be April 23, denomination of invention in 2013 be.
Technical field
The present invention relates to a kind of Intelligent cleaning robot apparatus multifunction method of operating, particularly relate to a kind of Intelligent cleaning robot apparatus multifunction method of operating that also can determine whether to play according to multiple obstacle detecting device determination obstacle audio-video frequency content in broadcast singal for indoor according to the intensity of the wireless videocast signal received, on the one hand, accurately detect neighbouring barrier and hide in time, on the other hand, while cleaning, receive wireless signal and play content of multimedia wherein, while user improves indoor environment, enrich the seeing and hearing enjoyment of user.
Background technology
Clean robot is the specialized robot for mankind's service, is mainly engaged in the work such as clean, the cleaning of domestic hygiene, sweep the floor save time, laborsaving.Its whole cleaning course does not need people to control, and alleviate the operation burden of user, the time of saving sees TV, accompanies household, purify air, objectionable impurities in the built-in acticarbon of some robot devices, absorbed air, general structure is light small and exquisite, can easily sweep standard vacuum cleaning less than dead angle.Before 2 years, the concept of home-services robot also with the life phase of ordinary people every very far away, consumers in general also know from experience less than home-services robot scientific-technical progress to life bring convenient.Now, increasing consumer is using home-services robot product, and concept is no longer concept, but by the product out and out intimate service that allowed consumer experience.Increasing clean robot starts to enter huge numbers of families.
But, usually it is single to there is barrier detector in the method for operating of existing clean robot, the problem that detection of obstacles is not accurate enough, in the process of sweeping, be often absorbed in crag-fast awkward situation because of barrier not detected, be limited motionless until exhaust electric power in a place, cleaning efficiency reduces greatly, simultaneously cannot provide other service for user while clean, as multimedia audio-visual is enjoyed, purposes is more fixing, can not enrich the experience of user further.
Therefore, need a kind of Intelligent cleaning robot apparatus multifunction method of operating for indoor, use the barrier near multiple pick-up unit joint-detection, timely formulation evasive strategy, the situation stopping to dally occurs, receive wireless videocast signal simultaneously and export audio-video frequency content wherein, for user provides profound service.
Summary of the invention
In order to solve the problem, the invention provides a kind of for indoor intelligent cleaning robot apparatus multifunction method of operating, make the concern that user need not ensure clean robot operation conditions in the moment, without the service condition of oneself observation clean robot, hide in time when there is barrier, and when broadcast signal strength acquires a certain degree for user provides audio-video frequency content wherein, thus improve degree of intelligence and the service efficiency of clean robot.
According to an aspect of the present invention, provide a kind of Intelligent cleaning robot apparatus multifunction method of operating for indoor, comprise by controller module respectively with ultrasonic transceiver module, infrared ray sensor detection module, feeler detection module, digital TV broadcast signal receiver module, audio, video data processing module is connected with the main body module of robot device, described controller module is according to ultrasonic transceiver module, the driving of the main body module of the testing result control device of infrared ray sensor detection module and feeler detection module and clean, and described controller module control figure television broadcasting signal receiver module and audio, video data processing module process the digital TV broadcast signal received, export the audio-video signal of the various interface formats being applicable to outside playing audio/video.
More specifically, described Intelligent cleaning robot apparatus multifunction method of operating comprises further: the drive actions using the advance of driver control robot device in the main body module of robot device, retrogressing and turning, uses the ground of suction cleaner to process in the main body module of robot device to clean, be positioned at the ultrasonic transceiver module in robot device dead ahead, launch and receive ultrasound wave with the distance of measuring robots device to preceding object thing, the periphery barrier of infrared ray sensor detection module measuring robots device and ground drop, described infrared ray sensor detection module comprises four infrared ray sensors, lays respectively at the left front of robot device, lower left, right front and lower right, be positioned at the feeler detection module on the impact damper of robot device front end, by slight making contact, detect the small barrier failing to be detected by ultrasonic transceiver module and infrared ray sensor detection module, comprise the digital TV broadcast signal receiver module of digital tuner, detuner, demodulation multiplexer, audio frequency and video decompression unit and signal strength detection module, receive and process digital TV broadcast signal, wherein said signal strength detection module detects the intensity of the digital TV broadcast signal received, and produces intensity control signal, audio, video data processing module receives the digital TV broadcast signal after the process of digital TV broadcast signal receiver module output, carry out audio, video data format conversion, export the audio-video signal of DVI, HDMI, DisplayPort or DiiVA interface format being applicable to outside playing audio/video, described audio, video data processing module adopts field programmable gate array fpga chip, and this fpga chip is the EP2C5Q208C8N of ALTERA company, respectively with ultrasonic transceiver module, the controller module that infrared ray sensor detection module is connected with feeler detection module, according to ultrasonic transceiver module, the testing result of infrared ray sensor detection module and feeler detection module, make the drive actions of driver control robot device, control suction cleaner to clean simultaneously, and when the intensity control signal that described signal strength detection module detects is greater than 60dBuV, start digital tuner, detuner, demodulation multiplexer, the digital TV broadcast signal that audio frequency and video decompression unit and the process of audio, video data processing module receive also outputs to outside playing audio/video and plays, wherein, described digital TV broadcast signal receiver module, audio, video data processing module and controller module are positioned on the main body module of robot device.
More specifically, described Intelligent cleaning robot apparatus multifunction method of operating comprises further: hyperacoustic centre frequency that described ultrasonic transceiver module sends is 40kHz, and the detecting distance of each infrared ray sensor reaches 10cm.
More specifically, described Intelligent cleaning robot apparatus multifunction method of operating comprises further: described outside playing audio/video can comprise Digital Television, DVD, video recorder, computer, Set Top Box or video camera.
More specifically, described Intelligent cleaning robot apparatus multifunction method of operating comprises further: described in the digital TV broadcast signal that receives can be DVB-C, DVB-T, DVB-S or DVB-H signal.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
The process flow diagram of the Intelligent cleaning robot apparatus multifunction method of operating that Fig. 1 illustrates according to an embodiment of the present invention.
Embodiment
Below with reference to accompanying drawings the embodiment of Intelligent cleaning robot apparatus multifunction method of operating of the present invention is described in detail.
Fig. 1 illustrates the process flow diagram of the Intelligent cleaning robot apparatus multifunction method of operating illustrated according to an embodiment of the present invention.Wherein be used to indoor Intelligent cleaning robot apparatus multifunction method of operating comprise: by controller module respectively with ultrasonic transceiver module, infrared ray sensor detection module, feeler detection module, digital TV broadcast signal receiver module, audio, video data processing module is connected with the main body module of robot device, described controller module is according to ultrasonic transceiver module, the driving of the main body module of the testing result control device of infrared ray sensor detection module and feeler detection module and clean, and described controller module control figure television broadcasting signal receiver module and audio, video data processing module process the digital TV broadcast signal received, export the audio-video signal of the various interface formats being applicable to outside playing audio/video.Particularly, use the drive actions of the advance of driver control robot device in the main body module of robot device, retrogressing and turning, use the ground of suction cleaner to process in the main body module of robot device to clean, be positioned at the ultrasonic transceiver module in robot device dead ahead, launch and receive ultrasound wave with the distance of measuring robots device to preceding object thing, the periphery barrier of infrared ray sensor detection module measuring robots device and ground drop, described infrared ray sensor detection module comprises four infrared ray sensors, lays respectively at the left front of robot device, lower left, right front and lower right, be positioned at the feeler detection module on the impact damper of robot device front end, by slight making contact, detect the small barrier failing to be detected by ultrasonic transceiver module and infrared ray sensor detection module, comprise the digital TV broadcast signal receiver module of digital tuner, detuner, demodulation multiplexer, audio frequency and video decompression unit and signal strength detection module, receive and process digital TV broadcast signal, wherein said signal strength detection module detects the intensity of the digital TV broadcast signal received, and produces intensity control signal, audio, video data processing module receives the digital TV broadcast signal after the process of digital TV broadcast signal receiver module output, carry out audio, video data format conversion, export the audio-video signal of DVI, HDMI, DisplayPort or DiiVA interface format being applicable to outside playing audio/video, described audio, video data processing module adopts on-site programmable gate array FPGA chip, and this fpga chip is the EP2C5Q208C8N of ALTERA company, respectively with ultrasonic transceiver module, the controller module that infrared ray sensor detection module is connected with feeler detection module, according to ultrasonic transceiver module, the testing result of infrared ray sensor detection module and feeler detection module, make the drive actions of driver control robot device, control suction cleaner to clean simultaneously, and when the intensity control signal that described signal strength detection module detects is greater than 60dBuV, start digital tuner, detuner, demodulation multiplexer, the digital TV broadcast signal that audio frequency and video decompression unit and the process of audio, video data processing module receive also outputs to outside playing audio/video and plays, wherein, described digital TV broadcast signal receiver module, audio, video data processing module and controller module are positioned on the main body module of robot device.
Wherein, DVI, HDMI, DisplayPort, DiiVA are digital audio/video interface standards common on market.DVI (Digital Visual Interface), i.e. digital visual interface, by Silicon Image, Intel (Intel), Compaq (Compaq), IBM, HP (Hewlett-Packard), NEC, the companies such as Fujitsu (Fujitsu) form DDWG (Digital Display Working Group jointly, numerical monitor working group) in the interface standard of release in 1999, DVI is based on PanalLink interfacing, based on TMDS (transition minimized differential signaling) electronic protocol as basic electrical connection, highest signal transmission code stream is 1.65Gbps, analog video interface before comparing, it is fast that it has speed, picture is clear, support the feature of HDCP agreement.HDMI (High Definition Multimedia Interface), i.e. HDMI (High Definition Multimedia Interface), by Hitachi, Panasonic, Philip, Silicon Image, Sony, Thomson, the HDMI high-definition media interface that company of Toshiba etc. 7 is set up jointly is organized in formally to be issued on Dec 9th, 2002, HDMI is based on DVI, adopt TMDS encoding mechanism, to vision signal, sound signal and control signal carry out time-division control, the maximum data transmission speed is 5Gbps, overcome DVI for flat panel TV and wide colour gamut terminal transparency poor, image copyright protection is lacked and supports, do not support digital audio and video signals, the shortcomings such as interface volume is large.DisplayPort, is called for short DP interface, is issued by VESA (video electronics standard tissue) in May, 2006.It is a kind of open standard for all display devices (comprising inside and outside interface); adopt 8B/10B coding, embedded clock signal and micro-package framework; video content is with the transmission of package mode; support HDCP digital content protection agreement; can simultaneously transmission of audio and video; maximum transmission bandwidth is 10.8Gb/S; it directly carries out the transmission of the low bandwidth data such as voice, video by the external channel that can realize two-way communication, and the DisplayPort HDMI that compares has larger transmission bandwidth and stronger compatibility.DiiVA, i.e. digital high-definition interaction interface, released in April, 2009 by 9 enterprises such as TCL, Hisense, Skyworth, Konka, Changhong, Haier, SVA, panda electronics, Ling Xu, adopt the 8B/10B coding techniques identical with DisplayPort interface, support that video bandwidth reaches 13.5Gbps, support that hybrid channel frequency range adds up to more than 2Gbps, bi-directional data and audio transmission can be done, also support HDCP 2.0 and DTCP-IP simultaneously, it adopts the connected mode of daisy chain, and any one equipment in DiiVA network can be accessed mutually.Different consumer electronics producers, semiconductor company, testing apparatus producer and commercial electronic manufacturer, according to number one needs, in the product of oneself, select different digital audio/video interfaces, these products comprise Digital Television, DVD, video recorder, computer, Set Top Box, video camera.
In addition, described Intelligent cleaning robot apparatus multifunction method of operating comprises further: hyperacoustic centre frequency that described ultrasonic transceiver module sends is 40kHz, and the detecting distance of each infrared ray sensor reaches 10cm.
Wherein, ultrasonic transmitter-receiver specific works principle is, transmitter, and to transducer high-voltage pulse, transducer converts acoustic energy to electric energy; Receiver, transducer is converted to electric signal acoustical signal, then gets involved small signal amplifier.Ultrasonic sensor is the sensor utilizing hyperacoustic characteristic to develop.Ultrasound wave is the mechanical wave of a kind of vibration frequency higher than sound wave, is occurred to vibrate to produce by transducing wafer under the excitation of voltage, and it has, and frequency is high, wavelength is short, diffraction phenomenon is little, particularly good directionality, ray and the features such as direction propagation can be become.Ultrasound wave is very large to the penetrating power of liquid, solid, and especially in the opaque solid of sunlight, it can penetrate the degree of depth of tens meters.Ultrasound wave is encountered impurity or interphase and can be produced significantly to reflect to form and be reflected into echo, encounters live animal physical efficiency and produces Doppler effect.Therefore ultrasound examination is widely used in the aspects such as industry, national defence, biomedicine.Ultrasonic transmitter-receiver, is made up of transmission sensor (or claiming ripple transmitter), receiving sensor (or claiming ripple receiver), control section and power unit.Transmitter sensor is that the ceramic vibrator transducer of about 15mm forms by transmitter with using diameter, and transducer effect the electric oscillation energy conversion of ceramic vibrator is become ultrasonic energy and to aerial radiation; And receiving sensor is made up of ceramic vibrator transducer and amplifying circuit, receive MUT ripple produces mechanical vibration, be converted into electric flux, as the output of transducer receivers, thus the super of transmission is detected. and in actual use, the ceramic vibrator being used as to send sensor also can as the ceramic vibrator of receiver sensor society.The pulse train frequency that control section mainly sends transmitter, when sparse modulation and counting and detection range etc. control duty.
Wherein, infrared distance measuring is a kind of sensor utilizing infrared reflection principle to measure obstacle distance from sensor.Infrared distance sensor has a pair infrared signal launching and receiving diode, power valve launches the infrared signal of characteristic frequency, receiving tube receives the infrared signal of this frequency, when infrared detection side is to when running into barrier, infrared signal reflects received pipe and receives, after process, turn back to robot main frame by digital sensor interface, robot can utilize infrared return signal to identify the change of surrounding environment.
In addition, described Intelligent cleaning robot apparatus multifunction method of operating comprises further: described outside playing audio/video can comprise Digital Television, DVD, video recorder, computer, Set Top Box or video camera.Described Intelligent cleaning robot apparatus multifunction method of operating, by external interface and various outside playing audio/video, realizes the broadcasting of all kinds of audio, video data flexibly.
In addition, described Intelligent cleaning robot apparatus multifunction method of operating comprises further: described in the digital TV broadcast signal that receives can be DVB-C, DVB-T, DVB-S or DVB-H signal.The digital television broadcasting service that described Intelligent cleaning robot apparatus multifunction method of operating is the widest according to local usable range, receives and plays content of multimedia wherein.
Adopt Intelligent cleaning robot apparatus multifunction method of operating of the present invention, further increase intelligence degree and the work efficiency of clean robot, neighbouring various barrier can be identified fast and hide, to sweep each corner or spot as yet untouched by a clean-up campaign and the awkward situation of idle running power consumption can not be absorbed in, simultaneously also audio frequency and video business can be watched on this clean robot.Use clean robot of the present invention, user can other things of relieved process, appreciate local wireless videocast service even further, enriched the audiovisual sense organ of user on described clean robot.
Be understandable that, although the present invention with preferred embodiment disclose as above, but above-described embodiment and be not used to limit the present invention.For any those of ordinary skill in the art, do not departing under technical solution of the present invention ambit, the technology contents of above-mentioned announcement all can be utilized to make many possible variations and modification to technical solution of the present invention, or be revised as the Equivalent embodiments of equivalent variations.Therefore, every content not departing from technical solution of the present invention, according to technical spirit of the present invention to any simple modification made for any of the above embodiments, equivalent variations and modification, all still belongs in the scope of technical solution of the present invention protection.
Claims (4)
1. an Intelligent cleaning robot apparatus multifunction method of operating, comprising:
By controller module respectively with ultrasonic transceiver module, infrared ray sensor detection module, feeler detection module, digital TV broadcast signal receiver module, audio, video data processing module is connected with the main body module of robot device, described controller module is according to ultrasonic transceiver module, the driving of the main body module of the testing result control device of infrared ray sensor detection module and feeler detection module and clean, and described controller module control figure television broadcasting signal receiver module and audio, video data processing module process the digital TV broadcast signal received, export the audio-video signal of the various interface formats being applicable to outside playing audio/video.
2. Intelligent cleaning robot apparatus multifunction method of operating as claimed in claim 1, comprises further:
Use the drive actions of the advance of driver control robot device in the main body module of robot device, retrogressing and turning, use the ground of suction cleaner to process in the main body module of robot device to clean;
Be positioned at the ultrasonic transceiver module in robot device dead ahead, launch and receive ultrasound wave with the distance of measuring robots device to preceding object thing;
The periphery barrier of infrared ray sensor detection module measuring robots device and ground drop; Described infrared ray sensor detection module comprises four infrared ray sensors, lays respectively at the left front of robot device, lower left, right front and lower right;
Be positioned at the feeler detection module on the impact damper of robot device front end, by slight making contact, detect the small barrier failing to be detected by ultrasonic transceiver module and infrared ray sensor detection module;
Comprise the digital TV broadcast signal receiver module of digital tuner, detuner, demodulation multiplexer, audio frequency and video decompression unit and signal strength detection module, receive and process digital TV broadcast signal, wherein said signal strength detection module detects the intensity of the digital TV broadcast signal received, and produces intensity control signal;
Audio, video data processing module receives the digital TV broadcast signal after the process of digital TV broadcast signal receiver module output, carry out audio, video data format conversion, export the audio-video signal of DVI, HDMI, DisplayPort or DiiVA interface format being applicable to outside playing audio/video, described audio, video data processing module adopts field programmable gate array fpga chip, and this fpga chip is the EP2C5Q208C8N of ALTERA company;
Respectively with ultrasonic transceiver module, the controller module that infrared ray sensor detection module is connected with feeler detection module, according to ultrasonic transceiver module, the testing result of infrared ray sensor detection module and feeler detection module, make the drive actions of driver control robot device, control suction cleaner to clean simultaneously, and when the intensity control signal that described signal strength detection module detects is greater than 60dBuV, start digital tuner, detuner, demodulation multiplexer, the digital TV broadcast signal that audio frequency and video decompression unit and the process of audio, video data processing module receive also outputs to outside playing audio/video and plays,
Wherein, described digital TV broadcast signal receiver module, audio, video data processing module and controller module are positioned on the main body module of robot device,
Hyperacoustic centre frequency that described ultrasonic transceiver module sends is 40kHz, and the detecting distance of each infrared ray sensor reaches 10cm.
3. as the Intelligent cleaning robot apparatus multifunction method of operating that claim 2 is stated, it is characterized in that: described outside playing audio/video comprises Digital Television, DVD, video recorder, computer, Set Top Box or video camera.
4. Intelligent cleaning robot apparatus multifunction method of operating as claimed in claim 2, is characterized in that: described in the digital TV broadcast signal that receives be DVB-C, DVB-T, DVB-S or DVB-H signal.
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| CN106514626A (en) * | 2016-12-23 | 2017-03-22 | 纳恩博（北京）科技有限公司 | Body structure and robot with same |
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| CN105796002B (en) * | 2016-03-31 | 2018-09-18 | 北京小米移动软件有限公司 | Clean robot indoor cleaning processing method, clean robot and mobile terminal |
| CN110547732A (en) * | 2019-08-16 | 2019-12-10 | 湖南格兰博智能科技有限责任公司 | sweeper obstacle detection device and detection escaping method |
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| CN104867297B (en) | 2018-05-22 |
| CN103236141A (en) | 2013-08-07 |
| CN103236141B (en) | 2015-08-26 |
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