CN104867297B - Intelligent cleaning robot apparatus multifunction operating method - Google Patents
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Abstract
The present invention relates to a kind of Intelligent cleaning robot apparatus multifunction operating method, including：By controller module respectively with ultrasonic transceiver module, infrared ray sensor detection module, contact sensor detection module, digital TV broadcast signal receiving module, audio, video data processing module is connected with the main body module of robot device, the controller module is according to ultrasonic transceiver module, the driving and cleaning of the main body module of the testing result of infrared ray sensor detection module and contact sensor detection module control robot device, and the controller module control digital TV broadcast signal receiving module and audio, video data processing module handle the digital TV broadcast signal received, output is suitble to the audio-video signal of the various interface formats of external playing audio/video.By means of the invention it is possible to accurately detect the barrier around robot device, each corner is swept, meanwhile, multimedia content therein is played when radio broadcasting signal is sufficiently strong, enriches the usage experience of user.
Description
The present invention be Application No. 2013101402252, the applying date be on April 23rd, 2013, it is entitled that " intelligence is clear
The divisional application of the patent of clean robot device's multifunctional operation method ".
Technical field
The present invention relates to a kind of Intelligent cleaning robot apparatus multifunction operating method more particularly to one kind for indoor energy
It is enough to determine obstacle according to multiple obstacle detecting devices and determine whether to broadcast according to the intensity of the wireless videocast signal received
Put the Intelligent cleaning robot apparatus multifunction operating method of audio-video frequency content in broadcast singal, on the one hand, accurately detect attached
Nearly barrier is simultaneously hidden in time, on the other hand, wireless signal is received while cleaning and is played in multimedia therein
Hold, while improving indoor environment for user, 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 cleaning, the cleaning of domestic hygiene,
It sweeps the floor time saving, laborsaving.Its entire cleaning process is not required to very important person's control, mitigates the operating burden of user, saves the time and sees TV, accompanies
Household purifies air, and harmful substance in activated carbon, absorption air built in some robot devices, general structure is light compact, energy
It is enough easily sweep standard vacuum cleaning less than dead angle.Before 2 years, the concept of home-services robot is also and common old hundred
Every very far, the scientific and technological progress that consumers in general also know from experience less than home-services robot is brought just the life phase of surname to life
It is prompt.And now home-services robot product is used in more and more consumers, concept is no longer concept, but is passed through
Product allows consumer to experience intimate service true.More and more clean robots initially enter huge numbers of families.
But the operating method of existing clean robot is usually single there are barrier detector, detection of obstacles is not
The problem of enough accurate, is often absorbed in crag-fast awkward situation, one during sweeping because barrier is not detected
A place is motionless until exhausting electric power by limitation, and cleaning efficiency substantially reduces, while can not be user while cleaning
Other services are provided, if multimedia audio-visual is enjoyed, purposes is relatively more fixed, it is impossible to further enrich the usage experience of user.
Therefore, it is necessary to one kind for indoor Intelligent cleaning robot apparatus multifunction operating method, a variety of detections are used
Barrier near device joint-detection, formulates evasive strategy in time, prevents happening for idle running, while receives radiovision
Broadcast singal simultaneously exports audio-video frequency content therein, provides profound service to the user.
The content of the invention
To solve the above-mentioned problems, operated the present invention provides one kind for indoor intelligent cleaning robot apparatus multifunction
Method so that user need not ensure the concern to clean robot operation conditions constantly, without oneself observation clean robot
Service condition is hidden in time when there is barrier, and is provided to the user when broadcast signal strength reaches a certain level
Audio-video frequency content therein, so as to improve the degree of intelligence of clean robot and service efficiency.
According to an aspect of the present invention, provide a kind of for indoor Intelligent cleaning robot apparatus multifunction operation side
Method, including controller module is detected mould with ultrasonic transceiver module, infrared ray sensor detection module, contact sensor respectively
Block, digital TV broadcast signal receiving module, audio, video data processing module are connected with the main body module of robot device, described
Controller module is according to the detection knot of ultrasonic transceiver module, infrared ray sensor detection module and contact sensor detection module
The driving and cleaning of the main body module of fruit control robot device and controller module control digital TV broadcast signal
Receiving module and audio, video data processing module handle the digital TV broadcast signal received, export and are suitble to external sound
The audio-video signal of the various interface formats of video playback apparatus.
More specifically, the Intelligent cleaning robot apparatus multifunction operating method further comprises：It is filled using robot
The drive actions of advance, retrogressing and the turning of the main body mould driver control robot device in the block put, are filled using robot
The main body mould dust catcher in the block put cleans the ground of process；Ultrasonic transmission/reception mould immediately ahead of robot device
Block emits and receives ultrasonic wave to detect robot device to the distance of front obstacle；Infrared ray sensor detection module is examined
Survey the periphery barrier of robot device and ground drop；The infrared ray sensor detection module includes four infrared ray sensings
Device, respectively positioned at the left front of robot device, lower left, right front and lower right；Buffering positioned at robot device front end
Contact sensor detection module on device, by slight making contact, detection fails by ultrasonic transceiver module and infrared ray
The small barrier that sensor detection module detects；Including digital tuner, demodulator, demultiplexer, audio and video decompression
The digital TV broadcast signal receiving module of unit and signal strength detection module, receives and processes digital TV broadcast signal,
The intensity for the digital TV broadcast signal that wherein described signal strength detection module detection receives, and generate strength control letter
Number；Audio, video data processing module receives the output of digital TV broadcast signal receiving module treated digital television broadcasting letter
Number, carry out audio, video data format conversion, export DVI, HDMI, DisplayPort for being suitble to external playing audio/video or
The audio-video signal of DiiVA interface formats, the audio, video data processing module use field programmable gate array fpga chip, should
Fpga chip is the EP2C5Q208C8N of ALTERA companies；Respectively with ultrasonic transceiver module, infrared ray sensor detection module
The controller module connected with contact sensor detection module, according to ultrasonic transceiver module, infrared ray sensor detection module
With the testing result of contact sensor detection module so that the drive actions of driver control robot device, while control suction
Dirt device is cleaned, and when the intensity control signal that the signal strength detection module detects is more than 60dBuV, starts number
The number that word tuner, demodulator, demultiplexer, audio and video decompression unit and the processing of audio, video data processing module receive
Television broadcasting signal is simultaneously output to external playing audio/video and plays out；Wherein, the digital TV broadcast signal receives
Module, audio, video data processing module and controller module are located on the main body module of robot device.
More specifically, the Intelligent cleaning robot apparatus multifunction operating method further comprises：The ultrasonic wave is received
The centre frequency for sending out the ultrasonic wave that module is sent is 40kHz, and the detecting distance of each infrared ray sensor reaches 10cm.
More specifically, the Intelligent cleaning robot apparatus multifunction operating method further comprises：The external sound regards
Frequency playback equipment may include DTV, DVD, video recorder, computer, set-top box or video camera.
More specifically, the Intelligent cleaning robot apparatus multifunction operating method further comprises：It is described to receive
Digital TV broadcast signal can be DVB-C, DVB-T, DVB-S or DVB-H signal.
Description of the drawings
Embodiment of the present invention is described below with reference to attached drawing, wherein：
The flow chart for the Intelligent cleaning robot apparatus multifunction operating method that Fig. 1 is shown according to an embodiment of the present invention.
Specific embodiment
Below with reference to accompanying drawings to the present invention Intelligent cleaning robot apparatus multifunction operating method embodiment into
Row is described in detail.
Fig. 1 shows the flow of the Intelligent cleaning robot apparatus multifunction operating method shown according to an embodiment of the present invention
Figure.Wherein being used for indoor Intelligent cleaning robot apparatus multifunction operating method includes：By controller module respectively with surpassing
Sound wave transceiver module, infrared ray sensor detection module, contact sensor detection module, digital TV broadcast signal receive mould
Block, audio, video data processing module are connected with the main body module of robot device, and the controller module is according to ultrasonic transmission/reception
The main body mould of the testing result control robot device of module, infrared ray sensor detection module and contact sensor detection module
The driving and cleaning of block and controller module control digital TV broadcast signal receiving module and audio, video data processing
Module handles the digital TV broadcast signal received, exports the various interface lattice for being suitble to external playing audio/video
The audio-video signal of formula.Specifically, using robot device main body mould driver control robot device in the block advance,
The drive actions for retreating and turning, clean the ground of process using the main body mould of robot device dust catcher in the block；
Ultrasonic transceiver module immediately ahead of robot device, emits and receives ultrasonic wave and hindered with detecting robot device to front
Hinder the distance of object；Infrared ray sensor detection module detects the periphery barrier of robot device and ground drop；It is described infrared
Line sensor detection module includes four infrared ray sensors, respectively positioned at the left front of robot device, lower left, right front
And lower right；Contact sensor detection module on the buffer of robot device front end, by slight making contact,
Detection fails the small barrier detected by ultrasonic transceiver module and infrared ray sensor detection module；Including digital tuning
Device, demodulator, demultiplexer, the digital TV broadcast signal of audio and video decompression unit and signal strength detection module receive mould
Block receives and processes digital TV broadcast signal, wherein the DTV that signal strength detection module detection receives is wide
The intensity of signal is broadcast, and generates intensity control signal；Audio, video data processing module receives digital TV broadcast signal and receives mould
Block output treated digital TV broadcast signal, carries out audio, video data format conversion, exports and external audio and video is suitble to broadcast
The audio-video signal of DVI, HDMI, DisplayPort or DiiVA interface format of equipment is put, the audio, video data handles mould
Block uses field programmable gate array FPGA chip, which is the EP2C5Q208C8N of ALTERA companies；Respectively with surpassing
The controller module that sound wave transceiver module, infrared ray sensor detection module are connected with contact sensor detection module, according to super
The testing result of sound wave transceiver module, infrared ray sensor detection module and contact sensor detection module so that driver control
The drive actions of robot device processed, while dust catcher is controlled to be cleaned, and detected in the signal strength detection module
Intensity control signal be more than 60dBuV when, start digital tuner, demodulator, demultiplexer, audio and video decompression unit and
Audio, video data processing module handles the digital TV broadcast signal received and is output to external playing audio/video and carries out
It plays；Wherein, the digital TV broadcast signal receiving module, audio, video data processing module and controller module are located at machine
On the main body module of people's device.
Wherein, DVI, HDMI, DisplayPort, DiiVA are digital audio/video interface standards common in the market.DVI
(Digital Visual Interface), i.e. digital visual interface, by Silicon Image, Intel (Intel),
The companies such as Compaq (Compaq), IBM, HP (Hewlett-Packard), NEC, Fujitsu (Fujitsu) collectively constitute DDWG (Digital
Display Working Group, numerical monitor working group) in the interface standard of release in 1999, DVI is connect with PanalLink
Based on vocal imitation skill, based on TMDS (minimum differential signal transmission) electronic protocol as basic electrical connection, highest signal passes
Defeated code stream is 1.65Gbps, the analog video interface before comparing, with speed is fast, picture is clear, supports HDCP agreements
The characteristics of.HDMI (High Definition Multimedia Interface), i.e. high-definition multimedia interface, by day
The more matchmakers of HDMI high definitions that 7 companies such as vertical, Panasonic, Philip, Silicon Image, Sony, Thomson, Toshiba are set up jointly
Body interface organization formally issued on December 9th, 2002, and HDMI, using TMDS encoding mechanisms, believes video based on DVI
Number, audio signal and control signal carry out time-division control, the maximum data transmission speed is 5Gbps, overcomes DVI for tablet electricity
Depending on wide colour gamut terminal transparency it is poor, image copyright protection is lacked and supports, support digital audio and video signals, interface volume big etc.
Shortcoming.DisplayPort, abbreviation DP interfaces are issued by VESA (video electronics standard tissue) in May, 2006.It is a kind of pin
To the open standard of all display devices (including inside and outside interface), encoded using 8B/10B, embedded clock signal with it is micro-
Package framework, video content are transmitted in a manner of package, support HDCP digital content protection agreements, can be with simultaneous transmission audio with regarding
Frequently, maximum transmission bandwidth 10.8Gb/S directly carries out voice, video by the external channel of an achievable two-way communication
Etc. low bandwidth datas transmission, DisplayPort compare HDMI with bigger transmission bandwidth and stronger compatibility.
DiiVA, i.e. digital high-definition interaction interface, by TCL, Hisense, Skyworth, Konka, Changhong, Haier, SVA information industry, panda electronics, Ling Xu
It is released Deng 9 enterprises in April, 2009, using the 8B/10B coding techniques identical with DisplayPort interfaces, supports video tape
Width supports hybrid channel bandwidth to add up to more than 2Gbps, can do bi-directional data and audio transmission, while also support up to 13.5Gbps
HDCP 2.0 and DTCP-IP uses the connection mode of daisy chain so that any one equipment in DiiVA networks all may be used
To access mutually.Different consumer electronics producer, semiconductor company, test equipment producer and commercial electronic manufactures
Business according to number one needs, selects different digital audio/video interfaces in the product of oneself, these products include number electricity
Depending on, DVD, video recorder, computer, set-top box, video camera.
In addition, the Intelligent cleaning robot apparatus multifunction operating method further comprises：The ultrasonic transmission/reception mould
The centre frequency for the ultrasonic wave that block is sent is 40kHz, and the detecting distance of each infrared ray sensor reaches 10cm.
Wherein, ultrasonic transmitter-receiver concrete operating principle is transmitter, gives energy converter one high-voltage pulse, energy converter handle
Electric energy is converted into acoustic energy；Receiver, acoustical signal is converted to electric signal by energy converter, then intervenes small signal amplifier.Ultrasonic wave passes
Sensor is the sensor developed using the characteristic of ultrasonic wave.Ultrasonic wave is the mechanical wave that a kind of vibration frequency is higher than sound wave,
Occur what vibration generated under the excitation of voltage by transducing chip, it has, and frequency is high, wavelength is short, diffraction phenomenon is small, particularly
Good directionality, ray can be become and the features such as direction propagation.Ultrasonic wave is very big to the penetrating power of liquid, solid, especially
In the opaque solid of sunlight, it can penetrate tens meters of depth.Ultrasonic wave, which encounters impurity or interface, can generate significantly instead
It penetrates to be formed and is reflected into echo, Doppler effect can be generated by encountering mobiles.Therefore ultrasound examination is widely used in industry, state
Anti-, biomedicine etc..Ultrasonic transmitter-receiver, by transmission sensor (or ripple transmitter), receiving sensor, (or ripple connects
Receive device), control section and power unit form.Transmitter sensor is by transmitter with being shaken using the ceramics of a diameter of 15mm or so
Sub- energy converter composition, energy converter effect are that the electric oscillation energy of ceramic vibrator is converted into ultrasonic energy and is radiated to aerial；And it connects
It receives sensor to be made of with amplifying circuit ceramic vibrator energy converter, energy converter received wave generates mechanical oscillation, is converted into electricity
Energy as the output of transducer receivers, so as to which the super of transmission is detected and is actually used, is sensed as sending
The ceramic vibrator of device is also used as the ceramic vibrator of receiver sensor society.The pulse that control section mainly sends transmitter
When sparse modulation and counting and detection range etc. are controlled for chain frequency, duty.
Wherein, infrared distance measuring is a kind of obstacle distance to be measured using infrared reflection principle from sensor
Sensor.There is infrared distance sensor a pair of of infrared signal transmitting and reception diode, transmitting tube to emit the red of specific frequency
External signal, reception pipe receives the infrared signal of this frequency, when infrared detection direction runs into barrier, infrared signal reflection
Return to be received pipe reception, after processing, by digital sensor interface back to robot host, robot can profit
The variation of ambient enviroment is identified with infrared return signal.
In addition, the Intelligent cleaning robot apparatus multifunction operating method further comprises：The external audio and video are broadcast
Putting equipment may include DTV, DVD, video recorder, computer, set-top box or video camera.The Intelligent cleaning robot device is more
Feature operation method flexibly realizes broadcasting for all kinds of audio, video datas by external interface and various external playing audio/videos
It puts.
In addition, the Intelligent cleaning robot apparatus multifunction operating method further comprises：The number received
Television broadcasting signal can be DVB-C, DVB-T, DVB-S or DVB-H signal.The Intelligent cleaning robot apparatus multifunction behaviour
Make method according to the most wide digital television broadcasting service of local use scope, receive and play multimedia content therein.
Intelligent cleaning robot apparatus multifunction operating method using the present invention, further improves clean robot
Intelligence degree and work efficiency can quickly identify neighbouring various barriers and be hidden, dead to sweep each health
Angle and the awkward situation that idle running power consumption will not be absorbed in, while audio and video business can be also watched on this clean robot.It uses
The clean robot of the present invention, user, which can trust, to be handled other things or even further appreciates on the clean robot
Local wireless videocast service enriches the audiovisual sense organ of user.
It is understood that although the present invention has been disclosed in the preferred embodiments as above, above-described embodiment not to
Limit the present invention.For any those skilled in the art, without departing from the scope of the technical proposal of the invention,
Many possible changes and modifications are all made to technical solution of the present invention using the technology contents of the disclosure above or are revised as
With the equivalent embodiment of variation.Therefore, every content without departing from technical solution of the present invention, technical spirit pair according to the invention
Any simple modifications, equivalents, and modifications made for any of the above embodiments still fall within the scope of technical solution of the present invention protection
It is interior.
Claims (3)
1. a kind of Intelligent cleaning robot apparatus multifunction operating method, including：
By controller module respectively with ultrasonic transceiver module, infrared ray sensor detection module, contact sensor detection module,
Digital TV broadcast signal receiving module, audio, video data processing module are connected with the main body module of robot device, the control
Device module processed is according to the testing result of ultrasonic transceiver module, infrared ray sensor detection module and contact sensor detection module
The driving and cleaning of the main body module of control robot device and controller module control digital TV broadcast signal connect
It receives module and audio, video data processing module handles the digital TV broadcast signal received, export and external sound is suitble to regard
The audio-video signal of the various interface formats of frequency playback equipment；
Further comprise：
Using the advance of the main body mould of robot device driver control robot device in the block, retreat
With the drive actions of turning, the ground of process is cleaned using the main body mould of robot device dust catcher in the block；
Ultrasonic transceiver module immediately ahead of robot device emits and receives ultrasonic wave to detect
Robot device is to the distance of front obstacle；
Infrared ray sensor detection module detects the periphery barrier of robot device and ground drop；The infrared ray sensor
Detection module includes four infrared ray sensors, respectively positioned at the left front of robot device, lower left, right front and bottom right
Side；
Contact sensor detection module on the buffer of robot device front end, by slight
Making contact, detection fail the small obstacle detected by ultrasonic transceiver module and infrared ray sensor detection module
Object；
Number electricity including digital tuner, demodulator, demultiplexer, audio and video decompression unit and signal strength detection module
Depending on broadcast signal reception module, digital TV broadcast signal is received and processed, wherein signal strength detection module detection connects
The intensity of the digital TV broadcast signal received, and generate intensity control signal；
Audio, video data processing module receives the output of digital TV broadcast signal receiving module treated digital television broadcasting
Signal carries out audio, video data format conversion, exports DVI, HDMI, the DisplayPort for being suitble to external playing audio/video
Or the audio-video signal of DiiVA interface formats, the audio, video data processing module use field programmable gate array fpga chip,
The fpga chip is the EP2C5Q208C8N of ALTERA companies；
The controller being connected respectively with ultrasonic transceiver module, infrared ray sensor detection module and contact sensor detection module
Module according to the testing result of ultrasonic transceiver module, infrared ray sensor detection module and contact sensor detection module, makes
The drive actions of driver control robot device are obtained, while dust catcher is controlled to be cleaned, and in the signal strength detection
When the intensity control signal that module detects is more than 60dBuV, start digital tuner, demodulator, demultiplexer, audio and video solution
Compression unit and audio, video data processing module handle the digital TV broadcast signal received and are output to external audio and video and broadcast
Equipment is put to play out；
Wherein, the digital TV broadcast signal receiving module, audio, video data processing module and controller module are located at machine
On the main body module of people's device,
The centre frequency for the ultrasonic wave that the ultrasonic transceiver module is sent is 40kHz, the detection of each infrared ray sensor
Distance reaches 10cm.
2. Intelligent cleaning robot apparatus multifunction operating method as described in claim 1, it is characterised in that：The external sound
Video playback apparatus includes DTV, DVD, video recorder, computer, set-top box or video camera.
3. Intelligent cleaning robot apparatus multifunction operating method as described in claim 1, it is characterised in that：It is described to receive
Digital TV broadcast signal be DVB-C, DVB-T, DVB-S or DVB-H signal.
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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 |
| CN106514626B (en) * | 2016-12-23 | 2020-10-16 | 纳恩博（北京）科技有限公司 | Body structure and robot with same |
| 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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| CN103236141A (en) | 2013-08-07 |
| CN104867297A (en) | 2015-08-26 |
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