CN104905736B - Multifunctional intellectual clean robot device - Google Patents
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- CN104905736B CN104905736B CN201510279625.0A CN201510279625A CN104905736B CN 104905736 B CN104905736 B CN 104905736B CN 201510279625 A CN201510279625 A CN 201510279625A CN 104905736 B CN104905736 B CN 104905736B
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Abstract
The present invention relates to a kind of multifunctional intellectual clean robot device, including：The main body module of robot device、Ultrasonic transceiver module、Infrared ray sensor detection module、Touch sensor detection module、Digital TV broadcast signal receiver module、Audio, video data processing module and controller module，Wherein controller module main body module respectively with robot device、Ultrasonic transceiver module、Infrared ray sensor detection module、Touch sensor detection module、Digital TV broadcast signal receiver module and the connection of audio, video data processing module，According to ultrasonic transceiver module、The driving of the main body module of the testing result control robot device of infrared ray sensor detection module and touch sensor detection module and cleaning，And control the digital TV broadcast signal of digital TV broadcast signal receiver module and audio, video data processing module to receiving and process，Output is adapted to the audio-video signal of the various interface formats of outside playing audio/video.
Description
The application claims Application No. 2013101402233, applying date is on April 23rd, 2013, entitled " many work(
The divisional application of the patent of energy Intelligent cleaning robot device ".
Technical field
The present invention relates to a kind of multifunctional intellectual clean robot device, more particularly to one kind can be according to more for interior
Individual obstacle detecting device determines obstacle and determines whether to play broadcast letter according to the intensity of the wireless videocast signal for receiving
The multifunctional intellectual clean robot device of audio-video frequency content in number, on the one hand, accurately detect barrier nearby and enter in time
Row is hidden, and on the other hand, receives wireless signal and play content of multimedia therein while cleaning, be that user's improvement is indoor
While environment, the seeing and hearing enjoyment of user is enriched.
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,
Sweep the floor save time, it is laborsaving.Its whole cleaning process is not required to very important person's control, mitigates the operating burden of user, and the time of saving sees TV, accompanies
Household, purify air, harmful substance in the built-in activated carbon of some robot devices, absorption air, general structure are 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 remote, consumers in general also know from experience the scientific and technological progress less than home-services robot and bring just to life the life phase of surname
It is prompt.Now, increasing consumer are currently in use home-services robot product, and concept is no longer concept, but is passed through
Product has experienced out and out intimate service by consumer.Increasing clean robot initially enters huge numbers of families.
But, existing clean robot generally has that barrier detector is single, and detection of obstacles is not accurate enough to ask
Topic, during sweeping, Jing is often absorbed in crag-fast awkward situation because of barrier is not detected, and is limited in a place
System is motionless till exhausting electric power, and cleaning efficiency is substantially reduced, while cannot provide the user others while cleaning
Service, such as multimedia audio-visual are enjoyed, and purposes is relatively fixed, it is impossible to further enrich the experience of user.
Accordingly, it would be desirable to it is a kind of for indoor multifunctional intellectual clean robot device, combined using various detection means
Barrier near detection, formulates evasive strategy in time, and the situation for preventing to dally occurs, while receiving wireless videocast signal
And audio-video frequency content therein is exported, provide the user the service of profound level.
The content of the invention
In order to solve the above problems, the invention provides a kind of be used for Multi-functional indoor Intelligent cleaning robot device, make
The user's concern that need not ensure constantly to clean robot operation conditions, without the use feelings of oneself observation clean robot
Condition, is hidden in time when there is barrier, and is provided the user when broadcast signal strength reaches to a certain degree therein
Audio-video frequency content, so as to improve the degree of intelligence and service efficiency of clean robot.
According to an aspect of the present invention, there is provided a kind of for indoor multifunctional intellectual clean robot device, including
The main body module of robot device, ultrasonic transceiver module, infrared ray sensor detection module, touch sensor detection module,
Digital TV broadcast signal receiver module, audio, video data processing module and controller module, wherein controller module respectively with
The main body module of robot device, ultrasonic transceiver module, infrared ray sensor detection module, touch sensor detection module,
Digital TV broadcast signal receiver module and the connection of audio, video data processing module, pass according to ultrasonic transceiver module, infrared ray
The driving of the main body module of the testing result control robot device of sensor detection module and touch sensor detection module and clear
It is clean, and control digital TV broadcast signal receiver module and audio, video data processing module to receive digital television broadcasting letter
Number processed, output is adapted to the audio-video signal of the various interface formats of outside playing audio/video.
More specifically, the multifunctional intellectual clean robot device is further included：The main body module of robot device,
Including driver, vacuum cleaner, the advance of driver control robot device, the drive actions for retreating and turning, vacuum cleaner is to Jing
The ground crossed is cleaned；Ultrasonic transceiver module, positioned at the dead ahead of robot device, launches and receives ultrasound wave to detect
Distance of the robot device to preceding object thing；Infrared ray sensor detection module, including four infrared ray sensors, difference position
In the left front of robot device, lower left, right front and lower right, the periphery barrier and ground for detecting robot device falls
Difference；Touch sensor detection module, on the buffer of robot device front end, by slight making contact, detection is not
The small barrier that can be detected by ultrasonic transceiver module and infrared ray sensor detection module；Digital TV broadcast signal connects
Module, including digital tuner, demodulator, demultiplexer, audio frequency and video decompression unit and signal strength detection module are received, is received
And process digital TV broadcast signal, wherein the digital TV broadcast signal that receives of signal strength detection module detection
Intensity, and produce intensity control signal；Audio, video data processing module, receives the output of digital TV broadcast signal receiver module
Digital TV broadcast signal after process, carries out audio, video data form conversion, and output is adapted to outside playing audio/video
The audio-video signal of DVI, HDMI, DisplayPort or DiiVA interface format, the audio, video data processing module is using existing
Field programmable gate array fpga chip, EP2C5Q208C8N of the fpga chip for ALTERA companies；Controller module, respectively with
Ultrasonic transceiver module, infrared ray sensor detection module and touch sensor detection module connection, according to ultrasonic transmission/reception mould
The testing result of block, infrared ray sensor detection module and touch sensor detection module so that driver control robot is filled
The drive actions put, while control vacuum cleaner be cleaned, and the strength control detected in the signal strength detection module
When signal is more than 60dBuV, start digital tuner, demodulator, demultiplexer, audio frequency and video decompression unit and audio, video data
The digital TV broadcast signal output that processing module process is received is played out to outside playing audio/video；Wherein,
The digital TV broadcast signal receiver module, audio, video data processing module and controller module are located at the master of robot device
On module.
More specifically, the multifunctional intellectual clean robot device is further included：The ultrasonic transceiver module is sent out
The mid frequency of the ultrasound wave for sending is 40kHz, and the detecting distance of each infrared ray sensor reaches 10cm.
More specifically, the multifunctional intellectual clean robot device is further included：The outside audio and video playing sets
It is standby to may include DTV, DVD, videocorder, computer, Set Top Box or video camera.
More specifically, the multifunctional intellectual clean robot device is further included：The DTV for receiving
Broadcast singal 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 accompanying drawing, wherein：
The block diagram of the multifunctional intellectual clean robot device that Fig. 1 is illustrated according to an embodiment of the present invention.
Specific embodiment
Below with reference to accompanying drawings the embodiment of the multifunctional intellectual clean robot device of the present invention is carried out specifically
It is bright.
Fig. 1 illustrates the block diagram of the multifunctional intellectual clean robot device for illustrating according to an embodiment of the present invention.
The multifunctional intellectual clean robot device for being wherein used for interior includes：The main body module of robot device, ultrasonic transmission/reception
Module, infrared ray sensor detection module, touch sensor detection module, digital TV broadcast signal receiver module, audio frequency and video
Data processing module and controller module, wherein controller module main body module respectively with robot device, ultrasonic transmission/reception
Module, infrared ray sensor detection module, touch sensor detection module, digital TV broadcast signal receiver module and audio frequency and video
Data processing module connects, according to ultrasonic transceiver module, infrared ray sensor detection module and touch sensor detection module
Testing result control robot device main body module driving and cleaning, and control digital TV broadcast signal receiver module
The digital TV broadcast signal for receiving is processed with audio, video data processing module, output is adapted to outside audio and video playing
The audio-video signal of the various interface formats of equipment.Specifically, the main body module of robot device, including driver, vacuum cleaner,
The advance of driver control robot device, the drive actions for retreating and turning, vacuum cleaner are cleaned to the ground passed through；It is super
Sound wave transceiver module, positioned at the dead ahead of robot device, launches and receives ultrasound wave and hindered to front with detecting robot device
Hinder the distance of thing；Infrared ray sensor detection module, including four infrared ray sensors, respectively positioned at the left front of robot device
Side, lower left, right front and lower right, detect the periphery barrier and ground drop of robot device；Touch sensor is detected
Module, on the buffer of robot device front end, by slight making contact, detection fails by ultrasonic transceiver module
The small barrier detected with infrared ray sensor detection module；Digital TV broadcast signal receiver module, including numeral tune
Humorous device, demodulator, demultiplexer, audio frequency and video decompression unit and signal strength detection module, receive and to process DTV wide
Signal is broadcast, wherein the signal strength detection module detects the intensity of the digital TV broadcast signal for receiving, and intensity is produced
Control signal；Audio, video data processing module, receives the numeral electricity after the process of digital TV broadcast signal receiver module output
Depending on broadcast singal, carry out audio, video data form conversion, output be adapted to the DVI of outside playing audio/video, HDMI,
The audio-video signal of DisplayPort or DiiVA interface formats, the audio, video data processing module adopt field programmable gate
Array fpga chip, EP2C5Q208C8N of the fpga chip for ALTERA companies；Controller module, respectively with ultrasonic transmission/reception
The connection of module, infrared ray sensor detection module and touch sensor detection module, passes according to ultrasonic transceiver module, infrared ray
The testing result of sensor detection module and touch sensor detection module so that the driving of driver control robot device is moved
Make, while control vacuum cleaner be cleaned, and the intensity control signal detected in the signal strength detection module is more than
During 60dBuV, start digital tuner, demodulator, demultiplexer, audio frequency and video decompression unit and audio, video data processing module
The digital TV broadcast signal output that process is received is played out to outside playing audio/video；Wherein, the numeral
Television broadcasting signal receiver module, audio, video data processing module and controller module are located at the main body module of robot device
On.
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),
The company such as Compaq (Compaq), IBM, HP (Hewlett-Packard), NEC, Fujitsu (Fujitsu) collectively constitutes 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 protocols as basic electrical connection, highest signal is passed
Defeated code stream is 1.65Gbps, the analog video interface before comparing, and which has, and speed is fast, picture clear, support HDCP agreements
The characteristics of.HDMI (High Definition Multimedia Interface), i.e. HDMI, by day
The many 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 was formally issued on December 9th, 2002, and HDMI using TMDS encoding mechanisms, is believed to 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 flat board electricity
Depending on it is poor with wide colour gamut terminal transparency, image copyright protection is lacked and is supported, is not supported digital audio and video signals, interface volume big etc.
Shortcoming.DisplayPort, abbreviation DP interfaces were issued by VESA (video electronics standard tissue) in Mays, 2006.It is a kind of pin
Open standard to all display devices (include inside and outside interface), using 8B/10B codings, embedded clock signal with it is micro-
Package framework, video content are transmitted in package mode, support HDCP digital content protection agreements, can with simultaneous transmission audio frequency with regard
Frequently, maximum transmission bandwidth is 10.8Gb/S, and its external channel for passing through an achievable two-way communication directly carries out voice, video
Etc. the transmission of low bandwidth data, DisplayPort compares HDMI with bigger transmission bandwidth and higher compatibility.
DiiVA, i.e. digital high-definition interaction interface, by TCL, Hisense, Skyworth, Konka, Changhong, Haier, SVA, panda electronics, Ling Xu
Release in April, 2009 Deng 9 enterprises, adopt and DisplayPort interface identical 8B/10B coding techniques, support video tape
It is wide to reach 13.5Gbps, support hybrid channel frequency range total more than 2Gbps, bi-directional data and audio transmission can be done, while also supporting
HDCP 2.0 and DTCP-IP, which adopts the connected mode of daisy chain so that any one equipment in DiiVA networks all may be used
To access mutually.The manufacture of different consumer electronics producer, semiconductor company, test equipment producer and commercial electronic
Business, according to number one needs, selects different digital audio/video interfaces, these products to include digital electricity in the product of oneself
Depending on, DVD, videocorder, computer, Set Top Box, video camera.
In addition, the multifunctional intellectual clean robot device is further included：What the ultrasonic transceiver module sent
The mid frequency of ultrasound wave is 40kHz, and the detecting distance of each infrared ray sensor reaches 10cm.
Wherein, ultrasonic transmitter-receiver concrete operating principle is that emitter gives transducer one high-voltage pulse, transducer handle
Electric energy is converted into acoustic energy；Receptor, transducer are converted to the signal of telecommunication acoustical signal, then intervene small signal amplifier.Ultrasound wave is passed
Sensor is the sensor developed using the characteristic of ultrasound wave.Ultrasound wave is a kind of mechanical wave of frequency of vibration higher than sound wave,
Occur to vibrate what is produced under the excitation of voltage by transducing chip, it has, and frequency is high, wavelength is short, diffraction phenomenon is little, particularly
Good directionality, ray can be become and the features such as direction propagation.Ultrasound 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.Ultrasound wave encounters impurity or separating surface can be produced significantly instead
Penetrate to be formed and be reflected into echo, encounter mobileses and can produce Doppler effect.Therefore ultrasound examination is widely used in industry, state
The aspects such as anti-, biomedicine.Ultrasonic transmitter-receiver, (or claims ripple to connect by sending sensor (or claim ripple transmitter), receiving sensor
Receive device), control section and power pack composition.Transmitter sensor by transmitter with shaken using the ceramics of a diameter of 15mm or so
Sub- transducer composition, transducer effect are that the electric oscillation energy of ceramic vibrator is converted into ultrasonic energy and to aerial radiation；And connect
Receive sensor to be made up of ceramic vibrator transducer and amplifying circuit, transducer received wave produces mechanical vibration, is converted into electricity
Energy, as the output of transducer receivers, so as to super detect to what is sent. and it is actually used in, as sending sensing
The ceramic vibrator of device is also used as the ceramic vibrator of receiver sensor society.The pulse that control section is mainly sent to transmitter
When sparse modulation and counting and detection range etc. are controlled for chain frequency, duty.
Wherein, infrared distance measuring is that a kind of utilization infrared reflection principle is measured to obstacle distance from sensor
Sensor.Infrared distance sensor launches the red of characteristic frequency with a pair of infrared signal transmittings and reception diode, transmitting tube
External signal, reception pipe receive the infrared signal of this frequency, when infrared detection direction runs into barrier, infrared signal reflection
Return to be received by reception pipe, after process, robot main frame is returned to by digital sensor interface, robot can profit
The change of surrounding is recognized with infrared return signal.
In addition, the multifunctional intellectual clean robot device is further included：The outside playing audio/video can
Including DTV, DVD, videocorder, computer, Set Top Box or video camera.The multifunctional intellectual clean robot device passes through
External interface and various outside playing audio/videos, flexibly realize the broadcasting of all kinds of audio, video datas.
In addition, the multifunctional intellectual clean robot device is further included：The digital television broadcasting for receiving
Signal can be DVB-C, DVB-T, DVB-S or DVB-H signal.The multifunctional intellectual clean robot device is made according to locality
With digital television broadcasting service widest in area, content of multimedia therein is received and plays.
Using the multifunctional intellectual clean robot device of the present invention, the intelligent journey of clean robot is further increased
Degree and work efficiency, quickly can recognize near various barriers and hidden, to sweep each corner or spot as yet untouched by a clean-up campaign and will not
The awkward situation of idle running power consumption is absorbed in, while audio frequency and video business also can be watched on this clean robot.Using the present invention's
Clean robot, user can be trusted and process other things, or even the nothing of locality is further appreciated on the clean robot
Line TV broadcasting service, enriches the audiovisual sense organ of user.
Although it is understood that the present invention is disclosed as above with preferred embodiment, but above-described embodiment being not used to
Limit the present invention.For any those of ordinary skill in the art, under without departing from technical solution of the present invention ambit,
Many possible variations and modification are made to technical solution of the present invention using the technology contents of the disclosure above all, or is revised as
With the Equivalent embodiments of change.Therefore, every content without departing from technical solution of the present invention, according to the technical spirit pair of the present invention
Any simple modification made for any of the above embodiments, equivalent variations and modification, still fall within the scope of technical solution of the present invention protection
It is interior.
Claims (3)
1. a kind of multifunctional intellectual clean robot device, including：
The main body module of robot device, ultrasonic transceiver module, infrared ray sensor detection module, touch sensor detection mould
Block, digital TV broadcast signal receiver module, audio, video data processing module and controller module, wherein controller module are distinguished
Main body module, ultrasonic transceiver module, infrared ray sensor detection module, touch sensor detection mould with robot device
Block, digital TV broadcast signal receiver module and audio, video data processing module connection, according to ultrasonic transceiver module, infrared ray
Sensor detection module and touch sensor detection module testing result control robot device main body module driving and
Cleaning, and control the digital television broadcasting of digital TV broadcast signal receiver module and audio, video data processing module to receiving
Signal is processed, and output is adapted to the audio-video signal of the various interface formats of outside playing audio/video；
Characterized in that, further including：
The main body module of robot device, including driver, vacuum cleaner, the advance of driver control robot device, retreat and
The drive actions of turning, vacuum cleaner are cleaned to the ground passed through；
Ultrasonic transceiver module, positioned at the dead ahead of robot device, launches and receives ultrasound wave and arrived with detecting robot device
The distance of preceding object thing；
Infrared ray sensor detection module, including four infrared ray sensors, respectively positioned at the left front of robot device, lower-left
Side, right front and lower right, detect the periphery barrier and ground drop of robot device；
Touch sensor detection module, on the buffer of robot device front end, by slight making contact, detection is not
The small barrier that can be detected by ultrasonic transceiver module and infrared ray sensor detection module；
Digital TV broadcast signal receiver module, including digital tuner, demodulator, demultiplexer, audio frequency and video decompression unit
With signal strength detection module, digital TV broadcast signal is received and processes, wherein signal strength detection module detection connects
The intensity of the digital TV broadcast signal for receiving, and produce intensity control signal；
Audio, video data processing module, receives the digital television broadcasting after the process of digital TV broadcast signal receiver module output
Signal, carries out audio, video data form conversion, and output is adapted to DVI, HDMI, DisplayPort of outside playing audio/video
Or the audio-video signal of DiiVA interface formats, the audio, video data processing module adopt field programmable gate array fpga chip,
EP2C5Q208C8N of the fpga chip for ALTERA companies；
Controller module, respectively with ultrasonic transceiver module, infrared ray sensor detection module and touch sensor detection module
Connection, according to the testing result of ultrasonic transceiver module, infrared ray sensor detection module and touch sensor detection module, makes
The drive actions of driver control robot device are obtained, while control vacuum cleaner be cleaned, and in the signal strength detection
When the intensity control signal that module is detected is more than 60dBuV, start digital tuner, demodulator, demultiplexer, audio frequency and video solution
The digital TV broadcast signal output that compression unit and the process of audio, video data processing module are received is broadcast to outside audio frequency and video
The equipment of putting is played out；
Wherein, the digital TV broadcast signal receiver module, audio, video data processing module and controller module are located at machine
On the main body module of people's device,
The mid frequency of the ultrasound wave that the ultrasonic transceiver module sends is 40kHz, the detection of each infrared ray sensor
Distance reaches 10cm.
2. multifunctional intellectual clean robot device as claimed in claim 1, it is characterised in that
The outside playing audio/video includes DTV, DVD, videocorder, computer, Set Top Box or video camera.
3. multifunctional intellectual clean robot device as claimed in claim 1, it is characterised in that
The digital TV broadcast signal for receiving is DVB-C, DVB-T, DVB-S or DVB-H signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510279625.0A CN104905736B (en) | 2013-04-23 | 2013-04-23 | Multifunctional intellectual clean robot device |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510279625.0A CN104905736B (en) | 2013-04-23 | 2013-04-23 | Multifunctional intellectual clean robot device |
| CN201310140223.3A CN103220556B (en) | 2013-04-23 | 2013-04-23 | Multifunctional intellectual clean robot device |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310140223.3A Division CN103220556B (en) | 2013-04-23 | 2013-04-23 | Multifunctional intellectual clean robot device |
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| CN104905736A CN104905736A (en) | 2015-09-16 |
| CN104905736B true CN104905736B (en) | 2017-03-29 |
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| CN201510279625.0A Active CN104905736B (en) | 2013-04-23 | 2013-04-23 | Multifunctional intellectual clean robot device |
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| CN201310140223.3A Expired - Fee Related CN103220556B (en) | 2013-04-23 | 2013-04-23 | Multifunctional intellectual clean robot device |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103605370A (en) * | 2013-08-20 | 2014-02-26 | 山西路桥建设集团有限公司 | Automatic automobile searching and positioning system |
| CN105912001A (en) * | 2016-07-04 | 2016-08-31 | 上海木爷机器人技术有限公司 | Robot |
| CN107252282A (en) * | 2017-06-22 | 2017-10-17 | 苏州市东皓计算机系统工程有限公司 | A kind of Intelligent robot for sweeping floor |
| CN107951444A (en) * | 2017-12-06 | 2018-04-24 | 潘兆坤 | Dust catcher with video entertainment function |
| CN110916564B (en) * | 2018-09-20 | 2021-03-02 | 广州佳可电子科技有限公司 | Interactive robot of sweeping floor of pet |
| CN110025262A (en) * | 2019-04-18 | 2019-07-19 | 珠海市一微半导体有限公司 | A kind of Multifunctional floor-sweeping machine people |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN103220556B (en) | 2015-12-02 |
| CN103220556A (en) | 2013-07-24 |
| CN104905736A (en) | 2015-09-16 |
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