阅读说明：本技术 自动检测清除甲醛的方法、移动机器人、及其相关设备 (Method for automatically detecting and removing formaldehyde, mobile robot and related equipment thereof ) 是由 何强 余家伟 于 2021-06-11 设计创作，主要内容包括：本发明涉及自动检测清除甲醛的方法、移动机器人、及其相关设备,用于通过移动机器人检测特定区域内的甲醛含量,并对特定区域进行清除甲醛操作,所述机器人包括：室内建图模块、甲醛检测模块、中心控制模块和甲醛清除模块,所述方法包括：通过所述甲醛检测模块检测特定区域内的甲醛含量,并生成甲醛含量指标信息；通过所述中心控制模块依据所述甲醛含量指标信息判断是否对特定区域进行清除甲醛操作；所述中心控制模块依据所述甲醛含量指标信息判断是否对特定区域进行清除甲醛操作具体包括：当所述甲醛含量指标大于等于预设的甲醛含量阈值时,则中心控制模块控制所述甲醛清除模块对所述特定区域进行清除甲醛操作,可广泛应用于甲醛检测及清除领域。(The invention relates to a method for automatically detecting and removing formaldehyde, a mobile robot and related equipment thereof, which are used for detecting the content of formaldehyde in a specific area through the mobile robot and carrying out formaldehyde removing operation on the specific area, wherein the robot comprises: indoor map building module, formaldehyde detection module, central control module and formaldehyde removal module, the method includes: detecting the formaldehyde content in a specific area through the formaldehyde detection module, and generating formaldehyde content index information; judging whether to carry out formaldehyde removal operation on a specific area or not according to the formaldehyde content index information through the central control module; the central control module judges whether to carry out formaldehyde removal operation on the specific area according to the formaldehyde content index information specifically comprises the following steps: when the formaldehyde content index is larger than or equal to a preset formaldehyde content threshold value, the central control module controls the formaldehyde removing module to remove formaldehyde from the specific area, and the formaldehyde removing module can be widely applied to the field of formaldehyde detection and removal.)

1. A method for automatically detecting and removing formaldehyde is used for detecting the content of formaldehyde in a specific area through an autonomous mobile robot and performing formaldehyde removing operation on the specific area, wherein the robot comprises: formaldehyde detection module, central control module and formaldehyde clearance module, its characterized in that, the method includes:

detecting the formaldehyde content in a specific area through the detection module, and generating formaldehyde content index information;

judging whether to carry out formaldehyde removal operation on a specific area or not according to the formaldehyde content index information through the control module; the control module judges whether to remove formaldehyde in a specific area according to the formaldehyde content index information specifically comprises the following steps: and when the formaldehyde content index is greater than or equal to a preset formaldehyde content threshold value, the control module controls the formaldehyde removal module to remove formaldehyde from the specific area.

2. The method for automatically detecting and removing formaldehyde according to claim 1, wherein before the formaldehyde removing module performs the formaldehyde removing operation on the specific area, the method further comprises:

the formaldehyde detection module marks specific positions of formaldehyde in a specific area, wherein the indexes of the formaldehyde are greater than or equal to a preset threshold value, position information is generated, the formaldehyde detection module transmits the position information to the central control module, and the central control module carries out targeted formaldehyde removal operation according to the position information.

3. The method for automatically detecting and removing formaldehyde according to claim 1, further comprising: through indoor map building module acquires in advance clear away the 3D electronic map of formaldehyde indoor environment, and will 3D electronic map send to central control module, central control module basis 3D electronic map acquires positional information, formaldehyde detection module and formaldehyde clear away the module and pass through positional information carries out formaldehyde detection and formaldehyde and clears away the operation.

4. An autonomous mobile robot, characterized in that the robot comprises:

a formaldehyde detection module for detecting the formaldehyde content in the specific area and generating formaldehyde content index information,

the central control module judges whether to carry out formaldehyde removal operation on a specific area according to the formaldehyde content index information; the central control module judges whether to carry out formaldehyde removal operation on the specific area according to the formaldehyde content index information specifically comprises the following steps: and when the formaldehyde content index is greater than or equal to a preset formaldehyde content threshold value, the central control module controls the formaldehyde removal module to remove formaldehyde from the specific area.

5. The autonomous mobile robot of claim 4, wherein the formaldehyde detection module further comprises: the formaldehyde detection module is used for marking a specific position of formaldehyde in a specific area, wherein the index of the formaldehyde is greater than or equal to a preset threshold value, and generating position information, the formaldehyde detection module transmits the position information to the central control module, and the central control module carries out formaldehyde removal operation according to the position information.

6. The autonomous mobile robot of claim 4, further comprising: indoor map building module: the system comprises a central control module, a formaldehyde detection module and a formaldehyde removal module, wherein the central control module is used for acquiring a 3D electronic map in a specific area and sending the 3D electronic map to the central control module, the central control module acquires the position information according to the 3D electronic map, and the formaldehyde detection module and the formaldehyde removal module execute formaldehyde detection and formaldehyde removal operation through the position information.

7. The autonomous mobile robot of claim 4, further comprising: and the displacement module is used for walking of the robot and is operated and executed by the central control module.

8. The autonomous mobile robot of claim 7, wherein the displacement module comprises:

the driving devices are electrically connected with the central control module;

the walking wheels are located at the bottom of the robot, each walking wheel is correspondingly connected with one driving device, and the walking wheels are used for walking of the robot.

9. An electronic device, comprising: the storage and the processor are characterized in that the processor is used for realizing the following steps when executing the computer program stored in the storage:

detecting the formaldehyde content in a specific area and generating formaldehyde content index information;

judging whether to carry out formaldehyde removal operation on a specific area or not according to the formaldehyde content index information; judging whether to carry out formaldehyde removal operation on a specific area according to the formaldehyde content index information specifically comprises the following steps: and when the formaldehyde content index is greater than or equal to a preset formaldehyde content threshold value, carrying out formaldehyde removal operation on the specific area.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that: the computer program when executed by a processor implements the steps of:

detecting the formaldehyde content in a specific area and generating formaldehyde content index information;

judging whether to carry out formaldehyde removal operation on a specific area or not according to the formaldehyde content index information; judging whether to carry out formaldehyde removal operation on a specific area according to the formaldehyde content index information specifically comprises the following steps: and when the formaldehyde content index is greater than or equal to a preset formaldehyde content threshold value, carrying out formaldehyde removal operation on the specific area.

Technical Field

The invention relates to the technical field of formaldehyde removal and detection. More particularly, the present invention relates to a method for automatically detecting and removing formaldehyde, a mobile robot, and related equipment.

Background

Formaldehyde, also known as forminal, is a colorless gas with a pungent and pungent odor. Readily soluble in water, alcohols and ethers. Formaldehyde has very active chemical and biological activity. Its 40% aqueous solution is called "formalin". The symptoms of formaldehyde poisoning are mainly manifested by burning sensation in eyes, lacrimation, conjunctivitis, eyelid edema, keratitis, rhinitis, olfactory loss, pharyngolaryngitis, bronchitis and the like. Severe cases may develop laryngeal spasm, glottic edema, and pulmonary edema. If exposed to low concentration formaldehyde vapor for a long time, headache, weakness, digestive disorder, visual disorder, palpitation, insomnia, etc. may occur.

At present, the formaldehyde detection and removal are carried out by related individuals or company personnel entering the room environment possibly containing formaldehyde pollution, certain human resources are needed, and the long-term work in the environment is very harmful to the health of people.

Disclosure of Invention

The invention aims to provide a method for automatically detecting and removing formaldehyde, an autonomous mobile robot and related equipment thereof, which can automatically detect the content of formaldehyde in a specific area and carry out formaldehyde removing operation on the area with excessive formaldehyde in the specific area.

To achieve these objects and other advantages and in accordance with the purpose of the invention, as embodied and broadly described herein, there is provided a method for automatically detecting formaldehyde removal for detecting formaldehyde content in a specific area by an autonomous mobile robot and performing a formaldehyde removal operation on the specific area, the robot comprising: formaldehyde detection module, central control module and formaldehyde clearance module, its characterized in that, the method includes: detecting the formaldehyde content in a specific area through the detection module, and generating formaldehyde content index information; judging whether to carry out formaldehyde removal operation on a specific area or not according to the formaldehyde content index information through the control module; the control module judges whether to remove formaldehyde in a specific area according to the formaldehyde content index information specifically comprises the following steps: and when the formaldehyde content index is greater than or equal to a preset formaldehyde content threshold value, the control module controls the formaldehyde removal module to remove formaldehyde from the specific area.

In the first aspect, before the formaldehyde removal module performs the formaldehyde removal operation on the specific area, the method further includes: the formaldehyde detection module marks specific positions of formaldehyde in a specific area, wherein the indexes of the formaldehyde are greater than or equal to a preset threshold value, position information is generated, the formaldehyde detection module transmits the position information to the central control module, and the central control module carries out formaldehyde removal operation according to the position information.

In a first aspect, the method further comprises: the indoor map building module is used for obtaining the 3D electronic map in the specific area and sending the 3D electronic map to the central control module, and the central control module is used for obtaining the position information according to the 3D electronic map and removing formaldehyde from the position displayed by the position information.

In a second aspect, the present invention provides an autonomous mobile robot, the robot comprising: the formaldehyde detection module is used for detecting the formaldehyde content in the specific area and generating formaldehyde content index information; the central control module judges whether to carry out formaldehyde removal operation on a specific area according to the formaldehyde content index information; the central control module judges whether to carry out formaldehyde removal operation on the specific area according to the formaldehyde content index information specifically comprises the following steps: and when the formaldehyde content index is greater than or equal to a preset formaldehyde content threshold value, the central control module controls the formaldehyde removal module to remove formaldehyde from the specific area.

In a second aspect, the formaldehyde detection module further comprises: the formaldehyde detection module is used for marking a specific position of formaldehyde in a specific area, wherein the index of the formaldehyde is greater than or equal to a preset threshold value, and generating position information, the formaldehyde detection module transmits the position information to the central control module, and the central control module carries out formaldehyde removal operation according to the position information.

In a second aspect, the robot further comprises: and the displacement module is used for walking of the robot and is operated and executed by the central control module.

In a second aspect, the displacement module comprises: the driving devices are connected with the central control module; the walking wheels are located at the bottom of the robot, each walking wheel is correspondingly connected with one driving device, and the walking wheels are used for walking of the robot.

In a third aspect, the present invention provides an electronic device, comprising: a memory storing a computer program, and a processor for implementing the following steps when executing the computer program stored in the memory: detecting the formaldehyde content in a specific area and generating formaldehyde content index information; judging whether to carry out formaldehyde removal operation on a specific area or not according to the formaldehyde content index information; judging whether to carry out formaldehyde removal operation on a specific area according to the formaldehyde content index information specifically comprises the following steps: and when the formaldehyde content index is greater than or equal to a preset formaldehyde content threshold value, carrying out formaldehyde removal operation on the specific area.

In a fourth aspect, a computer readable storage medium having a computer program stored thereon, the computer program when executed by a processor implementing the steps of: detecting the formaldehyde content in a specific area and generating formaldehyde content index information; judging whether to carry out formaldehyde removal operation on a specific area or not according to the formaldehyde content index information; judging whether to carry out formaldehyde removal operation on a specific area according to the formaldehyde content index information specifically comprises the following steps: and when the formaldehyde content index is greater than or equal to a preset formaldehyde content threshold value, carrying out formaldehyde removal operation on the specific area.

The invention at least comprises the following beneficial effects:

the invention discloses a method for automatically detecting and removing formaldehyde, which comprises the following steps of detecting the content of formaldehyde in a specific area, and then removing the formaldehyde at a position where the content of the formaldehyde in the specific area exceeds a preset formaldehyde content threshold value, wherein the method comprises the following steps: when formaldehyde content index is greater than or equal to predetermined formaldehyde content threshold value, then central control module control the formaldehyde is clear away the module and is right the formaldehyde operation is clear away to specific area, has solved prior art, clears away the formaldehyde operation through the manpower, and can cause the technical problem of harm to the staff health who clears away formaldehyde when clearing away formaldehyde through the manpower.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.

Drawings

FIG. 1 is a flow chart of a method for automatically detecting and removing formaldehyde according to a first embodiment of the present invention;

FIG. 2 is a flow chart of an apparatus for automatically detecting and removing formaldehyde according to a second embodiment of the present invention;

fig. 3 is a schematic structural diagram of a central control machine according to a third embodiment of the present invention;

fig. 4 is a schematic structural diagram of a memory according to a fourth embodiment of the invention.

Fig. 5 is a schematic structural diagram of the automatic formaldehyde detecting and removing autonomous mobile robot according to the fifth embodiment of the present invention.

Detailed Description

The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.

In the description of the present invention, the terms "lateral", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

As shown in fig. 1-5, the method for automatically detecting and removing formaldehyde according to the present invention comprises, after detecting the formaldehyde content in a specific area, performing a formaldehyde removal operation on a location where the formaldehyde content in the specific area exceeds a preset formaldehyde content threshold, such as: when the formaldehyde content index is greater than or equal to the preset formaldehyde content threshold, the central control module controls the formaldehyde removal module to remove formaldehyde from the specific area, so that the technical problems that in the prior art, the formaldehyde removal operation is performed manually and the health of workers removing formaldehyde is damaged when the formaldehyde is removed manually are solved, and in order to describe the invention in detail, the technical problems to be solved by the invention are supported, and the embodiment of the invention is further described below:

the first embodiment is as follows:

as shown in fig. 1, this embodiment provides a method for automatically detecting and removing formaldehyde, in which, for a newly decorated house, after furniture such as a bed, a cabinet, etc. is completely set in place, inevitable formaldehyde pollution exists in decoration materials, paints and the furniture, and in order to automatically detect formaldehyde and remove formaldehyde, the invention detects the formaldehyde content in a specific area by an autonomous mobile robot and performs a formaldehyde removal operation on the specific area, the robot includes: formaldehyde detection module, central control module and formaldehyde clearance module, the method includes: detecting the formaldehyde content in a specific area through the formaldehyde detection module, and generating formaldehyde content index information; judging whether to carry out formaldehyde removal operation on a specific area or not according to the formaldehyde content index information through the central control module; the central control module judges whether to carry out formaldehyde removal operation on the specific area according to the formaldehyde content index information specifically comprises the following steps: when the formaldehyde content index is greater than or equal to a preset formaldehyde content threshold value, the central control module controls the formaldehyde removal module to remove formaldehyde from the specific area;

based on the foregoing embodiment, before controlling the formaldehyde removal module to perform the formaldehyde removal operation on the specific area, the present embodiment proposes: the formaldehyde detection module marks specific positions of formaldehyde in a specific area, wherein the indexes of the formaldehyde are greater than or equal to a preset threshold value, position information is generated, the formaldehyde detection module transmits the position information to the central control module, and the central control module carries out formaldehyde removal operation according to the position information.

Based on the above embodiment, on the basis of acquiring specific location information indicating that an index of formaldehyde in a specific area is greater than or equal to a preset safety value, the embodiment further provides a scheme for acquiring a 3D electronic map of the specific area, where the scheme includes: recording the walking path of the mobile robot through the indoor map building module and building an SLAM map as a regional environment 3D electronic map; and sending the 3D electronic map to the central control module, and the central control module acquires the position information according to the 3D electronic map and carries out formaldehyde removal operation on the position displayed by the position information.

In summary, after detecting the formaldehyde content in a specific area, the method for automatically detecting and removing formaldehyde performs a formaldehyde removing operation on a position where the formaldehyde content in the specific area exceeds a preset formaldehyde content threshold, such as: when formaldehyde content index is greater than or equal to predetermined formaldehyde content threshold value, then central control module control the formaldehyde is clear away the module and is right the formaldehyde operation is clear away to specific area, has solved prior art, clears away the formaldehyde operation through the manpower, and can cause the technical problem of harm to the staff health who clears away formaldehyde when clearing away formaldehyde through the manpower.

As shown in fig. 1, the step S1 represents detecting the formaldehyde content in the specific area by the formaldehyde detection module and generating formaldehyde content index information, and S2 represents determining whether to perform a formaldehyde removal operation on the specific area by the central control module according to the formaldehyde content index information; the central control module judges whether to carry out formaldehyde removal operation on the specific area according to the formaldehyde content index information specifically comprises the following steps: and when the formaldehyde content index is greater than or equal to a preset formaldehyde content threshold value, the central control module controls the formaldehyde removal module to remove formaldehyde from the specific area.

Example two:

as shown in fig. 2, a second embodiment of the present invention provides an autonomous mobile robot, including: the formaldehyde detection module A1 is used for detecting the formaldehyde content in the specific area and generating formaldehyde content index information, the central control module A2 and the formaldehyde removal module A3 are used, and the central control module A2 judges whether to perform formaldehyde removal operation on the specific area according to the formaldehyde content index information; the step of judging whether to perform the operation of removing formaldehyde in the specific area according to the formaldehyde content index information by the central control module a2 specifically includes: when the formaldehyde content index is greater than or equal to a preset formaldehyde content threshold value, the central control module A2 controls the formaldehyde removal module A3 to remove formaldehyde from the specific area.

Based on the above embodiment, which proposes to detect the formaldehyde content in a specific area through the formaldehyde detection module a1, the embodiment further explains the formaldehyde detection module a1, and the formaldehyde detection module a1 further includes: the formaldehyde detection module A1 transmits the position information to the central control module A2, and the central control module A2 controls the formaldehyde removal module A3 to remove formaldehyde according to the position information.

Further, the robot further includes: indoor map building module a 4: the system comprises a central control module, a formaldehyde detection module and a formaldehyde removal module, wherein the central control module is used for acquiring a 3D electronic map in a specific area and sending the 3D electronic map to the central control module, the central control module acquires the position information according to the 3D electronic map, and the formaldehyde detection module and the formaldehyde removal module execute formaldehyde detection and formaldehyde removal operation through the position information.

Based on the above embodiment of controlling the robot to move according to the 3D electronic map, this embodiment provides a technical solution of a walking device, where the walking device is a part of the robot, and the solution for walking the robot includes: a displacement module for walking of the robot, the displacement module being operated and executed by the central control module A2.

Based on the above embodiments of the displacement module, the present embodiment will further explain the displacement module, which includes: the driving devices are electrically connected with the central control module A2; the walking wheels are located at the bottom of the robot, each walking wheel is correspondingly connected with one driving device, and the walking wheels are used for walking of the robot.

In summary, according to the device for automatically detecting and removing formaldehyde, provided by the invention, after monitoring the formaldehyde content in the specific area, the robot is issued the removing instruction to remove formaldehyde from the position containing excessive formaldehyde, so that the problem that in the prior art, the formaldehyde removing operation is performed manually, and the physical health of workers removing formaldehyde is damaged when the formaldehyde is removed manually is solved.

Example three:

as shown in fig. 3, a third embodiment of the present invention provides a central control machine 100, including: a memory 101, a processor 103 for implementing the following steps when executing the computer program 102 stored in the memory 101: detecting the formaldehyde content in a specific area and generating formaldehyde content index information; judging whether to carry out formaldehyde removal operation on a specific area or not according to the formaldehyde content index information; judging whether to carry out formaldehyde removal operation on a specific area according to the formaldehyde content index information specifically comprises the following steps: and when the formaldehyde content index is greater than or equal to a preset formaldehyde content threshold value, carrying out formaldehyde removal operation on the specific area.

Example four:

as shown in fig. 4, a memory 200 is provided according to a fourth embodiment of the present invention, and a computer program 201 is stored thereon, and when executed by a processor, the computer program 201 implements the following steps: detecting the formaldehyde content in a specific area and generating formaldehyde content index information; judging whether to carry out formaldehyde removal operation on a specific area or not according to the formaldehyde content index information; judging whether to carry out formaldehyde removal operation on a specific area according to the formaldehyde content index information specifically comprises the following steps: and when the formaldehyde content index is greater than or equal to a preset formaldehyde content threshold value, carrying out formaldehyde removal operation on the specific area.

Example five:

as shown in fig. 5, embodiment 5 of the present invention provides a simplified structural diagram of an automatic formaldehyde detecting and removing robot, where the robot includes: laser radar 1, well accuse machine 2, formaldehyde sensor 3, formaldehyde scavenger container 4, pipe nozzle 5, autonomous mobile robot 6.

The autonomous mobile robot 6 is a movable execution mechanism, the laser radar 1 is used for acquiring scene point cloud data of a specific area and transmitting the laser point cloud data to the central control machine 2 for processing, and the operation steps of the autonomous mobile robot for eliminating formaldehyde comprise: the method comprises the steps of firstly constructing a regional 3D electronic map through an SLAM algorithm, then detecting the formaldehyde content in a specific formaldehyde region by using a formaldehyde sensor 3 and transmitting data to a central control machine 2, marking the formaldehyde exceeding position by the central control machine 2, containing a formaldehyde scavenger by using a formaldehyde scavenger container 4, moving the central control machine 2 to the marking position through an autonomous mobile robot, and finally spraying the formaldehyde scavenger to clear formaldehyde at a control conduit nozzle 5.

In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer programs.

For another example, the division of the above-mentioned units is only one logical function division, and there may be other division manners in actual implementation, and for another example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments provided by the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.

The above functions, if implemented in the form of software functional units and sold or used as a separate product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the above method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus once an item is defined in one figure, it need not be further defined and explained in subsequent figures, and moreover, the terms "first", "second", "third", etc. are used merely to distinguish one description from another and are not to be construed as indicating or implying relative importance.

Finally, it should be noted that: the above-mentioned embodiments are merely specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; and the modifications, changes or substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention. Are intended to be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.