阅读说明：本技术 割草机器人的刀片检测方法、装置、割草机器人及介质 (Blade detection method and device for mowing robot, mowing robot and medium ) 是由 何冠荣 唐利敏 刘月安 于 2020-11-19 设计创作，主要内容包括：本发明适用于割草机器人技术领域,提供一种割草机器人的刀片检测方法、装置、割草机器人及介质,割草机器人的刀片检测方法包括如下步骤：通过检测传感器的信号发射端向刀片方向发射检测信号,通过检测传感器的信号接收端接收所述检测信号；实时提取所述信号接收端接收的检测信号的特征信息；根据所述信号接收端接收的检测信号的特征信息判断所述刀片的状态是否异常；若是,输出刀片状态异常提示信息。本发明提供的割草机器人的刀片检测方法可判断割草机器人的刀片是否出现异常,并在割草机器人的刀片出现异常时及时提示用户,方便用户及时进行处理,避免割草机器人长时间工作却无法割草的问题。(The invention is suitable for the technical field of mowing robots, and provides a blade detection method and a blade detection device for a mowing robot, the mowing robot and a medium, wherein the blade detection method for the mowing robot comprises the following steps: transmitting a detection signal to the blade direction through a signal transmitting end of a detection sensor, and receiving the detection signal through a signal receiving end of the detection sensor; extracting the characteristic information of the detection signal received by the signal receiving end in real time; judging whether the state of the blade is abnormal or not according to the characteristic information of the detection signal received by the signal receiving end; if yes, outputting prompt information of abnormal blade state. The blade detection method of the mowing robot can judge whether the blade of the mowing robot is abnormal or not, and prompt a user in time when the blade of the mowing robot is abnormal, so that the user can conveniently and timely process the blade, and the problem that the mowing robot cannot mow if working for a long time is solved.)

1. A method of blade detection for a lawn mowing robot, the method comprising the steps of:

emitting a detection signal to the direction of the blade through a signal emitting end of a detection sensor, and receiving the detection signal through a signal receiving end of the detection sensor;

extracting the characteristic information of the detection signal received by the signal receiving end in real time;

judging whether the state of the blade is abnormal or not according to the characteristic information of the detection signal received by the signal receiving end;

if yes, outputting prompt information of abnormal blade state.

2. The method for detecting the blade of the robot lawnmower according to claim 1, wherein the detection signal received by the signal receiving terminal is directly emitted from the signal emitting terminal toward the blade or is reflected from the blade.

3. The method of claim 1, wherein the step of outputting a message indicating an abnormal blade status is followed by the step of:

and controlling a cutter head driving device to stop driving the blades to rotate, and controlling the mowing robot to return to a base station.

4. The method for detecting a blade of a robot lawnmower according to claim 1, wherein the step of determining whether the state of the blade is abnormal based on the characteristic information of the detection signal received by the signal receiving terminal comprises:

judging whether the characteristic information of the detection signal received by the signal receiving end is consistent with preset characteristic information or not;

when the characteristic information of the detection signal received by the signal receiving end is consistent with the preset characteristic information, determining that the blade is in a normal state;

and when the characteristic information of the detection signal received by the signal receiving end is inconsistent with the preset characteristic information, determining that the blade state is abnormal.

5. The method of claim 1, wherein the characteristic information of the detection signal received by the signal receiving terminal includes at least one of a period, a bandwidth, and an amplitude.

6. The method of claim 1, wherein the detection sensor is one of an infrared transceiver sensor, an ultrasonic transceiver sensor, and a millimeter wave transceiver sensor.

7. A blade detection device of a robot lawnmower, the device comprising:

the signal transmitting and receiving module is used for transmitting a detection signal to the blade direction through a signal transmitting end of a detection sensor and receiving the detection signal through a signal receiving end of the detection sensor;

the characteristic information extraction module is used for extracting the characteristic information of the detection signal received by the signal receiving end in real time;

the judging module is used for judging whether the state of the blade is abnormal or not according to the characteristic information of the detection signal received by the signal receiving end;

and the control module is used for outputting the prompt information of the abnormal state of the blade when judging that the state of the blade is abnormal.

8. The device for detecting the blade of a robot lawnmower according to claim 7, wherein the detection signal received by the signal receiving terminal is directly emitted from the signal emitting terminal in the direction of the blade or is reflected from the blade.

9. The robot lawnmower blade detection apparatus of claim 7, wherein the control module is further configured to:

and when the state of the blade is judged to be abnormal, controlling a cutter head driving device to stop driving the blade to rotate, and controlling the mowing robot to return to a base station.

10. The apparatus of claim 7, wherein the determining module comprises:

the judging unit is used for judging whether the characteristic information of the detection signal received by the signal receiving end is consistent with the preset characteristic information;

the first determining unit is used for determining that the blade state is normal when the characteristic information of the detection signal received by the signal receiving end is consistent with the preset characteristic information;

and the second determining unit is used for determining that the blade state is abnormal when the characteristic information of the detection signal received by the signal receiving end is inconsistent with the preset characteristic information.

11. The robot lawnmower blade detection device of claim 7, wherein the received signal characteristic information comprises at least one of a period, a bandwidth, and an amplitude.

12. The apparatus of claim 7, wherein the sensor is one of an infrared transceiver sensor, an ultrasonic transceiver sensor, and a millimeter wave transceiver sensor.

13. A mowing robot, characterized by comprising:

a cutter head;

at least one blade movably arranged on the cutter head;

the cutter driving device is in transmission connection with the cutter and is used for driving the cutter to drive the blades to rotate;

the detection sensor comprises a signal transmitting end and a signal receiving end, the signal transmitting end is used for transmitting a detection signal to the direction of the blade, and the signal receiving end is used for receiving the detection signal;

a processor respectively connected to the signal transmitting terminal and the signal receiving terminal, the processor being configured to implement the blade detection method of the robot mower according to any one of claims 1 to 6.

14. The robot lawnmower of claim 13, wherein the signal emitter and the signal receiver are disposed opposite to each other and on opposite sides of the blade, respectively, and the detection signal received by the signal receiver is directly emitted from the signal emitter toward the blade.

15. The robot lawnmower of claim 13, wherein the signal emitter and the signal receiver are integrally disposed on the same side of the blade, and the detection signal received by the signal receiver is formed by reflecting the detection signal emitted from the signal emitter toward the blade.

16. The robot lawnmower of claim 15, further comprising a protective cover covering the cutter deck, wherein an absorbing material for absorbing the detection signal is provided at a position opposite to the signal emitting end of the protective cover.

17. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the blade detection method of a lawn mowing robot according to any one of claims 1 to 6.

Technical Field

The invention relates to the technical field of mowing robots, in particular to a blade detection method and device of a mowing robot, the mowing robot and a medium.

Background

A mowing robot is a mechanical tool for trimming lawns, vegetation, and the like. A lawn mowing robot generally includes a travel drive, a deck drive, and a deck drivingly connected to the deck drive. The cutter head is usually movably provided with blades, and when the cutter head driving device drives the cutter head to rotate, the blades can be thrown out under the action of centrifugal force to cut grass.

In the prior art, the blade of the mowing robot is easily blocked by grass clippings or soil and cannot be thrown away, or the blade is easily broken by hard objects to cause the blade to be unable to be thrown away, the blade can cause the mowing robot to normally mow without being thrown away, and a user cannot timely know that the blade of the mowing robot is abnormal, so that the problem that the mowing robot cannot normally mow after working for a long time is easily caused.

Disclosure of Invention

The invention provides a blade detection method of a mowing robot, and aims to solve the problems that in the prior art, when a blade of the mowing robot is abnormal, a user cannot know the abnormality in time, and the mowing robot is easy to work for a long time but cannot mow normally.

The invention is realized in such a way that a blade detection method of a mowing robot is provided, and the method comprises the following steps:

emitting a detection signal to the direction of the blade through a signal emitting end of a detection sensor, and receiving the detection signal through a signal receiving end of the detection sensor;

extracting the characteristic information of the detection signal received by the signal receiving end in real time;

judging whether the state of the blade is abnormal or not according to the characteristic information of the detection signal received by the signal receiving end;

if yes, outputting prompt information of abnormal blade state.

Preferably, the detection signal received by the signal receiving end is directly emitted to the blade direction by the signal emitting end or is formed by reflecting the detection signal emitted to the blade direction by the signal emitting end through the blade.

Preferably, after the step of outputting the prompt message for the abnormal blade state, the method further includes:

and controlling a cutter head driving device to stop driving the blades to rotate, and controlling the mowing robot to return to a base station.

Preferably, the specific step of determining whether the state of the blade is abnormal according to the characteristic information of the detection signal received by the signal receiving terminal includes:

judging whether the characteristic information of the detection signal received by the signal receiving end is consistent with preset characteristic information or not;

when the characteristic information of the detection signal received by the signal receiving end is consistent with the preset characteristic information, determining that the blade is in a normal state;

and when the characteristic information of the detection signal received by the signal receiving end is inconsistent with the preset characteristic information, determining that the blade state is abnormal.

Preferably, the characteristic information of the detection signal received by the signal receiving end includes at least one of a period, a bandwidth and an amplitude.

Preferably, the detection sensor is one of an infrared transceiving sensor, an ultrasonic transceiving sensor and a millimeter wave transceiving sensor.

The present invention also provides a blade detecting device of a robot lawnmower, the device comprising:

the signal transmitting and receiving module is used for transmitting a detection signal to the blade direction through a signal transmitting end of a detection sensor and receiving the detection signal through a signal receiving end of the detection sensor;

the characteristic information extraction module is used for extracting the characteristic information of the detection signal received by the signal receiving end in real time;

the judging module is used for judging whether the state of the blade is abnormal or not according to the characteristic information of the detection signal received by the signal receiving end;

and the control module is used for outputting the prompt information of the abnormal state of the blade when judging that the state of the blade is abnormal.

Preferably, the detection signal received by the signal receiving end is directly emitted to the blade direction by the signal emitting end or is formed by reflecting the detection signal emitted to the blade direction by the signal emitting end through the blade.

Preferably, the control module is further configured to:

and when the state of the blade is judged to be abnormal, controlling a cutter head driving device to stop driving the blade to rotate, and controlling the mowing robot to return to a base station.

Preferably, the judging module includes:

the judging unit is used for judging whether the characteristic information of the detection signal received by the signal receiving end is consistent with the preset characteristic information;

the first determining unit is used for determining that the blade state is normal when the characteristic information of the detection signal received by the signal receiving end is consistent with the preset characteristic information;

and the second determining unit is used for determining that the blade state is abnormal when the characteristic information of the detection signal received by the signal receiving end is inconsistent with the preset characteristic information.

Preferably, the characteristic information of the received signal includes at least one of a period, a bandwidth, and an amplitude.

Preferably, the detection sensor is one of an infrared transceiving sensor, an ultrasonic transceiving sensor and a millimeter wave transceiving sensor.

The present invention also provides a mowing robot comprising:

a cutter head;

at least one blade movably arranged on the cutter head;

the cutter driving device is in transmission connection with the cutter and is used for driving the cutter to drive the blades to rotate;

the detection sensor comprises a signal transmitting end and a signal receiving end, the signal transmitting end is used for transmitting a detection signal to the direction of the blade, and the signal receiving end is used for receiving the detection signal;

and the processor is respectively connected with the signal transmitting end and the signal receiving end and is used for realizing the blade detection method of the mowing robot.

Preferably, the signal transmitting end and the signal receiving end are oppositely arranged and respectively arranged at two opposite sides of the blade, and the detection signal received by the signal receiving end is directly transmitted to the blade direction from the signal transmitting end.

Preferably, the signal transmitting end and the signal receiving end are integrally arranged on the same side of the blade, and the detection signal received by the signal receiving end is formed by reflecting the detection signal transmitted from the signal transmitting end to the blade direction by the blade.

Preferably, the mowing robot further comprises a protective cover covering the cutterhead, and an absorption material used for absorbing the detection signal is arranged at a position, opposite to the signal transmitting end, of the protective cover.

The present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the blade detection method of a robot lawnmower described above.

The blade detection method of the mowing robot provided by the invention transmits a detection signal to the blade direction through the signal transmitting end of the detection sensor, and receives the detection signal by utilizing the signal receiving end of the detection sensor; the method comprises the steps of extracting characteristic information of a detection signal received by a signal receiving end in real time, and judging whether the state of a blade is abnormal or not according to the characteristic information of the detection signal received by the signal receiving end; when the state of the blade is judged to be abnormal, the abnormal blade state prompt information is output to prompt a user that the state of the blade of the mowing robot is abnormal in time, so that the user can know and process the abnormal blade state in time, the problem that the mowing robot cannot mow for a long time is solved, the implementation mode is simple, and the implementation cost is low.

Drawings

Fig. 1 is a partial structural view of a mowing robot to which a blade detection method of the mowing robot according to an embodiment of the present invention is applied;

fig. 2 is a partial structural view of another mowing robot to which a blade detection method of the mowing robot according to an embodiment of the present invention is applied;

fig. 3 is a flowchart of a blade detection method of a mowing robot according to an embodiment of the present invention;

fig. 4 is a flowchart of a blade detection method of a mowing robot according to a second embodiment of the invention;

fig. 5 is a flowchart of a blade detection method of a mowing robot according to a third embodiment of the invention;

fig. 6 is a schematic structural diagram of a blade detection device of a mowing robot according to a fourth embodiment of the invention;

fig. 7 is a schematic structural diagram of a judging module in a blade detecting device of a mowing robot according to a fifth embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

According to the blade detection method of the mowing robot, provided by the embodiment of the invention, the detection signal is emitted towards the blade direction through the signal emitting end of the detection sensor, and the detection signal is received through the signal receiving end of the detection sensor; the method comprises the steps of extracting characteristic information of a detection signal received by a signal receiving end in real time, and judging whether the state of a blade is abnormal or not according to the characteristic information of the detection signal received by the signal receiving end; when the state of the blade is judged to be abnormal, the abnormal blade state prompt information is output to prompt a user that the state of the blade of the mowing robot is abnormal in time, so that the user can know and process the abnormal blade state in time, the problem that the mowing robot cannot mow for a long time is solved, the implementation mode is simple, and the implementation cost is low.

Example one

Referring to fig. 1 to 3, the present embodiment provides a method for detecting a blade of a mowing robot, the mowing robot is provided with a detection sensor, the detection sensor includes a signal transmitting end 4 for transmitting a detection signal to a direction of a blade 2 and a signal receiving end 5 for receiving the detection signal, the method for detecting the blade of the mowing robot includes the following steps:

step S10, transmitting a detection signal to the direction of the blade 2 through the signal transmitting end 4 of the detection sensor, and receiving the detection signal through the signal receiving end 5 of the detection sensor;

in the embodiment of the invention, the detection signal received by the signal receiving end 5 is directly emitted to the blade 2 direction by the signal emitting end 4 or the detection signal emitted to the blade 2 direction by the signal emitting end 4 is formed by reflecting the detection signal by the blade 2.

The detection sensor may be one of an infrared transceiving sensor, an ultrasonic transceiving sensor, and a millimeter wave transceiving sensor. When the detection sensor is an infrared transceiving sensor, the signal transmitting end 4 and the signal receiving end 5 are respectively corresponding to an infrared transmitting tube and an infrared receiving tube. When the detection sensor is an ultrasonic transceiver sensor, the signal transmitting end 4 and the signal receiving end 5 are respectively corresponding to an ultrasonic transmitter and an ultrasonic receiver. When the detection sensor is a millimeter wave transceiver sensor, the signal transmitting terminal 4 and the signal receiving terminal 5 are respectively corresponding to a millimeter wave transmitter and a millimeter wave receiver.

In this embodiment, the blade 2 is movably mounted on the cutter head 1 through a pin 6, so that the blade 2 can move along the radial direction of the cutter head 1. When the cutterhead 1 is driven to rotate by the cutterhead driving device 3, the blades 2 can be thrown out under the action of centrifugal force to cut grass. When the blade 2 is stuck by grass clippings, soil or broken by hard objects so that the blade 2 cannot be thrown out for mowing, the state of the blade is considered to be abnormal. The number of the blades 2 is not limited, and may be one or a plurality of blades distributed at regular intervals.

As an embodiment of the present invention, when the signal transmitting terminal 4 and the signal receiving terminal 5 are oppositely disposed and respectively disposed on opposite sides of the blade 2, the detection signal received by the signal receiving terminal 5 is directly transmitted from the signal transmitting terminal 4 toward the blade 2. When the mowing robot mows, the cutter head driving device 3 drives the cutter head 1 to rotate, the cutter head 1 drives the blades 2 to rotate, and the signal transmitting end 4 transmits a detection signal to the blades 2. In the rotation process of the blade 2, when the blade 2 passes below the signal transmitting end 4, the detection signal is shielded, and at the moment, the signal receiving end 5 cannot receive the detection signal; when the blade 2 does not block the detection signal, the signal receiving terminal 5 can receive the detection signal, so that the detection signal received by the signal receiving terminal 5 changes periodically.

As another embodiment of the present invention, when the signal transmitting terminal 4 and the signal receiving terminal 5 are integrally disposed on the same side of the blade 2, the detection signal received by the signal receiving terminal 5 is formed by reflecting the detection signal transmitted from the signal transmitting terminal 4 toward the blade 2 by the blade 2. When the mowing robot mows, the cutter head driving device 3 drives the cutter head 1 to rotate, the cutter head 1 drives the blade 2 to rotate, and the signal transmitting end 4 transmits a detection signal to the direction of the blade 2. In the rotating process of the blade 2, when the blade 2 passes below the signal transmitting end 4, the detection signal is shielded, the blade 2 reflects the detection signal transmitted by the signal transmitting end 4 to the signal receiving end 5, and the signal receiving end 5 can receive the reflected signal reflected by the blade 2, namely the signal receiving end 5 can receive the detection signal; when the blade 2 does not block the detection signal transmitted by the signal transmitting terminal 4, the signal receiving terminal 5 does not receive the reflected signal reflected by the blade 2, and thus the detection signal received by the signal receiving terminal 5 also has periodic variation.

Step S20, extracting the feature information of the detection signal received by the signal receiving terminal 5 in real time;

in this embodiment, the signal receiving terminal 5 receives the detection signal transmitted from the signal transmitting terminal 4 to the blade 2 in real time, and the detection signal received by the signal receiving terminal 5 is processed, so that the characteristic information of the detection signal received by the signal receiving terminal 5 can be obtained, and whether the blade 2 is abnormal or not can be determined according to the characteristic information of the detection signal received by the signal receiving terminal 5.

In this embodiment, the characteristic information of the detection signal received by the signal receiving terminal 5 may include a period, a bandwidth, and an amplitude, so that whether the blade 2 is abnormal or not may be determined by using the period of the detection signal received by the signal receiving terminal 5, the bandwidth of the detection signal received by the signal receiving terminal 5, and the amplitude of the detection signal received by the signal receiving terminal 5.

In this embodiment, the characteristic information of the detection signal received by the signal receiving terminal 5 includes at least one of a period, a bandwidth, and an amplitude, and whether the blade 2 is abnormal or not can be determined by using any one of the period, the bandwidth, and the amplitude, so that the detection is accurate and reliable.

The period of the detection signal received by the signal receiving terminal 5 is used to represent the time interval when the blade 2 passes through the lower part of the signal transmitting terminal 4 to shield the detection signal. When the number of the blades 2 is one, the period is the time of one rotation of the blades 2; when there are a plurality of blades 2, the period is the time interval when two adjacent blades 2 pass under the signal transmitting terminal 4 to shield the detection signal. The period of the detection signal received by the signal receiving terminal 5 is used to determine whether the number of blades 2 is abnormal. For example, when one of the blades 2 is not thrown out normally for mowing, the period of the detection signal received by the signal receiving terminal 5 will be inconsistent with the preset period, so that whether the blade 2 is abnormal or not can be judged according to the period of the detection signal received by the signal receiving terminal 5.

The bandwidth of the detection signal received by the signal receiving end 5 is used for representing the time when the blade 2 passes below the signal transmitting end 4, and the bandwidth of the received signal is used for judging whether the width of the blade 2 is abnormal or not. For example, when one of the blades 2 is broken to cause blade defect or the blade is inclined to cause blade width change, the time for the blade 2 to pass through the lower part of the signal transmitting terminal 4 will be shortened, that is, the bandwidth of the detection signal received by the signal receiving terminal 5 will change, and the bandwidth of the detection signal received by the signal receiving terminal 5 will be inconsistent with the preset bandwidth, so that whether the blade 2 is abnormal or not can be judged according to the bandwidth of the detection signal received by the signal receiving terminal 5.

The amplitude of the detection signal received by the signal receiving terminal 5 is used for representing the strength value of the received signal when the blade 2 passes below the signal transmitting terminal 4, and the amplitude of the detection signal received by the signal receiving terminal 5 is used for judging whether the blade 2 is the blade 2. Because the blade 2 is possibly clamped by sundries (tree trunks, weeds and the like), the sundries and the cutter head 1 synchronously rotate and the received signals periodically change, whether the blade 2 passes below the signal transmitting end 4 is distinguished by utilizing the reflectivity of the sundries different from the reflectivity of the detection signals reflected by the blade 2, and when the amplitude of the detection signals received by the signal receiving end 5 is inconsistent with the preset amplitude, the blade 2 is judged to be abnormal, so that misjudgment can be avoided, and the reliability of the state detection of the blade 2 is improved.

As a preferred embodiment of the present invention, the characteristic information of the detection signal received by the signal receiving terminal 5 includes a period, a bandwidth and an amplitude, and whether the blade 2 is abnormal or not is determined by using the period of the detection signal received by the signal receiving terminal 5, the bandwidth of the detection signal received by the signal receiving terminal 5 and the amplitude of the detection signal received by the signal receiving terminal 5 simultaneously, so that the reliability of detection is greatly improved, erroneous determination is avoided, and the fault type of the blade can be detected by using the characteristic information of the detection signal received by the corresponding signal receiving terminal 5.

Step S30, determining whether the state of the blade 2 is abnormal or not according to the characteristic information of the detection signal received by the signal receiving terminal 5;

in this embodiment, the characteristic information of the detection signal received by the signal receiving terminal 5 is used to determine whether the condition that the state of the blade 2 is abnormal is met. When the characteristic information of the detection signal received by the signal receiving end 5 is consistent with the preset characteristic information, the condition that the state of the blade 2 is normal is represented, and the state of the blade 2 can be judged to be normal; when the characteristic information of the detection signal received by the signal receiving terminal 5 is inconsistent with the preset characteristic information, the condition that the state of the blade 2 is normal is not met, and the state abnormality of the blade 2 can be judged.

And step S40, if yes, outputting prompt information of abnormal blade state.

In this embodiment, when the state of the blade 2 is determined to be abnormal, the abnormal blade state prompt message is output to remind the user that the blade 2 of the mowing robot is abnormal, so that the user can timely handle the abnormal blade state, and the problem that the mowing robot cannot mow if working for a long time is avoided. The implementation mode of outputting the abnormal blade state prompt information is not limited, an alarm prompt can be sent out through an alarm device arranged on the mowing robot, and the alarm prompt can also be sent out through an intelligent terminal communicated with the mowing robot.

In this embodiment, if the state of the blade 2 is determined to be normal, the process returns to step S30 to continuously determine whether the state of the blade 2 is abnormal according to the characteristic information of the detection signal received by the signal receiving terminal 5, so as to implement real-time detection of the state of the blade 2.

The blade detection method of the mowing robot provided by the embodiment of the invention transmits a detection signal to the blade direction through the signal transmitting end of the detection sensor, receives the detection signal through the signal receiving end of the detection sensor, extracts the characteristic information of the detection signal received by the signal receiving end in real time, and judges whether the state of the blade is abnormal or not according to the characteristic information of the detection signal received by the signal receiving end; when the state of the blade is judged to be abnormal, the abnormal blade state prompt information is output to prompt a user that the state of the blade of the mowing robot is abnormal in time, so that the user can know and process the abnormal blade state in time, the problem that the mowing robot cannot mow for a long time is solved, the implementation mode is simple, and the implementation cost is low.

Example two

Referring to fig. 4, on the basis of the first embodiment, the embodiment of the present invention provides a blade detecting method for a mowing robot, where the step S30 includes:

step S301, judging whether the characteristic information of the detection signal received by the signal receiving end 5 is consistent with the preset characteristic information;

in this embodiment, the characteristic information of the detection signal received by the signal receiving terminal 5 includes a period, a bandwidth, and an amplitude; the preset characteristic information includes a preset period, a preset bandwidth and a preset amplitude. The period, the bandwidth and the amplitude of the detection signal received by the signal receiving terminal 5 are respectively compared with the preset period, the preset bandwidth and the preset amplitude, and whether the period, the bandwidth and the amplitude of the detection signal received by the signal receiving terminal 5 are respectively consistent with the preset period, the preset bandwidth and the preset amplitude is judged.

Step S302, when the characteristic information of the detection signal received by the signal receiving end 5 is consistent with the preset characteristic information, determining that the blade state is normal;

the preset period, the preset bandwidth and the preset amplitude may be a range value or a specific value, respectively. If the preset period, the preset bandwidth and the preset amplitude are respectively a range value, when the period of the detection signal received by the signal receiving terminal 5, the bandwidth of the detection signal received by the signal receiving terminal 5 and the amplitude of the detection signal received by the signal receiving terminal 5 respectively correspond to the preset period, the preset bandwidth and the preset amplitude range value, the characteristic information representing the detection signal received by the signal receiving terminal 5 is consistent with the preset characteristic information, and at this time, it is determined that the blade state is normal. If the preset period, the preset bandwidth and the preset amplitude respectively correspond to a specific value, when the period of the detection signal received by the signal receiving terminal 5, the bandwidth of the detection signal received by the signal receiving terminal 5 and the amplitude of the detection signal received by the signal receiving terminal 5 are respectively the same as the preset period, the preset bandwidth and the preset amplitude, the feature information of the detection signal received by the signal receiving terminal 5 is consistent with the preset feature information, and at this time, it is determined that the blade state is normal.

Step S303, when the feature information of the detection signal received by the signal receiving terminal 5 is inconsistent with the preset feature information, determining that the blade state is abnormal.

In this embodiment, if the preset period, the preset bandwidth, and the preset amplitude are respectively a range value, when any one of the period of the detection signal received by the signal receiving terminal 5, the bandwidth of the detection signal received by the signal receiving terminal 5, and the amplitude of the detection signal received by the signal receiving terminal 5 is not within the range value corresponding to the preset period, the preset bandwidth, and the preset amplitude, the characteristic information representing the detection signal received by the signal receiving terminal 5 is inconsistent with the preset characteristic information. If the preset period, the preset bandwidth and the preset amplitude respectively correspond to a specific value, when any one of the period of the detection signal received by the signal receiving terminal 5, the bandwidth of the detection signal received by the signal receiving terminal 5 and the amplitude of the detection signal received by the signal receiving terminal 5 corresponds to a set value different from the preset period, the preset bandwidth and the preset amplitude, the characteristic information of the detection signal received by the signal receiving terminal 5 is inconsistent with the preset characteristic information, and the blade state is determined to be abnormal.

EXAMPLE III

Referring to fig. 5, on the basis of the first embodiment or the second embodiment, the third embodiment provides a blade detecting method for a robot mower, in step S40, the step of outputting the blade state abnormality prompting information further includes:

and controlling the cutter head driving device 3 to stop driving the blades 2 to rotate, and controlling the mowing robot to return to the base station.

When the blade state is judged to be abnormal, the blade state abnormal prompt message can be output firstly, then the cutter head driving device 3 is controlled to stop driving the blade 2 to rotate, and the mowing robot is controlled to return to the base station; alternatively, the cutter head driving device 3 may be controlled to stop driving the blades 2 to rotate, the mowing robot may be controlled to return to the base station, and then the blade state abnormality prompt information may be output. Alternatively, both steps may be performed simultaneously.

In the embodiment of the invention, when the state of the blade 2 is judged to be abnormal, the cutter disc driving device 3 is controlled to stop driving the cutter disc 1 to rotate, so that the rotation of the blade 2 is stopped, the blade 2 is further protected, the blade 2 is prevented from being further damaged, and the waste of energy is avoided; meanwhile, the mowing robot is controlled to return to the base station, so that the blade can be conveniently and timely processed by a user at the base station, and the fault processing efficiency of the user is improved.

Example four

Referring to fig. 6, the present embodiment provides a blade detecting device for a mowing robot, including a signal transmitting and receiving module 10, a feature information extracting module 11, a determining module 12, and a control module 13.

The signal transmitting and receiving module 10 is used for transmitting a detection signal to the blade 2 through the signal transmitting end 4 of the detection sensor and receiving the detection signal through the signal receiving end 5 of the detection sensor.

In the embodiment of the invention, the detection signal received by the signal receiving end 5 is directly emitted to the blade 2 direction by the signal emitting end 4 or the detection signal emitted to the blade 2 direction by the signal emitting end 4 is formed by reflecting the detection signal by the blade 2.

The detection sensor may be one of an infrared transceiving sensor, an ultrasonic transceiving sensor, and a millimeter wave transceiving sensor. When the detection sensor is an infrared transceiving sensor, the signal transmitting end 4 and the signal receiving end 5 are respectively corresponding to an infrared transmitting tube and an infrared receiving tube. When the detection sensor is an ultrasonic transceiver sensor, the signal transmitting end 4 and the signal receiving end 5 are respectively corresponding to an ultrasonic transmitter and an ultrasonic receiver. When the detection sensor is a millimeter wave transceiver sensor, the signal transmitting terminal 4 and the signal receiving terminal 5 are respectively corresponding to a millimeter wave transmitter and a millimeter wave receiver.

In this embodiment, the blade 2 is movably mounted on the cutter head 1 through a pin 6, so that the blade 2 can move along the radial direction of the cutter head 1. When the cutterhead 1 is driven to rotate by the cutterhead driving device 3, the blades 2 can be thrown out under the action of centrifugal force to cut grass. When the blade 2 is stuck by grass clippings, soil or broken by hard objects so that the blade 2 cannot be thrown out for mowing, the state of the blade is considered to be abnormal. The number of the blades 2 is not limited, and may be one or a plurality of blades distributed at regular intervals.

As an embodiment of the present invention, when the signal transmitting terminal 4 and the signal receiving terminal 5 are oppositely disposed and respectively disposed on opposite sides of the blade 2, the detection signal received by the signal receiving terminal 5 is directly transmitted from the signal transmitting terminal 4 toward the blade 2. When the mowing robot mows, the cutter head driving device 3 drives the cutter head 1 to rotate, the cutter head 1 drives the blade 2 to rotate, and the signal transmitting end 4 transmits a detection signal to the direction of the blade 2. In the rotation process of the blade 2, when the blade 2 passes below the signal transmitting end 4, the detection signal is shielded, and at the moment, the signal receiving end 5 cannot receive the detection signal; when the blade 2 does not block the detection signal, the signal receiving terminal 5 can receive the detection signal, so that the detection signal received by the signal receiving terminal 5 changes periodically.

As another embodiment of the present invention, when the signal transmitting terminal 4 and the signal receiving terminal 5 are integrally disposed on the same side of the blade 2, the detection signal received by the signal receiving terminal 5 is formed by reflecting the detection signal transmitted from the signal transmitting terminal 4 toward the blade 2 by the blade 2. When the mowing robot mows, the cutter head driving device 3 drives the cutter head 1 to rotate, the cutter head 1 drives the blade 2 to rotate, and the signal transmitting end 4 transmits a detection signal to the direction of the blade 2. In the rotating process of the blade 2, when the blade 2 passes below the signal transmitting end 4, the detection signal is shielded, the blade 2 reflects the detection signal transmitted by the signal transmitting end 4 to the signal receiving end 5, and the signal receiving end 5 can receive the reflected signal reflected by the blade 2, namely the signal receiving end 5 can receive the detection signal; when the blade 2 does not block the detection signal transmitted by the signal transmitting terminal 4, the signal receiving terminal 5 does not receive the reflected signal reflected by the blade 2, and thus the detection signal received by the signal receiving terminal 5 also has periodic variation.

The characteristic information extraction module 11 is configured to extract characteristic information of the detection signal received by the signal receiving terminal 5 in real time.

In this embodiment, the signal receiving terminal 5 receives the detection signal transmitted from the signal transmitting terminal 4 to the blade 2 in real time, and the characteristic information extracting module 11 processes the detection signal received by the signal receiving terminal 5, so as to obtain the characteristic information of the detection signal received by the signal receiving terminal 5, so as to determine whether the blade 2 is abnormal according to the characteristic information of the detection signal received by the signal receiving terminal 5.

In this embodiment, the characteristic information of the detection signal received by the signal receiving terminal 5 may include a period, a bandwidth, and an amplitude, so that whether the blade 2 is abnormal or not may be determined by using the period of the detection signal received by the signal receiving terminal 5, the bandwidth of the detection signal received by the signal receiving terminal 5, and the amplitude of the detection signal received by the signal receiving terminal 5.

In this embodiment, the characteristic information of the detection signal received by the signal receiving terminal 5 includes at least one of a period, a bandwidth, and an amplitude, and whether the blade 2 is abnormal or not can be determined by using any one of the period, the bandwidth, and the amplitude, so that the detection is accurate and reliable.

The period of the detection signal received by the signal receiving terminal 5 is used to represent the time interval when the blade 2 passes through the lower part of the signal transmitting terminal 4 to shield the detection signal. When the number of the blades 2 is one, the period is the time of one rotation of the blades 2; when there are a plurality of blades 2, the period is the time interval when two adjacent blades 2 pass under the signal transmitting terminal 4 to shield the detection signal. The period of the detection signal received by the signal receiving terminal 5 is used to determine whether the number of blades 2 is abnormal. For example, when one of the blades 2 is not thrown out normally for mowing, the period of the detection signal received by the signal receiving terminal 5 will be inconsistent with the preset period, so that whether the blade 2 is abnormal or not can be judged according to the period of the detection signal received by the signal receiving terminal 5.

The bandwidth of the detection signal received by the signal receiving end 5 is used for representing the time when the blade 2 passes below the signal transmitting end 4, and the bandwidth of the received signal is used for judging whether the width of the blade 2 is abnormal or not. For example, when one of the blades 2 is broken to cause blade defect or the blade is inclined to cause blade width change, the time for the blade 2 to pass through the lower part of the signal transmitting terminal 4 will be shortened, that is, the bandwidth of the detection signal received by the signal receiving terminal 5 will change, and the bandwidth of the detection signal received by the signal receiving terminal 5 will be inconsistent with the preset bandwidth, so that whether the blade 2 is abnormal or not can be judged according to the bandwidth of the detection signal received by the signal receiving terminal 5.

The amplitude of the detection signal received by the signal receiving terminal 5 is used for representing the strength value of the received signal when the blade 2 passes below the signal transmitting terminal 4, and the amplitude of the detection signal received by the signal receiving terminal 5 is used for judging whether the blade 2 is the blade 2. Because the blade 2 is possibly clamped by sundries (tree trunks, weeds and the like), the sundries and the cutter head 1 synchronously rotate and the received signals periodically change, whether the blade 2 passes below the signal transmitting end 4 is distinguished by utilizing the reflectivity of the sundries different from the reflectivity of the detection signals reflected by the blade 2, and when the amplitude of the detection signals received by the signal receiving end 5 is inconsistent with the preset amplitude, the blade 2 is judged to be abnormal, so that misjudgment can be avoided, and the reliability of the state detection of the blade 2 is improved.

As a preferred embodiment of the present invention, the characteristic information of the detection signal received by the signal receiving terminal 5 includes a period, a bandwidth and an amplitude, and whether the blade 2 is abnormal or not is determined by using the period of the detection signal received by the signal receiving terminal 5, the bandwidth of the detection signal received by the signal receiving terminal 5 and the amplitude of the detection signal received by the signal receiving terminal 5 simultaneously, so that the reliability of detection is greatly improved, erroneous determination is avoided, and the fault type of the blade can be detected by using the characteristic information of the detection signal received by the corresponding signal receiving terminal 5.

The judging module 12 is configured to judge whether the state of the blade 2 is abnormal according to the characteristic information of the received signal.

In this embodiment, the characteristic information of the detection signal received by the signal receiving terminal 5 is used to determine whether the condition that the state of the blade 2 is abnormal is met. When the characteristic information of the detection signal received by the signal receiving end 5 is consistent with the preset characteristic information, the condition that the state of the blade 2 is normal is represented, and the state of the blade 2 can be judged to be normal; when the characteristic information of the detection signal received by the signal receiving terminal 5 is inconsistent with the preset characteristic information, the condition that the state of the blade 2 is normal is not met, and the state abnormality of the blade 2 can be judged.

The control module 13 is configured to output a prompt message indicating that the blade state is abnormal when the state of the blade 2 is determined to be abnormal.

In this embodiment, when the control module 13 determines that the state of the blade 2 is abnormal, the blade state abnormality prompt information is output to remind the user that the blade 2 of the mowing robot is abnormal, so that the user can timely perform processing, and the problem that the mowing robot cannot mow if working for a long time is avoided. The implementation manner of outputting the blade state abnormality prompt information by the control module 13 is not limited, and the control module may control an alarm device provided on the mowing robot to issue an alarm prompt, or may issue an alarm prompt by using an intelligent terminal in communication with the mowing robot.

In this embodiment, if the determining module 12 determines that the state of the blade 2 is normal, it continues to determine whether the state of the blade 2 is abnormal according to the feature information of the detection signal received by the signal receiving terminal 5, so as to implement real-time detection of the state of the blade 2.

The signal transmitting and receiving module of the blade detecting device of the mowing robot provided by the embodiment of the invention transmits a detection signal to the blade direction through the signal transmitting end of the detection sensor, and receives the detection signal through the signal receiving end of the detection sensor; the characteristic information of the detection signal received by the signal receiving end is extracted in real time through the characteristic information extraction module, and the judgment module judges whether the state of the blade is abnormal or not according to the characteristic information of the detection signal received by the signal receiving end; when the state of the blade is judged to be abnormal, the control module outputs the prompt information of the abnormal state of the blade so as to prompt the user that the state of the blade of the mowing robot is abnormal in time, so that the user can timely know and process the abnormal state of the blade, the problem that the mowing robot cannot mow for a long time is solved, the implementation mode is simple, and the implementation cost is low.

EXAMPLE five

Referring to fig. 7, based on the fourth embodiment, the blade detecting device of the mowing robot according to the embodiment of the present invention, the determining module 12 includes a determining unit 121, a first determining unit 122, and a second determining unit 123.

The determining unit 121 is configured to determine whether the characteristic information of the received signal is consistent with the preset characteristic information.

In this embodiment, the characteristic information of the detection signal received by the signal receiving terminal 5 includes a period, a bandwidth, and an amplitude; the preset characteristic information includes a preset period, a preset bandwidth and a preset amplitude. The determining unit 121 compares the period of the detection signal received by the signal receiving terminal 5, the bandwidth of the detection signal received by the signal receiving terminal 5, and the amplitude of the detection signal received by the signal receiving terminal 5 with the preset period, the preset bandwidth, and the preset amplitude, respectively, and determines whether the period, the bandwidth, and the amplitude of the detection signal received by the signal receiving terminal 5 are consistent with the preset period, the preset bandwidth, and the preset amplitude, respectively.

The first determining unit 122 is configured to determine that the blade state is normal when the characteristic information of the received signal is consistent with the preset characteristic information.

The preset period, the preset bandwidth and the preset amplitude may be a range value or a specific value, respectively. If the preset period, the preset bandwidth, and the preset amplitude are respectively a range value, when the period of the detection signal received by the signal receiving terminal 5, the bandwidth of the detection signal received by the signal receiving terminal 5, and the amplitude of the detection signal received by the signal receiving terminal 5 respectively correspond to the preset period, the preset bandwidth, and the preset amplitude range value, the feature information representing the detection signal received by the signal receiving terminal 5 is consistent with the preset feature information, and at this time, the first determining unit 122 determines that the blade state is normal. If the preset period, the preset bandwidth, and the preset amplitude correspond to a specific value, respectively, when the period of the detection signal received by the signal receiving terminal 5, the bandwidth of the detection signal received by the signal receiving terminal 5, and the amplitude of the detection signal received by the signal receiving terminal 5 are the same as the preset period, the preset bandwidth, and the preset amplitude, respectively, the characteristic information of the detection signal received by the signal receiving terminal 5 is consistent with the preset characteristic information, and at this time, the first determining unit 122 determines that the blade state is normal.

The second determining unit 123 is configured to determine that the blade state is abnormal when the characteristic information of the received signal is inconsistent with the preset characteristic information.

In this embodiment, if the preset period, the preset bandwidth, and the preset amplitude are respectively a range value, when any one of the period of the detection signal received by the signal receiving terminal 5, the bandwidth of the detection signal received by the signal receiving terminal 5, and the amplitude of the detection signal received by the signal receiving terminal 5 is not within the range value corresponding to the preset period, the preset bandwidth, and the preset amplitude, the characteristic information representing the detection signal received by the signal receiving terminal 5 is inconsistent with the preset characteristic information, and at this time, the second determining unit 123 determines that the blade state is abnormal. If the preset period, the preset bandwidth, and the preset amplitude correspond to a specific value, respectively, and when any one of the period of the detection signal received by the signal receiving terminal 5, the bandwidth of the detection signal received by the signal receiving terminal 5, and the amplitude of the detection signal received by the signal receiving terminal 5 corresponds to a set value different from the preset period, the preset bandwidth, and the preset amplitude, the characteristic information of the detection signal received by the signal receiving terminal 5 is inconsistent with the preset characteristic information, and at this time, the second determining unit 123 determines that the blade state is abnormal.

EXAMPLE six

On the basis of the fourth embodiment or the fifth embodiment, the present embodiment provides a blade detecting device of a robot lawnmower, and the control module 13 is further configured to:

and when judging that the state of the blade 2 is abnormal, controlling the cutter head driving device 3 to stop driving the blade 2 to rotate, and controlling the mowing robot to return to the base station.

In the embodiment of the invention, when the judging module judges that the state of the blade 2 is abnormal, the control module controls the cutter driving device 3 to stop driving the cutter 1 to rotate, so that the rotation of the blade 2 is stopped, the blade 2 is further protected, the blade 2 is prevented from being further damaged, and the waste of energy is avoided; meanwhile, the mowing robot is controlled to return to the base station, so that the blade can be conveniently and timely processed by a user at the base station, and the fault processing efficiency of the user is improved.

EXAMPLE seven

Referring to fig. 1 and fig. 2 again, an embodiment of the present invention further provides a mowing robot, including:

a cutter head 1;

at least one blade 2 movably arranged on the cutter head 1;

the cutter driving device 3 is in transmission connection with the cutter 1 and is used for driving the cutter 1 to drive the blades 2 to rotate;

the detection sensor comprises a signal transmitting end 4 and a signal receiving end 5, wherein the signal transmitting end 4 is used for transmitting a detection signal to the direction of the blade 2, and the signal receiving end 5 is used for receiving the detection signal;

and a processor (not shown) respectively connected with the signal transmitting terminal 4 and the signal receiving terminal 5, and used for implementing the blade detection method of the mowing robot in the above embodiment.

The mowing robot can be provided with an alarm device (such as an audible and visual alarm) connected with the processor, and the processor can also be in communication connection with an intelligent terminal (such as a smart phone) of a user. When the state of the blade 2 is abnormal, the processor can control an alarm device on the mowing robot or an intelligent terminal of a user to send an alarm prompt so as to prompt the user that the state of the blade is abnormal, and the user can conveniently and timely handle the abnormal state.

Wherein, the cutter head driving device 3 is a motor, and an output shaft of the motor is fixedly connected with the cutter head 1. When the cutter driving device 3 works, the cutter driving device 3 drives the cutter 1 to rotate, so as to drive the blades 2 to synchronously rotate. The number of the blades 2 is not limited, and may be one or a plurality of blades arranged at intervals along the circumferential side of the cutter head 1.

Referring to fig. 1, as an embodiment of the present invention, a signal transmitting terminal 4 and a signal receiving terminal 5 are oppositely disposed and respectively disposed at two opposite sides of a blade 2, and a detection signal received by the signal receiving terminal 5 is directly transmitted from the signal transmitting terminal 4 to the blade 2.

In this embodiment, when the mowing robot mows, the cutter disc driving device 3 drives the cutter disc 1 to rotate, the cutter disc 1 drives the blade 2 to rotate, and the signal transmitting end 4 of the blade detecting device transmits a detection signal to the blade 2. When the cutter head 1 rotates, the blades 2 are thrown out and pass below the signal transmitting end 4, the detection signals transmitted by the signal transmitting end 4 can be shielded, and at the moment, the signal receiving end 5 cannot receive the detection signals transmitted by the signal transmitting end 4. When the blade 2 does not shield the detection signal transmitted by the signal transmitting end 4, the signal receiving end 5 can receive the detection signal, so that the blade 2 can periodically shield the detection signal transmitted by the signal transmitting end 4 in the rotating process along with the cutter head 1, the detection signal received by the signal receiving end 5 can be periodically changed according to the corresponding set characteristic information, the detection signal received by the signal receiving end 5 can be compared with the set characteristic information, whether the blade 2 is abnormal or not can be judged, the judging mode is simple and reliable, and the realization cost is low.

Referring to fig. 2, as another embodiment of the present invention, when the signal transmitting terminal 4 and the signal receiving terminal 5 are integrally disposed on the same side of the blade 2, the received signal is a reflected signal formed by the detection signal transmitted by the signal transmitting terminal 4 being reflected by the blade 2.

In this embodiment, when the mowing robot mows, the cutter disc driving device 3 drives the cutter disc 1 to rotate, and when the cutter disc 1 drives the blade 2 to rotate, the signal transmitting end 4 transmits a detection signal to the blade 2. In the rotation process of the cutter head 1, when the blade 2 is thrown out, the detection signal emitted by the signal emitting end 4 can be periodically shielded, the blade 2 reflects the detection signal emitted by the signal emitting end 4 to the signal receiving end 5, and the signal receiving end 5 receives the detection signal reflected by the blade 2; when the blade 2 does not shield the detection signal transmitted by the signal transmitting terminal 4, the signal receiving terminal 5 cannot receive the detection signal or can only receive the detection signal different from the reflection intensity of the blade 2, so that the detection signal received by the signal receiving terminal 5 can be periodically changed according to the corresponding set characteristic information, and the detection signal received by the signal receiving terminal 5 in real time can be compared with the set characteristic information, thereby judging whether the blade 2 is abnormal or not, and the judging mode is simple and reliable, and the realization cost is low.

In this embodiment, mowing robot still establishes the protection casing 8 of blade disc 1 including covering, protection casing 8 is equipped with the absorbent material 7 that is used for absorbing the detected signal with the relative position of signal emission end 4, make when blade 2 does not shelter from the detected signal of signal emission end 4 transmission, absorbent material 7 can carry out whole absorption with the detected signal of signal emission end 4 transmission, signal receiving terminal 5 will not receive the detected signal, only when blade 2 shelters from the detected signal of signal emission end 4 transmission, signal receiving terminal 5 just receives the detected signal of blade 2 reflection, avoid appearing the erroneous judgement situation, make blade state detect more reliably.

Wherein the absorbing material 7 corresponds to the type of detection sensor. When the detection sensor is an infrared transceiving sensor, the signal transmitting end 4 and the signal receiving end 5 are respectively corresponding to an infrared transmitting tube and an infrared receiving tube, and the absorbing material 7 is a black light absorbing material; when the detection sensor is an ultrasonic transceiving sensor, the signal transmitting end 4 and the signal receiving end 5 are respectively corresponding to an ultrasonic transmitter and an ultrasonic receiver, and the absorbing material 7 is an ultrasonic absorbing material; when the detection sensor is a millimeter wave transceiver sensor, the signal transmitting terminal 4 and the signal receiving terminal 5 correspond to a millimeter wave transmitter and a millimeter wave receiver, respectively. The absorbing material 7 is a millimeter wave absorbing material.

The mowing robot provided by the embodiment of the invention is provided with the detection sensor, the processor controls the signal transmitting end of the detection sensor to transmit the detection signal to the blade direction, the signal receiving end of the detection sensor is utilized to receive the detection signal, and the processor extracts the characteristic information of the detection signal received by the signal receiving end in real time and judges whether the state of the blade is abnormal or not according to the characteristic information of the detection signal received by the signal receiving end; when the state of the blade is judged to be abnormal, the processor outputs the blade state abnormity prompting information to prompt a user that the state of the blade of the mowing robot is abnormal in time, so that the user can know and process the blade in time, the problem that the mowing robot cannot mow for a long time is solved, the implementation mode is simple, and the implementation cost is low.

Example eight

The embodiment of the invention also provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the steps of the blade detection method of the mowing robot. The computer program may be stored in a computer readable storage medium. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable storage medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like.

The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.