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    专

    一种无人驾驶汽车自动安全停车方法

    KR09649574A
    发明人
    陈仪香, 王士忠, 王佩芬
    受让人
    UNIV EAST CHINA NORMAL (UYEN-C)
    申请人
    쿤산 고-비젼녹스 옵토-일렉트로닉스 씨오. 엘티디.
    申请号
    7458088
    申请日
    2022-01-19
    公开(公告)号
    KR09649574A
    公开(公告)日
    2001-12-31
    IPC分类号
    H04W72/04H04L1/16H04L1/18
    CPC分类号
    -
    优先权号
    3696547
    优先权日
    1984-01-30
    摘要

    A personal care composition comprises : (a) an adhesive copolymer having a wt average mol wt of 10,000-5,000,000; and (b) a solvent for the copolymer selected from water, ethanol, n-propanol, i-propanol, acetone, and/or propylene glycol. The composition, when dried, has a cohesive strength greater than 0.5 kgf/mm2, a total energy absorption per unit volume of greater than 0.55 kgf-mm/mm3, and an impact strength of greater than 7000 ergs.

    USE -The composition is especially in the form of a hair spray and is useful for styling hair.

    ADVANTAGE -The composition has improved removability from hair as defined by hair stiffness and flaking values.

    权利要求
    1 . An autonomous device configured for performing at least one task selected from a household task, a commercial task and an industrial task, wherein the autonomous device comprises at least one spatial sensor for generating location information and at least one further sensor for determining at least one further parameter, wherein the autonomous device further comprises at least one task unit arranged to perform the household and/or commercial and/or industrial task, and at least one electronics unit, wherein the electronics unit is configured to generate a map using the location information, wherein the electronics unit further is configured for connecting the further parameter to the location information and adding the location of the further parameter to the map, thereby creating a parameter map containing location-correlated values of the at least one further parameter, wherein the electronics unit is configured to add information to the parameter map, wherein the electronics unit further is configured to extract statistical information from the parameter map, wherein the electronics unit further is configured to store the statistical information in a statistic map and/or to add the statistical information to the parameter map.
    2 . The autonomous device according to claim 1 , wherein the electronics unit further is configured for storing the parameter map.
    3 . The autonomous device according to claim 2 , wherein the at least one further parameter is directly or indirectly connected to the household and/or commercial and/or industrial task.
    4 . The autonomous device according to claim 3 , wherein the autonomous device is an autonomously moving robot selected from the group consisting of a household robot; a commercial robot; an industrial robot.
    5 . The autonomous device according to claim 1 , wherein the electronics unit is configured to adjust the performance of the autonomous device using the statistical information.
    6 . The autonomous device according to claim 1 , wherein the electronics unit is configured to retrieve a location related environmental condition information from the statistical information, wherein the electronics unit further is configured to generate recommendation information from the location related environmental condition information.
    7 . The autonomous device according to claim 6 , wherein the autonomous device comprises an interface, wherein the interface is configured to allow an information transfer to an external device, wherein the information is selected from a group consisting of: the map; the parameter map; the statistical information; the environmental condition information; the recommendation information.
    8 . The autonomous device according to claim 7 , wherein the external device is selected from a group consisting of: a control network configured to fully or partially implement the recommendation information; a user device configured to fully or partially inform a user about the recommendation information.
    9 . The autonomous device according to claim 1 , wherein the autonomous device is configured for performing outdoor tasks.
    wherein the method further comprises adding information to the parameter map, wherein the method further comprises extracting statistical information from the parameter map, and wherein the method further comprises storing the statistical information in a statistic map and/or adding the statistical information to the parameter map.
    11 . The method according to claim 10 , further comprises storing the map and/or the parameter map, thereby providing availability of the map and/or the parameter map after a reset and/or a charging and/or a restart of the autonomous device, wherein the method further comprises adding information to the parameter map.
    12 . The method according to claim 10 , further comprises extracting statistical information from the parameter map, wherein the method step of extracting statistical information comprises creating a statistic map containing location correlated values of the statistical information, wherein the method step of extracting statistical information further comprises storing the statistic map, wherein the method step of extracting statistical information further comprises averaging the information contained in the parameter map, wherein the method step of extracting statistical information further comprises determining anomalies in parameter values and/or correlating locations.
    13 . The method according to claim 12 , further comprises extracting environmental condition information from the statistical information, wherein the method step of extracting environmental condition information comprises creating and/or storing an environmental map containing location correlated values of the environmental condition information.
    14 . The method according to claim 13 , further comprises generating recommendation information from the environmental condition information.
    15 . The method according to claim 14 , further comprises transferring information to an external device, wherein the information is selected from a group consisting of: the map; the parameter map; the statistical information; the environmental condition information; the recommendation information.
    16 . The method according to claim 15 , further comprises informing a user about the recommendation information by way of a user device.
    17 . The method according to claim 16 , further comprises adjusting the performance of the autonomous device.
    18 . A non-transitory computer readable medium storing computer-executable instructions for performing the method according to claim 10 , when the computer-executable instructions is executed by a computer or computer network.
    说明书
    [0001]一种无线话筒中数字信号的传输方法
    [0002]技术领域
    [0003]本发明涉及卡拉OK或类似音响设备的无线话筒,更具体地指一种无线话筒中数字信号的传输方法。
    [0004]背景技术
    [0005]大家知道,在数字信号的无线传输过程中,其数值“0”和“1”有多种不同的表示方式,第一种是用信号的不同电平表示;第二种是用信号的不同脉宽表示;第三种是用信号的不同频率表示。前两种方式其基础都必须区分信号绝对电平的高低,因而在传输过程中容易受到外界干扰。最后一种方式虽然其抗干扰性能有所提高,但因其表示每一位数据,都需要发送一串某一固定频率的脉冲,因而存在传输速率低的问题。
    [0006]在卡拉OK或类似音响设备的无线话筒中,一般只传输语音信号,不需要传输数字信号,但在某些可调通话频段的无线话筒中,则需要传输少量的数字信号,其数值“0”和“1”的表示通常就采用上述的前两种方式,因此,利用前两种方式对数字信号进行传输的无线话筒在实际实用中,经常会受到外界的干扰。若采用后一种方式对数字信号进行传输,则无线话筒在传输数字信号命令时会让人感到明显的滞后。
    [0007]发明内容
    [0008]本发明的目的是针对传统的无线话筒中,因数字信号在传输过程中存在的抗干扰能力差、传输速率慢的缺点,提出全新的一种无线话筒中数字信号的传输方法。
    [0009]为了实现上述目的,本发明采用如下技术方案,该无线话筒中数字信号的传输方法包括以下步骤:
    [0010]a,在发射端,将所要传输的数字信号分成左、右两路信号;
    [0011]b,将左路信号直接送入一伪立体声编码器;
    [0012]c,对右路信号进行反相并送入上述伪立体声编码器;
    [0013]d,利用伪立体声编码器对左路数字信号和右路反相数字信号进行编码;
    [0014]e,将编码后的数字信号进行发射;
    [0015]f,在接收端,对所发射的经过编码的数字信号进行接收;
    [0016]g,将接收的数字信号送入一立体声解码器进行解码并还原为左、右两路数字信号;
    [0017]h,将该两路数字信号送入一比较器比较后输出,完成数字信号的传输。
    [0018]在本发明采用了上述技术方案中,将所要传输的数字信号分成左、右两路信号,右路信号进行反相,然后与左路信号共同送入伪立体声编码器进行编码,将编码后的数字信号进行发射。而在接收端,对所发射的经过编码的数字信号进行接收,并送入一立体声解码器进行解码并还原为左、右两路数字信号,再通过比较器比较后输出,完成数字信号的传输。因此,所要传输的数字信号经过伪立体声编码和解码后,其数值“0”或“1”就与原始数字信号的绝对电压大小无关,而只与左、右路数字信号之间的相对电平有关,从而能大大提高无线话筒中数字信号传输过程中的抗共模干扰性能,将所受到外界的干扰限制到最小的程度。
    [0019]附图说明
    [0020]图1为本发明的方法中,发射、接收的原理方框示意图。
    [0021]图2为实现本发明方法所采用的发射部分实施例电路原理图。
    [0022]图3为实现本发明方法所采用的接收部分实施例电路原理图。
    [0023]具体实施方式
    [0024]本发明的无线话筒中数字信号的传输方法主要是在发射端,也就是在话筒一端,将数字信号作为左路信号,将经过反相后的数字信号作为右路信号,对左、右路信号进行伪立体声编码,编码后再发射。而在接收端,也就是在所要控制的一端,收到编码后的信号后,对其用立体声解码器进行解码,解出左、右路信号,利用比较器对其进行比较,最后输出数字信号。
    [0025]请参阅图1所示,
    [0026]该方法具体包括以下步骤:
    [0027]a,在发射端,将所要传输的数字信号分成左、右两路信号;
    [0028]b,将左路信号直接送入一伪立体声编码器;
    [0029]c,对右路信号进行反相并送入上述伪立体声编码器;
    [0030]d,利用伪立体声编码器对左路数字信号和右路反相数字信号进行编码;
    [0031]e,将编码后的数字信号进行发射;
    [0032]f,在接收端,对所发射的经过编码的数字信号进行接收;
    [0033]g,将接收的数字信号送入一立体声解码器进行解码并还原为左、右两路数字信号;
    [0034]h,将该两路数字信号送入一比较器比较后输出,完成数字信号的传输。
    [0035]在对左路数字信号和右路反相数字信号进行编码时,采用38KHz的速率轮流输出,完成伪立体声编码。
    [0036]所述的步骤e在将编码后的数字信号发射时,采用导频信号与之进行叠加后再发射。
    [0037]所述的导频信号频率选用编码所采用的速率的一半,即,导频信号的频率为19KHz。
    [0038]所述的步骤h中,用比较器对左、右两路数字信号进行比较是对该两路信号的电平大小进行比较。
    [0039]在比较时,当左路信号电平大于右路信号电平时,比较器输出高电平“1“,反之输出低电平“0”。
    [0040]依据本发明的上述方法,发射部分可采用图2所示的具体电路:
    [0041]在图2中,集成电路U1,U2,U3为通用74HC系列电路,U1(74HC4046)为震荡分频电路,其第10,11脚外接石英晶体,第9脚为震荡输出,第12脚为输出清除控制,第1-7,13-15脚为震荡分频输出,其中第13脚为9分频输出,第14脚为8分频输出。
    [0042]U2(74HC04)为一反向电路。
    [0043]U3(74HC157)为二选一切换电路。内部共有4组相同的切换电路,在此电路中只用了2,3,4脚一组,其中第2,3脚为输入,第4脚为输出,第1脚为切换控制,第13脚为输出所存控制。
    [0044]U1与B1,C1,C2组成9.728MHz振荡器,再经U1内部8次分频在第14脚得到38KHz的开关信号,同时在第13脚得到19KHz的导频信号(无线传输时要用)。U3为一数字切换电路,其第1脚J接切换开关信号即U1输出的38Khz信号,其第2,3脚为两路输入信号,分别输入数字信号及经过反相器U2反相后的反相数字信号。
    [0045]所输入的数字信号及经过反相器U2反相后的反相数字信号通过U3切换,以38KHz的速率轮流输出即完成了伪立体声编码,编码后的信号由U3的第4脚输出。
    [0046]编码信号及19KHz导频信号叠加后通过无线发射电路发射出去。
    [0047]请继续参阅图3所示,接收部分采用如图3所示的具体电路,其中,
    [0048]集成电路U1(LA1857)为一调频/调幅接收电路,其内部集成了调频接收,调频解调,立体声解码等模块。
    [0049]LA1827引脚说明如下:
    [0050]第1,3,7,11脚:调幅信号接收,该电路中未用
    [0051]第2,23脚:参考电压滤波
    [0052]第4,21脚:电源
    [0053]第5脚:调频信号混频输出
    [0054]第6脚:地
    [0055]第8脚:调谐指示输出
    [0056]第9脚:立体声接收指示输出
    [0057]第10脚:调频信号中频输入
    [0058]第12脚:调频信号强度指示输出
    [0059]第13脚:调频信号鉴频输入
    [0060]第14脚:鉴频滤波
    [0061]第15脚:相位比较滤波
    [0062]第16脚:左声道音频输出
    [0063]第17脚:右声道音频输出
    [0064]第18脚:立体声解码模块输入
    [0065]第19脚:调频信号鉴频输出
    [0066]第20脚:调频信号混频本振输入
    [0067]第22脚:调频信号混频输出
    [0068]第24脚:调频信号天线接收
    [0069]集成电路U2(TL062)为一运算放大器,在这里做一比较器。
    [0070]天线收到经过伪立体声编码的数字信号调制的高频信号,通过电容C1送入LA1857第24脚,经LA1857调频接收,调频解调后得到立体声复合信号从LA1857第19号脚输出,再通过电容E2送到LA1857内部立体声解码模块输入脚(第18脚),经立体声解码后其左右路信号分别从第16,17脚输出,送到U2(TL062)的第5,6脚。然后用U2(TL062)对其左右路信号进行比较:当左路信号电平大于右路信号,U2的第7脚输出“1”,反之输出“0”。
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