CN100372494C - Control circuit of fully-automatic cleaner - Google Patents
Control circuit of fully-automatic cleaner Download PDFInfo
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- CN100372494C CN100372494C CNB2006100500629A CN200610050062A CN100372494C CN 100372494 C CN100372494 C CN 100372494C CN B2006100500629 A CNB2006100500629 A CN B2006100500629A CN 200610050062 A CN200610050062 A CN 200610050062A CN 100372494 C CN100372494 C CN 100372494C
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Abstract
The present invention relates to a controlling circuit of a fully automatic dust aspirator. The controlling circuit of a single chip computer is used as a core, and a leftward and rightward collision detecting circuit conveys detected signals to the single chip computer. Controlling signals are processed by the single chip computer and are conveyed to left and right wheel driving circuits and a cleaning and dust aspirating driving circuit. A chargeable cell is used for supplying electricity to an electricity supplying power supply circuit of the whole dust aspirator, and an infrared receiving circuit is also connected with the controlling circuit of the single chip computer. A low voltage detecting circuit is also connected with the power supply circuit, and an infrared signal generated by an automatic charging circuit with infrared emission is received by the infrared receiving circuit and conveyed to the controlling circuit of the single chip computer. The low voltage detecting circuit conveys detected low voltage signals to the controlling circuit of the single chip computer. The signals are processed by the single chip computer and output to the right and the left wheel driving circuits to automatically charge the automatic charging circuit. When equipment is provided with the dust aspirator of the present invention and works, the present invention does not need the tracking operation of a user to really realize the intelligence and the full automation of the dust aspirator.
Description
Technical field
The present invention relates to a kind of control circuit of dust catcher, relate in particular to a kind of control circuit that need not manually-operated intelligentized fully-automatic cleaner.
Background technology
Along with the progress of society, people's work is more and more busier, and the level of consumption is also more and more higher, and owing to the generally improvement of automation appliance degree, the consumer is also more and more higher to the requirement of dust catcher simultaneously.Dust catcher in the market, drags a wire at the socket that all will plug in, and must could work under artificial manipulation, often will be along with the change in dust suction place during use plug be pulled up and plugs the replacing socket, and is very inconvenient.This class dust catcher can't be realized fully automatic operation owing to do not have automatic control section, people just very can not be freed from loaded down with trivial details cleaning, satisfies the fast needs of modernized society's rhythm of life.
Summary of the invention
The present invention solves that original dust catcher has power line, do not have automatic control section, the manned technical problem of needs; A kind of control circuit that does not have power line, need not manned fully-automatic cleaner when working is provided.
Above-mentioned technical problem of the present invention is mainly solved by following technical proposals: the present invention is core with the single chip machine controlling circuit, the left-right collision testing circuit flows to single-chip microcomputer with detected signal, carry out complicated judgement, calculating by the program in the single-chip microcomputer, respectively control signal is flowed to the revolver drive circuit that links to each other with revolver, the right wheel drive circuit and the cleaning dust absorption drive circuit that link to each other with right side wheel, the power circuit of powering for whole dust catcher adopts rechargeable battery powered.Adopt rechargeable battery to avoid loaded down with trivial details power line plug, the left-right collision testing circuit works the effect of exploring the way, and dust catcher is walked automatically avoid obstacle, and cleaning dust absorption can be carried out down smoothly pilotless, realizes automatic dust-absorbing.
As preferably, also be connected with infrared radiation receiving circuit on the described single chip machine controlling circuit, also be connected with low-voltage detection circuit on the described power circuit, the infrared signal that the automatic charger of the band infrared emission that the infrared radiation receiving circuit reception is supporting with it sends also flows to single chip machine controlling circuit, low-voltage detection circuit flows to single chip machine controlling circuit with detected low voltage signal, single-chip microcomputer is handled the orientation of the automatic charger of judging the band infrared emission through internal processes, output signal to a left side, right wheel drive circuit finds automatic charger to charge automatically.Make dust catcher can find the battery electric quantity deficiency automatically, search out the cradle that is placed in correct position automatically and be attached thereto, begin charging then, further improve intelligent performance.
As preferably, described single chip machine controlling circuit also sends enabling signal and carries out infra-red detection to the infra-red detection circuit, the infra-red detection circuit is given the signal that detects several sounding signal processing circuit again, described single chip machine controlling circuit receives the signal that the sounding signal processing circuit is sent here, handle through internal processes, again control signal is flowed to left and right wheel of left and right wheel drive circuit drives and make the action that stops or retreating.Dust catcher is being come stair mouth or place, height line of demarcation, ground in the walking process automatically, the infra-red detection circuit can be sensed wheel the place ahead for empty, again this signal is sent to single chip machine controlling circuit through the sounding signal processing circuit, control the action that left and right wheel drive circuit makes left and right wheels to stop or retreating then, avoid dust catcher to continue to advance and cause rollover, rolling and cisco unity malfunction to low place.
As preferably, also be connected with the spy wall signal processing circuit that links to each other with described infra-red detection circuit on the described single chip machine controlling circuit, described single chip machine controlling circuit receives visits the signal that the wall signal processing circuit is sent here, handle through internal processes, again control signal is flowed to left and right wheel drive circuit, allow and left and rightly take turns action and cooperate, make whole dust catcher make the action of advancing along wall.
As preferably, described sounding signal processing circuit has four the tunnel, and described spy wall signal processing circuit is one the tunnel, and every Lu Doujing two-stage calculation amplifier connects diode cathode, and diode cathode transmits signal to single chip machine controlling circuit through an operational amplifier again.
As preferably, also be connected with key circuit, pronunciation device on the described single chip machine controlling circuit.Before dust catcher was started working, the user can carry out the working method setting to dust catcher by button, was more convenient for using; During dust catcher work, can send the prompt tone of various duties, be convenient to the user also can understand dust catcher by the sense of hearing duty.
As preferably, the control circuit of described fully-automatic cleaner also is provided with infrared ray virtual wall generation circuit, described infrared radiation receiving circuit flows to described single chip machine controlling circuit with the signal of the infrared ray virtual wall sensed, single-chip microcomputer judges, control signal is flowed to left and right wheel drive circuit, stop dust catcher to advance.During use, infrared ray virtual wall generation circuit is placed on the doorway that does not allow dust catcher to go to or opening door, and it constantly produces the infrared ray virtual wall after starting, and stops dust catcher to advance.
As preferably, be connected with on the described single chip machine controlling circuit and mention testing circuit, when mentioning wheel that testing circuit detects dust catcher when being raised, send a signal to single chip machine controlling circuit, single-chip microcomputer judges the output stopping signal, and dust catcher quits work.Avoid dust catcher rollover or when being raised, wheel is also also carrying out at rotation, cleaning dust absorption, effectively saves the energy, avoids hurting other equipment, also prolongs the service life of dust catcher simultaneously.
As preferably, described single chip machine controlling circuit is PIC series monolithic and peripheral circuit thereof, described revolver drive circuit comprises triode Q3, Q13, Q7, Q17, be parallel with diode D14 respectively on four triodes, D12, D15, D13, Q3 links to each other with the colelctor electrode of Q13, Q7 links to each other with the colelctor electrode of Q17 and connects the revolver drive motors again, Q13, after linking to each other, the emitter stage of Q17 connects the voltage input, Q3, ground connection after the emitter stage of Q7 links to each other, the base stage of Q17 is through resistance R 6, triode Q23, resistance R 67 connects the colelctor electrode of triode Q11, the base stage of Q13 is through resistance R 10, triode Q24, resistance R 69 connects the colelctor electrode of triode Q14, Q11, the emitter stage of Q14 connects 12 pin of single-chip microcomputer, the base stage of Q11 connects 3 pin of single-chip microcomputer through resistance R 63, the base stage of Q14 is through resistance R 7, triode Q4, resistance R 64 connects 3 pin of single-chip microcomputer, the emitter stage of Q23 links to each other with the base stage of Q3, and the emitter stage of Q24 links to each other with the base stage of Q7.Right wheel drive circuit in like manner.
As preferably, described single chip machine controlling circuit is PIC series monolithic and peripheral circuit thereof, described cleaning dust absorption drive circuit comprises FET Q21, its grid links to each other with resistance R 86, its source electrode is through resistance R 102, R103, ground connection behind the parallel circuit of R104, the cleaning dust absorption motor is exported in its drain electrode, the other end of resistance R 86 connects 5 pin of single-chip microcomputer, described left-right collision testing circuit is by light emitting diode A1 series resistance R99, light emitting diode Q19 series resistance R100, light emitting diode A2 series resistance R98, light emitting diode Q20 series resistance R101 four tunnel composes in parallel, parallel circuit one termination VCC, other end ground connection, and the junction of R100 and Q19, the junction of R101 and Q20 is drawn signal and is connect 16 of single-chip microcomputer, 17 pin.
The invention has the beneficial effects as follows: abandoned the power line that need be connected on the power socket by adopting rechargeable battery, need not to plug again attaching plug; By left-right collision testing circuit, sounding signal processing circuit, visit wall signal processing circuit, infrared ray virtual wall generation circuit the various status signals of dust catcher periphery sent to single chip machine controlling circuit in the dust catcher, again by single-chip microcomputer through complex calculations, processing, transmit control signal to left and right wheel drive circuit, cleaning dust absorption drive circuit, dust catcher can automatically, correctly be walked under unmanned situation and carry out cleaning dust absorption work; Automatic charger by infrared radiation receiving circuit, band infrared emission is used, and makes dust catcher can find the battery electric quantity deficiency automatically, searches out the cradle that is placed in correct position automatically and is attached thereto, and begins automatic charging then.Intelligent performance is very comprehensive, really realizes the automation of cleaning dust absorption, and people are freed from loaded down with trivial details housework.
Description of drawings
Fig. 1 is a kind of circuit structure block diagram of the present invention.
Fig. 2 is a kind of circuit theory diagrams of single chip machine controlling circuit among the present invention, left-right collision testing circuit, power circuit, key circuit, pronunciation device part.
Fig. 3 is a kind of circuit theory diagrams of revolver drive circuit among the present invention, right wheel drive circuit, cleaning dust absorption driving circuit section.
Fig. 4 is sounding signal processing circuit among the present invention, a kind of circuit theory diagrams of visiting wall signal processing circuit part.
Fig. 5 is a kind of circuit theory diagrams of the automatic charger part of band infrared emission among the present invention.
1. single chip machine controlling circuits among the figure, 2. left-right collision testing circuit, 3. revolver drive circuit, 4. right wheel drive circuit, 5. cleaning dust absorption drive circuit, 6. power circuit, 7. infra-red detection circuit, 8. the sounding signal processing circuit is 9. visited the wall signal processing circuit, 10. mention drive circuit, 11. key circuits, 12. pronunciation devices, 13. low-voltage detection circuit, 14. infrared radiation receiving circuit, 15. infrared ray virtual wall generation circuit, the automatic charger of 16. band infrared emission.
The specific embodiment
Below by embodiment, and in conjunction with the accompanying drawings, technical scheme of the present invention is described in further detail.
Embodiment 1: the control circuit of the fully-automatic cleaner of present embodiment, as shown in Figure 1, with single chip machine controlling circuit 1 is core, be connected with left-right collision testing circuit 2 on it, infra-red detection circuit 7, four tunnel sounding signal processing circuits 8, one the tunnel visits wall signal processing circuit 9, the revolver drive circuit 3 that links to each other with revolver, the right wheel drive circuit 4 that links to each other with right side wheel, cleaning dust absorption drive circuit 5, mention testing circuit 10, key circuit 11, pronunciation device 12, low-voltage detection circuit 13, infrared radiation receiving circuit 14, infra-red detection circuit 7 again with four tunnel sounding signal processing circuits 8, one the tunnel visits wall signal processing circuit 9 links to each other, low-voltage detection circuit 13 links to each other with power circuit 6 again, infrared radiation receiving circuit 14 receives supporting with it infrared ray virtual wall generation circuit 15, the infrared signal that the automatic charger 16 of band infrared emission sends, the power circuit 6 of powering for whole dust catcher adopts rechargeable battery powered.
The single chip machine controlling circuit 1 of present embodiment adopts PIC16F876A single-chip microcomputer and peripheral circuit thereof, as Fig. 2, Fig. 3, shown in Figure 4,3,12,14 pin of single-chip microcomputer connect revolver drive circuit 3,4,13,15 pin connect right wheel drive circuit 4,16,17 pin connect left-right collision testing circuit 2, and its 5 pin connects cleaning dust absorption drive circuit 5.
Cleaning dust absorption drive circuit 5 comprises FET Q21, and its grid links to each other with resistance R 86, and its source electrode is ground connection behind the parallel circuit of resistance R 102, R103, R104, and the cleaning dust absorption motor is exported in its drain electrode, and the other end of resistance R 86 connects 5 pin of single-chip microcomputer.Left-right collision testing circuit 2 is composed in parallel by light emitting diode A1 series resistance R99, light emitting diode Q19 series resistance R100, light emitting diode A2 series resistance R98, light emitting diode Q20 series resistance R101 four tunnel, parallel circuit one termination VCC, other end ground connection, and 16,17 pin that signal connects single-chip microcomputer are drawn in the junction of the junction of R100 and Q19, R101 and Q20.
Key circuit is given 6 pin of single-chip microcomputer by its 2 pin output decoded signal by decoder 74HC164.Mention in the input signal of testing circuit a pin and connect 28 pin of single-chip microcomputer, another pin connects 3 pin of 74HC164 through diode D6.7 pin of single-chip microcomputer connect the base stage of triode Q1 through resistance R 15, the grounded emitter of Q1, the colelctor electrode of Q1 links to each other with infra-red detection circuit 7 through 4 pin of resistance R 13, R14 combination hub CON1,5 pin of CON4 respectively, and infra-red detection circuit 7 is visited wall signal processing circuit 9 by socket CON1, CON4 with four tunnel sounding signal processing circuits 8 and a tunnel again and linked to each other.3 pin of CON1 connect the positive pole of diode D1 through amplifier U1A, U1D, and the negative pole of D1 connects 21 pin that amplifier U2A outputs signal to single-chip microcomputer, form first via sounding signal processing circuit; 2 pin of CON1 connect the positive pole of diode D2 through amplifier U1B, U1C, and the negative pole of D2 connects 22 pin that amplifier U2B outputs signal to single-chip microcomputer, forms the second tunnel sounding signal processing circuit; 4 pin of CON4 connect the positive pole of diode D3 through amplifier U3D, U3A, and the negative pole of D3 connects 23 pin that amplifier U4D outputs signal to single-chip microcomputer, forms the four tunnel sounding signal processing circuit; 3 pin of CON4 connect the positive pole of diode D4 through amplifier U3C, U3B, and the negative pole of D4 connects 22 pin that amplifier U4C outputs signal to single-chip microcomputer, form Third Road sounding signal processing circuit; 2 pin of CON4 connect the positive pole of diode D5 through amplifier U4B, U4A, and the negative pole of D5 connects 18 pin that amplifier U2D outputs signal to single-chip microcomputer, form one the tunnel and visit the wall signal processing circuit.
Pronunciation device in the present embodiment adopts buzzer B1, and 25 pin of single-chip microcomputer connect triode Q2 base stage through resistance R 58, the grounded emitter of Q2, and the colelctor electrode of Q2 meets B1.Charged battery voltage obtains the required operating voltage of circuit by socket CON8 place in circuit through electric capacity, resistance, voltage-stabiliser tube 78L05.Be connected with resistance R 95 on the positive pole of voltage input end, more respectively through resistance R 96 ground connection, through resistance R 97 capacitor C 43 ground connection, R97 draws line with the junction of C43 and links to each other with 2 pin of single-chip microcomputer, forms low-voltage detection circuit.
The automatic charger 16 of the band infrared emission in the present embodiment comprises charging circuit and infrared emission circuit two parts, as shown in Figure 5, charging circuit is with traditional identical, the infrared emission circuit comprises chip CF745, as shown in Figure 5, its 10 pin connects green LED through resistance R 2, indication is used to power on, its 12 pin connects the base stage of triode Q1 through resistance R 6, the colelctor electrode of Q1 meets infrared transmitting tube L1 through resistance R 3, be located at the cradle top, its 13 pin connects the base stage of triode Q2 through resistance R 7, and the colelctor electrode of Q2 meets infrared transmitting tube L2 through resistance R 4, and its 11 pin connects the base stage of triode Q3 through resistance R 8, the colelctor electrode of Q3 meets infrared transmitting tube L3, L2 through resistance R 5, L3 is located at cradle the right and left.
The course of work: before dust catcher was started working, the user was provided with every work that dust catcher will carry out by key circuit earlier, started then and started working.During work, single-chip microcomputer sends a signal to left and right wheel drive circuit and cleaning dust absorption drive circuit, makes dust catcher do cleaning dust absorption work while advancing; Whether the left-right collision testing circuit has barrier near detecting dust catcher simultaneously, give single-chip microcomputer with detected signal, carry out complicated judgement, calculating by the program in the single-chip microcomputer, control signal is flowed to left and right wheel drive circuit, the control left and right wheels is advanced, is retreated or turn left, turns right; On the other hand, single-chip microcomputer signals and starts the infra-red detection circuit working, survey ground, left and right wheels below and judge whether dust catcher can step on sky or whether left and right wheels the place ahead has wall, detectable signal is through the sounding signal processing circuit, visit the wall signal processing circuit and give single-chip microcomputer, carry out complicated judgement by the program in the single-chip microcomputer again, calculate, if any the sounding signal, then single-chip microcomputer sends backing signal to a left side, right wheel drive circuit retreats dust catcher, if any visiting the wall signal, then single-chip microcomputer transmits signal to a left side, right wheel drive circuit, allow a left side, right wheel action cooperates, and makes whole dust catcher make the action of advancing along wall.Be provided with all corresponding fixing sound of each duty of dust catcher in the program in the single-chip microcomputer, sent by buzzer, the user also can understand the duty of dust catcher with the sense of hearing like this.
When dust catcher had wheel to be raised because of reasons such as rollovers, mention testing circuit had signal to carry single-chip microcomputer at once, and single-chip microcomputer is made the shutdown judgement quits work whole dust catcher.Be placed on infrared ray virtual wall generation circuit near the doorway of opening door or do not want the zone that allows dust catcher go to, when dust catcher drives to these zones, single-chip microcomputer receives the infrared ray metope signal that infrared ray virtual wall generation circuit produces by infrared radiation receiving circuit, handle through internal processes, send signal and give left and right wheel drive circuit, stop wheel to go to these zones.When electric quantity of rechargeable battery is not enough, low-voltage detection circuit sends to single-chip microcomputer with detected low voltage signal, single-chip microcomputer judges the bearing signal that the automatic charger of the band infrared emission that reception receives by infrared radiation receiving circuit sends, and treatedly again control signal is flowed to left and right wheel drive circuit finds cradle to charge automatically.
When the dust catcher work of control circuit of the present invention is housed, do not need the user to follow the tracks of manipulation, be provided with when only needing start, close machine after finishing the dust suction cleaning, people are freed from loaded down with trivial details cleaning works, save modern life valuable time, really realize intellectuality, the full-automation of dust catcher.
Claims (3)
1. the control circuit of a fully-automatic cleaner, it is characterized in that with single chip machine controlling circuit (1) be core, be connected with left-right collision testing circuit (2), key circuit (11), infra-red detection circuit (7) on it, visit wall signal processing circuit (9), sounding signal processing circuit (8), mention testing circuit (10), infrared radiation receiving circuit (14), low-voltage detection circuit (13), revolver drive circuit (3), right wheel drive circuit (4), cleaning dust absorption drive circuit (5), pronunciation device (12); Left-right collision testing circuit (2) flows to single-chip microcomputer with detected signal, carry out complicated judgement, calculating by the program in the single-chip microcomputer, control signal is flowed to the revolver drive circuit (3) that links to each other with revolver, the right wheel drive circuit (4) and the cleaning dust absorption drive circuit (5) that link to each other with right side wheel; Single chip machine controlling circuit (1) sends enabling signal and carries out infra-red detection to infra-red detection circuit (7), infra-red detection circuit (7) is given the signal that detects sounding signal processing circuit (8) again, visit wall signal processing circuit (9), single chip machine controlling circuit (1) receives the signal that sounding signal processing circuit (8) is sent here, handle through internal processes, again control signal is flowed to a left side, right wheel drive circuit (3,4) drive a left side, right wheel is made the action that stops or retreating, single chip machine controlling circuit (1) receives visits the signal that wall signal processing circuit (9) is sent here, handle through internal processes, again control signal is flowed to a left side, right wheel drive circuit (3,4), allow a left side, right wheel action cooperates, and makes whole dust catcher make the action of advancing along wall; Mention wheel that testing circuit (10) detects dust catcher when being raised, send a signal to single chip machine controlling circuit (1), single-chip microcomputer judges the output stopping signal, and dust catcher quits work; The control circuit of described fully-automatic cleaner also is provided with infrared ray virtual wall generation circuit (15), described infrared radiation receiving circuit (14) flows to described single chip machine controlling circuit (1) with the signal of the infrared ray virtual wall sensed, single chip machine controlling circuit (1) judges, control signal is flowed to left and right wheel drive circuit (3,4), stop dust catcher to advance; The power circuit (6) of powering for whole dust catcher adopts rechargeable battery powered, power circuit (6) links to each other with low-voltage detection circuit (13), the infrared signal that the automatic charger (16) of the band infrared emission that infrared radiation receiving circuit (14) reception is supporting with it sends also flows to single chip machine controlling circuit (1), low-voltage detection circuit (13) flows to single chip machine controlling circuit (1) with detected low voltage signal, single-chip microcomputer is handled the orientation of the automatic charger (16) of judging the band infrared emission through internal processes, output signal to a left side, right wheel drive circuit (3,4), find automatic charger to charge automatically.
2. the control circuit of fully-automatic cleaner according to claim 1, it is characterized in that described single chip machine controlling circuit (1) is PIC series monolithic and peripheral circuit thereof, described revolver drive circuit (3) comprises triode Q3, Q13, Q7, Q17, be parallel with diode D14 respectively on four triodes, D12, D15, D13, Q3 links to each other with the colelctor electrode of Q13, Q7 links to each other with the colelctor electrode of Q17 and connects the revolver drive motors again, Q13, after linking to each other, the emitter stage of Q17 connects the voltage input, Q3, ground connection after the emitter stage of Q7 links to each other, the base stage of Q17 is through resistance R 6, triode Q23, resistance R 67 connects the colelctor electrode of triode Q11, the base stage of Q13 is through resistance R 10, triode Q24, resistance R 69 connects the colelctor electrode of triode Q14, Q11, the emitter stage of Q14 connects 12 pin of single-chip microcomputer, the base stage of Q11 connects 3 pin of single-chip microcomputer through resistance R 63, the base stage of Q14 is through resistance R 7, triode Q4, resistance R 64 connects 3 pin of single-chip microcomputer, the emitter stage of Q23 links to each other with the base stage of Q3, and the emitter stage of Q24 links to each other with the base stage of Q7.
3. the control circuit of fully-automatic cleaner according to claim 1, it is characterized in that described single chip machine controlling circuit (1) is PIC series monolithic and peripheral circuit thereof, described cleaning dust absorption drive circuit (5) comprises FET Q21, its grid links to each other with resistance R 86, its source electrode is through resistance R 102, R103, ground connection behind the parallel circuit of R104, the cleaning dust absorption motor is exported in its drain electrode, the other end of resistance R 86 connects 5 pin of single-chip microcomputer, described left-right collision testing circuit (2) is by light emitting diode A1 series resistance R99, phototriode Q19 series resistance R100, light emitting diode A2 series resistance R98, phototriode Q20 series resistance R101 four tunnel composes in parallel, parallel circuit one termination VCC, other end ground connection, and the junction of R100 and Q19, the junction of R101 and Q20 is drawn signal and is connect 16 of single-chip microcomputer, 17 pin.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2006100500629A CN100372494C (en) | 2006-03-29 | 2006-03-29 | Control circuit of fully-automatic cleaner |
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2006100500629A CN100372494C (en) | 2006-03-29 | 2006-03-29 | Control circuit of fully-automatic cleaner |
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| CN1849989A CN1849989A (en) | 2006-10-25 |
| CN100372494C true CN100372494C (en) | 2008-03-05 |
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| CNB2006100500629A Expired - Fee Related CN100372494C (en) | 2006-03-29 | 2006-03-29 | Control circuit of fully-automatic cleaner |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101446832B (en) * | 2007-11-27 | 2011-05-18 | 常州新区常工电子计算机有限公司 | Control method of automatic obstacle-avoiding of robot cleaner |
| JP5786113B2 (en) * | 2010-06-02 | 2015-09-30 | パナソニックＩｐマネジメント株式会社 | Electric vacuum cleaner |
| KR101021267B1 (en) * | 2010-09-20 | 2011-03-11 | 주식회사 모뉴엘 | Cleaning robot system and its method for controlling |
| CN105137992B (en) * | 2015-09-02 | 2018-12-28 | 深圳朗特智能控制股份有限公司 | The control system and its control method and control circuit board of Intelligent cleaning robot |
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| CN1849989A (en) | 2006-10-25 |
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