CN107397512B - Combined robot and combined control method thereof - Google Patents

Combined robot and combined control method thereof Download PDF

Info

Publication number
CN107397512B
CN107397512B CN201610333119.XA CN201610333119A CN107397512B CN 107397512 B CN107397512 B CN 107397512B CN 201610333119 A CN201610333119 A CN 201610333119A CN 107397512 B CN107397512 B CN 107397512B
Authority
CN
China
Prior art keywords
robot
combined
functional module
self
control center
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201610333119.XA
Other languages
Chinese (zh)
Other versions
CN107397512A (en
Inventor
孟繁明
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ecovacs Robotics Suzhou Co Ltd
Original Assignee
Ecovacs Robotics Suzhou Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ecovacs Robotics Suzhou Co Ltd filed Critical Ecovacs Robotics Suzhou Co Ltd
Priority to CN201610333119.XA priority Critical patent/CN107397512B/en
Priority to PCT/CN2017/085046 priority patent/WO2017198213A1/en
Publication of CN107397512A publication Critical patent/CN107397512A/en
Application granted granted Critical
Publication of CN107397512B publication Critical patent/CN107397512B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Landscapes

  • Electric Vacuum Cleaner (AREA)
  • Manipulator (AREA)

Abstract

The utility model provides a combination robot, includes from mobile robot (100) and functional module (200), the functional module is through connecting piece (300) detachable combination to from mobile robot, be equipped with control center in the mobile robot, from mobile robot bottom detachable installation rag subassembly (110), control center is according to the combination state of functional module and rag subassembly control combination robot work. According to the invention, the combined robot is controlled to work through the control center according to the combined state of the functional module and the rag component, so that the smooth operation of the combined robot is ensured.

Description

Combined robot and combined control method thereof
Technical Field
The invention relates to a combined robot and a combined control method thereof, and belongs to the technical field of manufacturing intelligent household appliances.
Background
The existing floor sweeping robot is generally provided with a rag at the rear side of the bottom of the machine body, so that the robot can conveniently wipe the ground when sweeping the floor. As the demand of users increases, a multifunctional robot has been developed, such as a multifunctional robot disclosed in patent number CN201248671Y, which has various functions of monitoring, air purification, cleaning, etc.
However, as the functional module increases, the greater its weight, the more inconvenient it is to walk. If the multifunctional robot is provided with a mopping rag component, the robot can not walk due to the fact that the friction coefficient between the rag component and the ground is large.
Disclosure of Invention
The invention aims to solve the technical problem of providing a combined robot and a combined control method thereof, aiming at the defects of the prior art, and the combined robot is controlled to work through a control center according to the combined state of a functional module and a rag component, so that the smooth operation of the combined robot is ensured.
The technical problems to be solved by the invention are realized by the following technical scheme:
the invention provides a combined robot which comprises a self-moving robot and a functional module, wherein the functional module is detachably combined to the self-moving robot through a connecting piece, a control center is arranged in the self-moving robot, a rag component is detachably arranged at the bottom of the self-moving robot, and the control center controls the combined robot to work according to the combination state of the functional module and the rag component.
Specifically, the self-moving robot, the functional module and the rag component are combined at the same time, and the control center judges that the combined robot is in an abnormal working state; the self-moving robot is combined with one of the functional module or the rag component, and the control center judges that the combined robot is in a normal working state.
Alternatively, the functional modules include a first functional module and/or a second functional module, the first functional module having a weight and/or height greater than the second functional module; the self-moving robot, the first functional module and the rag component are combined at the same time, and the control center judges that the combined robot is in an abnormal working state; the self-moving robot is combined with one of the first functional module or the cleaning cloth component, and the control center judges that the combined robot is in a normal working state.
In order to identify the category of the functional module, the self-moving robot is provided with a plurality of first electronic contacts, the functional module is connected with a control center through the first electronic contacts, and the control center identifies the functional module and controls the work of the functional module according to signals transmitted by the first electronic contacts.
Preferably, the self-moving robot is further provided with an alarm module, the control center judges that the combined robot is in an abnormal working state, and the control center controls the alarm module to alarm.
In order to detect the combination state of the rag component, the combined robot is provided with a sensor component which is connected with a control center, and the sensor component is used for detecting whether the rag component is arranged at the bottom of the self-moving robot and sending a detection signal to the control center.
Preferably, the sensor component is a micro switch, a hall element or an optocoupler element.
Or, be equipped with the second electronic contact who is connected with control center on the combination robot, be equipped with corresponding response end on the rag subassembly, whether the second electronic contact detects the rag subassembly and installs in from mobile robot bottom and send detection signal for control center.
Or, be equipped with the scanning end of being connected with control center on the combination robot, be equipped with corresponding two-dimensional code on the rag subassembly, the scanning end detects whether the rag subassembly is installed in from mobile robot bottom and sends detection signal for control center.
The invention also provides a combined control method of the combined robot, the combined robot comprises a self-moving robot and a functional module, the functional module is detachably combined to the self-moving robot through a connecting piece, a control center is arranged in the self-moving robot, a rag component is detachably arranged at the bottom of the self-moving robot, and the control center recognizes that the functional module and the rag component are both combined to the self-moving robot, and controls the combined robot to stop running or/and alarm.
The invention also provides a combined control method of the combined robot, the combined robot comprises a self-moving robot and a functional module, the functional module is detachably combined to the self-moving robot through a connecting piece, a control center is arranged in the self-moving robot, a rag component is detachably arranged at the bottom of the self-moving robot, the functional module comprises a first functional module and/or a second functional module, the weight and/or the height of the first functional module are/is greater than that of the second functional module, and the control center recognizes that the first functional module and the rag component are combined to the self-moving robot and controls the combined robot to stop running or/and alarm.
In summary, the invention provides a combined robot and a combined control method thereof, wherein the combined robot is controlled to work through a control center according to the combined state of a functional module and a cleaning cloth component, so that the combined robot is ensured to work smoothly.
The technical scheme of the invention is described in detail below with reference to the accompanying drawings and specific embodiments.
Drawings
FIG. 1 is an exploded view of a combined robot of the present invention;
FIG. 2 is a schematic view of the structure of the self-moving robot of the present invention;
fig. 3 is a bottom view of the combined robot of the present invention.
Detailed Description
Fig. 1 is an exploded view of a combined robot according to the present invention. As shown in fig. 1, the present invention provides a combined robot including a self-moving robot 100 and a function module 200, the function module 200 being detachably combined to the self-moving robot 100 through a connection 300. The self-mobile robot 100 is provided with a control center (not shown in the figure) for controlling the walking and cleaning functions of the self-mobile robot 100, and the self-mobile robot 100 can work independently, and the self-mobile robot is already a very mature technology in the art, such as a sweeping robot, and will not be described herein.
The functional module 200 may be any existing functional module, for example, one or a combination of a security module, a humidification module, and a purification module. The security module comprises a camera and a communication module, wherein the camera is connected with the remote terminal through the communication module (such as a WLAN wireless access point, a router and the like), so that a user of the remote terminal can monitor the surrounding environment of the combined robot through a viewing screen. The humidifying module can spray water after atomizing, so that the surrounding environment is humidified. The purification module comprises an anion generation module, a photocatalyst catalysis module and/or a dust filtering device, so that bacteria are effectively killed, peculiar smell is removed, free particles in the air are adsorbed, and the effect of purifying the air is achieved. The above functional modules are also well known in the art and will not be described in detail herein.
The connector 300 is used to connect the self-moving robot 100 and the function module 200. For example, a plurality of bosses may be provided on the connection member 300, and corresponding grooves may be provided from the upper surface of the mobile robot 100 and the lower surface of the function module 200, respectively, such that the plurality of bosses on the connection member 300 can be embedded in the corresponding grooves, thereby combining the function module 200 at the upper portion of the mobile robot 100. The mobile robot is provided with a plurality of first electronic contacts 101, and the power on the mobile robot 100 is provided to the functional module 200 through the first electronic contacts 101 for use. The functional module is connected with a control center through the first electronic contact 101 by using a connecting piece 300, and the control center recognizes the functional module according to the signal transmitted by the first electronic contact 101 and controls the operation of the functional module.
Fig. 2 is a schematic structural view of the self-moving robot of the present invention. As shown in fig. 2, in order to enhance the cleaning function of the self-moving robot 100, the wiper assembly 110 is detachably installed at the bottom of the self-moving robot 100, and the wiper assembly 110 may be combined at the bottom of the self-moving robot 100 by means of a snap-fit. As the number or weight of the functional modules increases, the weight of the combined robot increases, and the combined robot with more functional modules or heavier functional modules cannot walk due to the larger friction coefficient between the cleaning cloth assembly 110 and the ground; or, if the height of the functional module is higher, the height of the combined robot is greatly increased, so that the robot cannot work in a plurality of areas, such as a space under a table or a tea table or a sofa (i.e. the cleaning cloth component cannot wipe the plurality of areas). In order to avoid the above problems, the control center can control the operation of the combination robot according to the combination state of the functional module and the wiper assembly, for example, a sensor assembly 111 connected to the control center may be provided on the self-moving robot 100, and the sensor assembly 111 detects whether the wiper assembly 110 is mounted on the bottom of the self-moving robot 100 and transmits a detection signal to the control center.
When one of the functional module 200 or the wiper assembly 110 is combined to the self-moving robot 100, the control center judges that the combined robot is in a normal working state, and the combined robot performs normal working tasks; when the functional module 200 and the wiper assembly 110 are simultaneously combined to the self-moving robot 100, the control center judges that the combined robot is in an abnormal operation state. When the combined robot is in an abnormal working state, the control center controls the combined robot to stop running or/and alarm. The alarm mode can be various, for example, an alarm module can be arranged on the self-moving robot, the alarm module comprises a light-emitting unit and/or a sound-emitting unit, and the control center controls the alarm module of the combined robot in an abnormal working state to alarm, send out a prompt tone or flash a prompt lamp and the like. After receiving the alarm, the user can assemble the combined robot according to actual needs, such as taking out the functional module or the rag component.
It should be added that, because of the plurality of functional modules 200, some of the functional modules have smaller weight and lower height, and the functional modules with smaller weight and lower height are combined with the cleaning cloth assembly 110 on the self-moving robot 100 at the same time, so that the normal operation of the combined robot is not affected. Therefore, in order to enable the functional module with smaller weight and/or lower height to be combined with the cleaning cloth assembly on the self-moving robot to work normally, further, in another embodiment of the present invention, the functional module 200 is divided, that is, the functional module 200 includes a first functional module and/or a second functional module, wherein the first functional module has a weight and/or a height greater than that of the second functional module, and the first functional module is one of or a combination of modules such as a humidifying module and a purifying module, and the second functional module is a security module. For example, the height of the first functional module is not less than 2 times the height of the self-moving robot, or the weight of the first functional module is not less than 1/2 of the weight of the self-moving robot. When one of the first functional module or the wiper assembly 110 is combined to the self-moving robot 100, the control center judges that the combined robot is in a normal working state, and the combined robot performs normal working tasks; when the first functional module and the wiper assembly 110 are simultaneously combined to the self-moving robot 100, the control center determines that the combined robot is in an abnormal operation state. In addition, in actual situations, all the functional modules may be the first functional module or the second functional module, if the functional modules are the first functional module, the combined robot stops running and/or alarms when the combined robot combines the functional modules and the rag component at the same time; if the first functional module is the second functional module, the combined robot still works normally when the functional module and the cleaning cloth component are combined simultaneously. The control center recognizes the type of the functional module according to the signal transmitted from the first electronic contact 101 and controls the operation thereof. Specifically, after the functional module is combined with the combined robot, the signal transmitted through the first electronic contact 101 includes a class code of the functional module, for example, a code of the humidification module is 01, a code of the purification module is 02, a code of the security module is 03, and after receiving a signal with encoded information, the control center can identify the class of the functional module, so that the combined functional module is judged to belong to the first functional module or the second functional module, and when one of the first functional module or the cleaning cloth component 110 is combined on the self-moving robot 100, the control center judges that the combined robot is in a normal working state, and the combined robot performs a normal working task; when the first functional module and the wiper assembly 110 are simultaneously combined to the self-moving robot 100, the control center determines that the combined robot is in an abnormal operation state. The above identification of the function module by sending the information containing the code of the function module is only one specific implementation, and is not limited to only that implementation. Specifically, a label can be attached to the functional module, and the self-mobile robot can identify different types of functional modules through the label; or, the self-moving robot is provided with a weight sensor, and different types of functional modules are identified by identifying different weights of the functional modules.
Fig. 3 is a bottom view of the combined robot of the present invention. Specifically, the sensor assembly 111 may be a micro switch, a hall element, an optocoupler element, or the like. The sensor assembly 111 is exemplified as a micro switch, and will be described in detail. The bottom of the self-moving robot 100 is provided with a micro switch, when the self-moving robot 100 combines the rag components 110, the micro switch is triggered, and the control center receives a signal to identify that the rag components are installed and correspondingly control the combined robot to work, in other words, the control center controls the combined robot to work according to the combined state of the combined robot.
It should be noted that the present invention is not limited to the installation position and type of the sensor assembly 111, the sensor assembly 111 may be installed on the wiper assembly, and an optocoupler element may be selected as the sensor assembly, so long as the sensor assembly can detect whether the self-moving robot 100 combines the wiper assembly 110. In addition, the combination state of the cleaning cloth assembly 110 can be detected through the second electronic contact, for example, the self-moving robot is provided with the second electronic contact connected with the control center, the cleaning cloth assembly 110 is provided with a corresponding sensing end, and the second electronic contact detects whether the cleaning cloth assembly 110 is installed at the bottom of the self-moving robot and sends a detection signal to the control center. Or, a scanning end connected with the control center is arranged on the self-moving robot, a corresponding two-dimensional code is arranged on the cleaning cloth component 110, and the scanning end detects whether the cleaning cloth component is arranged at the bottom of the self-moving robot and sends a detection signal to the control center. Of course, the self-moving robot can also recognize whether the function module is installed by the above-described various methods.
The information transfer between the functional module 200 and the self-moving robot 100 may be performed by the first electronic contact 101 for transferring signals, i.e. the first electronic contact 101 connected to the control center is used for detecting whether the functional module 200 is combined on the self-moving robot 100, but of course, a sensor assembly may be selected for detecting whether the functional module 200 is combined on the self-moving robot 100.
It should be emphasized that the above embodiments are only used to describe how the self-moving robot recognizes whether the functional module or the wiper assembly is mounted/combined on the robot, but are not limited to the above manner, and the user may use various connection manners to combine and recognize the functional module according to the actual situation, for example, the functional module and the self-moving robot may perform information transmission through wireless signals, such as wifi or bluetooth, and the self-moving robot recognizes that the functional module is combined.
The invention also provides a combined control method of the combined robot, wherein the combined robot is the combined robot, and when the control center identification function module and the cleaning cloth component are combined on the self-moving robot, the control center controls the combined robot to stop running and/or alarm.
Specifically, if the control center recognizes that the functional module and the cleaning cloth assembly are simultaneously combined on the self-moving robot, for example, due to the weight increase of the combined robot, the friction coefficient between the cleaning cloth assembly 110 and the ground is large, the combined robot cannot walk or walk inconveniently (not suitable for a walking surface such as a slope), the control center determines that the combined robot is in an abnormal working state, the combined robot stops running or/and alarms, and after receiving abnormal information, a user can assemble the combined robot according to actual needs, such as taking out the functional module or the cleaning cloth assembly.
If the control center recognizes that one of the functional modules or the cleaning cloth components is combined on the self-moving robot, the control center judges that the combined robot is in a normal working state, and the combined robot performs normal working tasks.
When the functional modules comprise a first functional module and/or a second functional module, wherein the weight and/or the height of the first functional module is/are larger than those of the second functional module, if the control center recognizes that one of the first functional module or the cleaning cloth component is combined on the self-moving robot, the control center judges that the combined robot is in a normal working state, and the combined robot performs normal working tasks; if the control center recognizes that the first functional module and the rag component are simultaneously combined on the self-moving robot, the control center judges that the combined robot is in an abnormal working state, and the control center controls the combined robot to stop running and/or alarm.
The invention provides a combined robot and a combined control method thereof, wherein the combined robot is controlled to work through a control center according to the combined state of a functional module and a rag component, so that the smooth work of the combined robot is ensured, and the situations that the combined robot cannot walk or a plurality of areas cannot work and the like are effectively prevented.

Claims (10)

1. The combined robot comprises a self-moving robot (100) and a functional module (200), wherein the functional module is detachably combined to the self-moving robot through a connecting piece (300), and a control center is arranged in the self-moving robot, and the combined robot is characterized in that a rag component (110) is detachably arranged at the bottom of the self-moving robot, and the control center controls the combined robot to work according to the combined state of the functional module and the rag component;
the self-moving robot (100), the functional module (200) and the rag component (110) are combined at the same time, and the control center judges that the combined robot is in an abnormal working state; the self-moving robot is combined with one of the functional module or the rag component, and the control center judges that the combined robot is in a normal working state.
2. The combination robot according to claim 1, wherein the functional module (200) comprises a first functional module and/or a second functional module, the first functional module having a weight and/or a height greater than that of the second functional module, the self-moving robot (100) is combined with the first functional module and the wiper assembly (110) at the same time, the control center determines that the combination robot is in an abnormal operation state, the self-moving robot is combined with one of the first functional module or the wiper assembly, and the control center determines that the combination robot is in a normal operation state.
3. The combined robot according to claim 1, characterized in that the self-moving robot (100) is provided with a plurality of first electronic contacts (101), the functional module (200) is connected with a control center through the first electronic contacts, and the control center recognizes the functional module according to signals transmitted by the first electronic contacts and controls the operation of the functional module.
4. The combined robot according to claim 1 or 2, wherein the self-moving robot is further provided with an alarm module, the control center judges that the combined robot is in an abnormal working state, and the control center controls the alarm module to alarm.
5. The combined robot according to claim 1, wherein the combined robot is provided with a sensor assembly (111) connected with a control center, and the sensor assembly is used for detecting whether the cleaning cloth assembly (110) is installed at the bottom of the self-moving robot and sending a detection signal to the control center.
6. The combination robot according to claim 5, wherein the sensor assembly (111) is a micro switch, a hall element or an optocoupler element.
7. The combination robot according to claim 1, wherein the self-moving robot is provided with a second electronic contact connected with a control center, the rag assembly (110) is provided with a corresponding sensing end, and the second electronic contact detects whether the rag assembly is mounted at the bottom of the self-moving robot and sends a detection signal to the control center.
8. The combination robot according to claim 1, wherein the self-moving robot is provided with a scanning end connected with a control center, the rag component (110) is provided with a corresponding two-dimensional code, and the scanning end detects whether the rag component is mounted at the bottom of the self-moving robot and sends a detection signal to the control center.
9. The combined control method of the combined robot is characterized in that the combined robot comprises a self-moving robot and a functional module, the functional module is detachably combined to the self-moving robot through a connecting piece, a control center is arranged in the self-moving robot, a rag component is detachably arranged at the bottom of the self-moving robot, and when the control center recognizes that the functional module and the rag component are combined to the self-moving robot, the combined robot is controlled to stop running or/and alarm.
10. The combined control method of the combined robot is characterized in that the combined robot comprises a self-moving robot and a functional module, the functional module is detachably combined to the self-moving robot through a connecting piece, a control center is arranged in the self-moving robot, a cleaning cloth component is detachably arranged at the bottom of the self-moving robot, the functional module comprises a first functional module and/or a second functional module, the weight and/or the height of the first functional module are/is larger than that of the second functional module, and when the control center recognizes that the first functional module and the cleaning cloth component are combined to the self-moving robot, the combined robot is controlled to stop running or/and alarm.
CN201610333119.XA 2016-05-19 2016-05-19 Combined robot and combined control method thereof Active CN107397512B (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201610333119.XA CN107397512B (en) 2016-05-19 2016-05-19 Combined robot and combined control method thereof
PCT/CN2017/085046 WO2017198213A1 (en) 2016-05-19 2017-05-19 Combined robot and combination control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610333119.XA CN107397512B (en) 2016-05-19 2016-05-19 Combined robot and combined control method thereof

Publications (2)

Publication Number Publication Date
CN107397512A CN107397512A (en) 2017-11-28
CN107397512B true CN107397512B (en) 2023-09-15

Family

ID=60324774

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610333119.XA Active CN107397512B (en) 2016-05-19 2016-05-19 Combined robot and combined control method thereof

Country Status (2)

Country Link
CN (1) CN107397512B (en)
WO (1) WO2017198213A1 (en)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108272396B (en) * 2017-12-28 2020-07-28 宁波洒哇地咔电器有限公司 Intelligent floor mopping machine working state recognition control mechanism and recognition detection method
CN108451433A (en) * 2018-03-28 2018-08-28 山西嘉世达机器人技术有限公司 Scrubbing machine people
CN110448223A (en) * 2018-05-08 2019-11-15 博西华电器（江苏）有限公司 Control method, control device, cleaning equipment and the system for controlling it of cleaning equipment
CN108716204A (en) * 2018-05-25 2018-10-30 安徽风向标清洁设备有限公司 Cleaning disc mechanism for sweeper
CN108814431B (en) * 2018-05-31 2019-12-31 深圳市无限动力发展有限公司 Floor sweeping robot system and method for detecting access of water tank and garbage can
CN110464258A (en) * 2019-09-17 2019-11-19 禧涤智能(北京)科技有限公司 Intelligent cleaning robot

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4934017A (en) * 1985-07-17 1990-06-19 Rug Doctor, Inc. Modular vacuum cleaning system
CN201248671Y (en) * 2008-08-07 2009-06-03 北京晋科光技术有限公司 Combined robot with functions of monitoring, air purification and cleaning
CN102727144A (en) * 2011-03-31 2012-10-17 泰怡凯电器(苏州)有限公司 Multifunctional robot and control device and method of automatically-separated functional module of multifunctional robot
CN105433878A (en) * 2014-09-24 2016-03-30 三星电子株式会社 Robot cleaner and robot cleaner system including the same
CN205923921U (en) * 2016-05-19 2017-02-08 科沃斯机器人股份有限公司 Combination robot

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8584305B2 (en) * 2005-12-02 2013-11-19 Irobot Corporation Modular robot
US9241442B2 (en) * 2012-10-23 2016-01-26 Daniel A. DIAZDELCASTILLO Autonomous and remote control all purpose machine (ARCAPM)
CN203244339U (en) * 2013-05-06 2013-10-23 科沃斯机器人科技(苏州)有限公司 Atomization cleaning robot

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4934017A (en) * 1985-07-17 1990-06-19 Rug Doctor, Inc. Modular vacuum cleaning system
CN201248671Y (en) * 2008-08-07 2009-06-03 北京晋科光技术有限公司 Combined robot with functions of monitoring, air purification and cleaning
CN102727144A (en) * 2011-03-31 2012-10-17 泰怡凯电器(苏州)有限公司 Multifunctional robot and control device and method of automatically-separated functional module of multifunctional robot
CN105433878A (en) * 2014-09-24 2016-03-30 三星电子株式会社 Robot cleaner and robot cleaner system including the same
CN205923921U (en) * 2016-05-19 2017-02-08 科沃斯机器人股份有限公司 Combination robot

Also Published As

Publication number Publication date
CN107397512A (en) 2017-11-28
WO2017198213A1 (en) 2017-11-23

Similar Documents

Publication Publication Date Title
CN107397512B (en) Combined robot and combined control method thereof
KR102589785B1 (en) Home air purification system
US20190296931A1 (en) Home network of connected consumer devices
JP6006414B2 (en) Connected consumer device home network
JP6010226B2 (en) Connected consumer device home network
JP6166369B2 (en) Connected consumer device home network
JP6174699B2 (en) Connected consumer device home network
JP2015536055A (en) Connected consumer device home network
CN205923921U (en) Combination robot
CN204995360U (en) Clean service robot of intelligence
CN208228910U (en) A kind of Household alarm sweeping robot being integrated with IPCamera
CN206581538U (en) Floor unit, floor and Internet of Things house system
CN110638363A (en) Domestic intelligent window cleaning robot based on STM32 singlechip
CN110448223A (en) Control method, control device, cleaning equipment and the system for controlling it of cleaning equipment
CN211129159U (en) Greenhouse film light transmission detection cleaning device
CN218825231U (en) Airing machine control system and airing machine
CN214046080U (en) Multi-functional wireless bimodulus intelligence lamp
CN209692758U (en) A kind of wireless transmission enhancement device
CN212591918U (en) Multifunctional floor sweeping robot
KR101759275B1 (en) Charging device for robot cleaner
CN116269099A (en) Small-scene cleaning robot networking system

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant