CN111214166A - Automatic walking type dust collector - Google Patents
Automatic walking type dust collector Download PDFInfo
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- CN111214166A CN111214166A CN201811408369.0A CN201811408369A CN111214166A CN 111214166 A CN111214166 A CN 111214166A CN 201811408369 A CN201811408369 A CN 201811408369A CN 111214166 A CN111214166 A CN 111214166A
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- 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
- A47L5/00—Structural features of suction cleaners
- A47L5/12—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum
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- 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
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The invention relates to an automatic walking type dust collector, comprising: the dust storage box is arranged at the rear end of the dust collector and is used for storing dust and sundries absorbed by the dust collector; the dust full indicator is embedded in the shell of the dust collector and is used for sending a dust full indicating signal under the condition that the dust storage box is full of capacity; the driving motor is arranged at the bottom end of the dust collector and used for driving a driving wheel of the dust collector based on a preset electronic route so as to control the walking position of the dust collector in a room; the CF storage card is arranged in the shell of the dust collector, is connected with the driving motor, and is used for storing the preset electronic route and providing the preset electronic route for the driving motor; and the rate control device is respectively connected with the pattern recognition device and the driving motor and is used for determining the real-time rotation rate of the driving motor based on the brightness weighing value, and the larger the brightness weighing value is, the lower the real-time rotation rate is. By the invention, the high-pollution area is fully cleaned.
Description
Technical Field
The invention relates to the field of walking dust collectors, in particular to an automatic walking dust collector.
Background
The finer the filter material of the dust collector is, the cleaner the dust collector can filter the air, but the poorer the air permeability is, thereby influencing the air quantity sucked by the motor and reducing the efficiency of the dust collector. But comfortable and clean is essential for the user. The filter material of the cleaner is low in air permeability and is therefore corrugated to increase the air permeability. Some of these filter materials can be repeatedly cleaned. Any filter material has a "life", that is, the micropores of the filter material have been blocked by small particles of dust after a long period of use. Therefore, the paper dust bag is ideal, can be discarded after use, and is sanitary and convenient. The fibers of the cloth dust filter bag are hardened after being cleaned, and the filtering effect and the ventilation effect are influenced. The SMS three-layer composite filter material is washable, but has slightly lower air permeability.
Disclosure of Invention
The invention provides an automatic walking type dust collector, aiming at solving the technical problem that the walking type dust collector in the prior art walks at a uniform speed regardless of the specific pollution condition of a target to be cleaned.
For this reason, the present invention needs to have the following two key points:
(1) determining the real-time rotation speed of a driving motor of the walking dust collector based on the absolute value of the difference between the overall brightness of the carpet pattern extracted in real time and the overall brightness of the carpet reference pattern, wherein the larger the brightness weighing value is, the lower the real-time rotation speed is, so that the carpet area with more dust can be carefully cleaned at a low speed;
(2) in specific carpet pattern recognition, image patches with valid data are selected for reference and use based on the degree of deviation of R luminance values in the RGB color space.
According to an aspect of the present invention, there is provided a self-propelled cleaner including:
the dust storage box is arranged at the rear end of the dust collector and is used for storing dust and sundries absorbed by the dust collector; the dust full indicator is embedded in the shell of the dust collector, is connected with the dust storage box and is used for sending a dust full indicating signal under the condition that the capacity of the dust storage box is full.
More specifically, in the autonomous traveling type cleaner, further comprising:
and the driving motor is arranged at the bottom end of the dust collector and used for driving a driving wheel of the dust collector based on a preset electronic route so as to control the walking position of the dust collector in a room.
More specifically, in the autonomous traveling type cleaner, further comprising:
and the CF storage card is arranged in the shell of the dust collector, is connected with the driving motor, and is used for storing the preset electronic route and providing the preset electronic route for the driving motor.
More specifically, in the autonomous traveling type cleaner, further comprising:
the embedded camera is arranged at the bottom end of the dust collector and is used for shooting the bottom of the dust collector in real time to obtain an image of the bottom of the dust collector; the real-time filtering equipment is connected with the embedded camera and used for performing filtering processing on the bottom image of the dust collector based on the noise distribution condition of the bottom image of the dust collector to obtain a real-time filtering image; the noise analysis equipment is connected with the real-time filtering equipment and is used for counting the noise types with the amplitude values exceeding a limited amount in the bottom image of the dust collector to obtain the corresponding total noise number; the debris extraction device is connected with the noise analysis device and used for determining the corresponding image debris size based on the total noise so as to divide the bottom image of the dust collector into a plurality of image debris with determined sizes; in the patch extraction device, the size of the corresponding image patch determined based on the total number of the noises is a square; a color measuring device connected to the patch extracting device for performing the following operations for each image patch: acquiring one or more object components in each image fragment, wherein each object component is used for forming a certain object in the bottom image of the dust collector, and performing mean value calculation on red brightness values of all pixel points of one or more object components to obtain a fragment color mean value; the color comparison equipment is used for carrying out mean value calculation on the red brightness values of all pixel points of the bottom image of the dust collector to obtain a background color mean value, taking image fragments of which the fragment color mean value deviates from the background color mean value by a preset difference value as reference fragments, and outputting one or more reference fragments; an adaptive smoothing device connected to the color comparison device, configured to receive the one or more reference patches, and perform the following processing for each reference patch: analyzing the mutation grade of the reference fragment to obtain a corresponding self-adaptive smooth fragment by adopting a smoothing process of a smoothing intensity which is in direct proportion to the mutation grade of the reference fragment; the adaptive smoothing device is further configured to output one or more adaptive smoothing patches corresponding to the one or more reference patches, respectively; the color level processing device is connected with the self-adaptive smoothing device and is used for receiving the one or more self-adaptive smoothing fragments and respectively executing color level adjustment on the one or more self-adaptive smoothing fragments so as to obtain one or more corresponding color level processing fragments; the pattern recognition device is connected with the tone scale processing device and used for extracting a plurality of sub-images matched with the shape of the carpet reference pattern from the one or more tone scale processing fragments based on the shape of the carpet reference pattern, determining the overall brightness of each sub-pattern and the overall brightness of the carpet reference pattern, taking the overall brightness which is the largest in difference with the overall brightness of the carpet reference pattern in a plurality of overall brightnesses respectively corresponding to the sub-patterns as target overall brightness, and acquiring the absolute value of the difference between the target overall brightness and the overall brightness of the carpet reference pattern to serve as a brightness weighing value; and the rate control device is respectively connected with the pattern recognition device and the driving motor and is used for determining the real-time rotation rate of the driving motor based on the brightness weighing value, and the larger the brightness weighing value is, the lower the real-time rotation rate is.
More specifically, in the autonomous traveling type cleaner: the color measurement equipment is also used for acquiring a red brightness value, a blue brightness value and a yellow brightness value of each pixel point in the bottom image of the dust collector; the self-adaptive smoothing device is realized by a DSP processing chip, and a register and a memory are arranged in the DSP processing chip.
More specifically, in the autonomous traveling type cleaner: the real-time filtering equipment comprises a quality analyzing component and a quality processing component, and the quality analyzing component is connected with the quality processing component.
More specifically, in the autonomous traveling type cleaner: the quality analysis component is used for receiving the bottom image of the dust collector, analyzing the noise in the bottom image of the dust collector to obtain the amplitude of various noises, and determining the quality grade of the bottom image of the dust collector based on the amplitude of various noises.
More specifically, in the autonomous traveling type cleaner: the quality processing assembly is used for equally dividing the bottom image of the dust collector into blocks with corresponding block sizes based on the distance between the quality grade and a preset lower limit quality grade when the quality grade is lower than or equal to the preset lower limit quality grade, selecting corresponding median filtering processing with different times based on the pixel value variance of each block for each block to obtain filtering blocks, and combining the obtained filtering blocks to obtain a real-time filtering image; the quality processing component is also used for performing single median filtering processing on the whole bottom image of the dust collector to obtain a real-time filtering image when the quality grade is higher than a preset lower limit quality grade; the selecting corresponding median filtering processes of different times based on the variance of the pixel values of the block to obtain a filtered block comprises: for each block, the greater the variance of the pixel values of the block, the fewer the number of median filtering processes are selected.
More specifically, in the autonomous traveling type cleaner: the quality processing component consists of a grade receiving sub-device, a block processing sub-device, a median filtering sub-device and an image output sub-device; in the quality processing component, the block processing sub-device is connected to the level receiving sub-device and the median filtering sub-device, and the image output sub-device is connected to the median filtering sub-device.
More specifically, in the autonomous traveling type cleaner: in the quality processing component, the block processing sub-device is configured to equally divide the vacuum cleaner bottom image into respective blocks of respective block sizes based on the distance of the quality grade from the preset lower limit quality grade; wherein, in the quality processing component, the operating parameters of the median filtering sub-device are configurable.
Detailed Description
Hereinafter, embodiments of the autonomous traveling type cleaner according to the present invention will be described in detail.
The filtering modes of the dust collector comprise dust bag filtering and water filtering.
The dust bag filters the vacuum airflow separation rubbish and gas through the high-speed rotatory motor, and filtration materials such as rethread HEPA purify air to cause secondary pollution. The advantage is that the dust bag does not need to be replaced frequently; the disadvantage is that cleaning is needed after dust collection. 99.99% of particles with a size as low as 0.3 micron are filtered out, the vacuum degree of a dust collector using the dust collection bag is reduced along with the use time, so that the suction force is reduced, and the dust collection bag cannot be replaced every time the dust collection bag is used by a user, so that microorganisms such as mites can grow in the dust collection bag, and the mites can secondarily pollute the surrounding environment when the dust collection bag is cleaned. The dust bag is used as a filter, is convenient to clean, does not need to be cleaned every day, and is suitable for the automobile beauty and cleanness industry of a factory and a hotel. The defects are that the time is long, the filtering capacity of the dust bag is reduced to some extent, pores of the cloth can be opened, the filtering capacity is seriously reduced, and the dust bag needs to be replaced.
Water filtration uses water as the filter medium so that most of the dust and microorganisms are dissolved and locked in the water when passing through the filter, and the rest is further filtered after passing through the filter, so that the exhaust air discharged from the cleaner is likely to be cleaner than the air sucked in. The filtering dust collector effect of the water filtering dust collector is undoubted, but the water is used as a filtering medium, so higher requirements are put on the design of the product and the waterproof protection of the motor, and the important reason why the water filtering dust collector has different quality and high price in the market is also the difference.
In order to overcome the defects, the invention builds the automatic walking type dust collector and can effectively solve the corresponding technical problem.
The autonomous traveling type cleaner according to the embodiment of the present invention includes:
the dust storage box is arranged at the rear end of the dust collector and is used for storing dust and sundries absorbed by the dust collector;
the dust full indicator is embedded in the shell of the dust collector, is connected with the dust storage box and is used for sending a dust full indicating signal under the condition that the capacity of the dust storage box is full.
Next, a specific configuration of the autonomous vacuum cleaner of the present invention will be described further.
In the autonomous traveling type cleaner, further comprising:
and the driving motor is arranged at the bottom end of the dust collector and used for driving a driving wheel of the dust collector based on a preset electronic route so as to control the walking position of the dust collector in a room.
In the autonomous traveling type cleaner, further comprising:
and the CF storage card is arranged in the shell of the dust collector, is connected with the driving motor, and is used for storing the preset electronic route and providing the preset electronic route for the driving motor.
In the autonomous traveling type cleaner, further comprising:
the embedded camera is arranged at the bottom end of the dust collector and is used for shooting the bottom of the dust collector in real time to obtain an image of the bottom of the dust collector;
the real-time filtering equipment is connected with the embedded camera and used for performing filtering processing on the bottom image of the dust collector based on the noise distribution condition of the bottom image of the dust collector to obtain a real-time filtering image;
the noise analysis equipment is connected with the real-time filtering equipment and is used for counting the noise types with the amplitude values exceeding a limited amount in the bottom image of the dust collector to obtain the corresponding total noise number;
the debris extraction device is connected with the noise analysis device and used for determining the corresponding image debris size based on the total noise so as to divide the bottom image of the dust collector into a plurality of image debris with determined sizes; in the patch extraction device, the size of the corresponding image patch determined based on the total number of the noises is a square;
a color measuring device connected to the patch extracting device for performing the following operations for each image patch: acquiring one or more object components in each image fragment, wherein each object component is used for forming a certain object in the bottom image of the dust collector, and performing mean value calculation on red brightness values of all pixel points of one or more object components to obtain a fragment color mean value;
the color comparison equipment is used for carrying out mean value calculation on the red brightness values of all pixel points of the bottom image of the dust collector to obtain a background color mean value, taking image fragments of which the fragment color mean value deviates from the background color mean value by a preset difference value as reference fragments, and outputting one or more reference fragments;
an adaptive smoothing device connected to the color comparison device, configured to receive the one or more reference patches, and perform the following processing for each reference patch: analyzing the mutation grade of the reference fragment to obtain a corresponding self-adaptive smooth fragment by adopting a smoothing process of a smoothing intensity which is in direct proportion to the mutation grade of the reference fragment;
the adaptive smoothing device is further configured to output one or more adaptive smoothing patches corresponding to the one or more reference patches, respectively;
the color level processing device is connected with the self-adaptive smoothing device and is used for receiving the one or more self-adaptive smoothing fragments and respectively executing color level adjustment on the one or more self-adaptive smoothing fragments so as to obtain one or more corresponding color level processing fragments;
the pattern recognition device is connected with the tone scale processing device and used for extracting a plurality of sub-images matched with the shape of the carpet reference pattern from the one or more tone scale processing fragments based on the shape of the carpet reference pattern, determining the overall brightness of each sub-pattern and the overall brightness of the carpet reference pattern, taking the overall brightness which is the largest in difference with the overall brightness of the carpet reference pattern in a plurality of overall brightnesses respectively corresponding to the sub-patterns as target overall brightness, and acquiring the absolute value of the difference between the target overall brightness and the overall brightness of the carpet reference pattern to serve as a brightness weighing value;
and the rate control device is respectively connected with the pattern recognition device and the driving motor and is used for determining the real-time rotation rate of the driving motor based on the brightness weighing value, and the larger the brightness weighing value is, the lower the real-time rotation rate is.
In the self-propelled cleaner: the color measurement equipment is also used for acquiring a red brightness value, a blue brightness value and a yellow brightness value of each pixel point in the bottom image of the dust collector;
the self-adaptive smoothing device is realized by a DSP processing chip, and a register and a memory are arranged in the DSP processing chip.
In the self-propelled cleaner: the real-time filtering equipment comprises a quality analyzing component and a quality processing component, and the quality analyzing component is connected with the quality processing component.
In the self-propelled cleaner: the quality analysis component is used for receiving the bottom image of the dust collector, analyzing the noise in the bottom image of the dust collector to obtain the amplitude of various noises, and determining the quality grade of the bottom image of the dust collector based on the amplitude of various noises.
In the self-propelled cleaner: the quality processing assembly is used for equally dividing the bottom image of the dust collector into blocks with corresponding block sizes based on the distance between the quality grade and a preset lower limit quality grade when the quality grade is lower than or equal to the preset lower limit quality grade, selecting corresponding median filtering processing with different times based on the pixel value variance of each block for each block to obtain filtering blocks, and combining the obtained filtering blocks to obtain a real-time filtering image; the quality processing component is also used for performing single median filtering processing on the whole bottom image of the dust collector to obtain a real-time filtering image when the quality grade is higher than a preset lower limit quality grade; the selecting corresponding median filtering processes of different times based on the variance of the pixel values of the block to obtain a filtered block comprises: for each block, the greater the variance of the pixel values of the block, the fewer the number of median filtering processes are selected.
In the self-propelled cleaner: the quality processing component consists of a grade receiving sub-device, a block processing sub-device, a median filtering sub-device and an image output sub-device;
in the quality processing component, the block processing sub-device is connected to the level receiving sub-device and the median filtering sub-device, and the image output sub-device is connected to the median filtering sub-device.
In the self-propelled cleaner: in the quality processing component, the block processing sub-device is configured to equally divide the vacuum cleaner bottom image into respective blocks of respective block sizes based on the distance of the quality grade from the preset lower limit quality grade;
wherein, in the quality processing component, the operating parameters of the median filtering sub-device are configurable.
In addition, according to the requirement of digital signal processing, the DSP processing chip generally has some main features as follows: (1) one multiply and one add may be done in one instruction cycle. (2) The program and data spaces are separate and instructions and data may be accessed simultaneously. (3) On-chip with fast RAM, it is usually accessible in two blocks simultaneously via separate data buses. (4) Hardware support with low or no overhead loops and jumps. (5) Fast interrupt handling and hardware I/O support. (6) There are multiple hardware address generators operating in a single cycle. (7) Multiple operations may be performed in parallel. (8) And pipeline operation is supported, so that the operations of fetching, decoding, executing and the like can be executed in an overlapping way.
By adopting the automatic walking type dust collector, aiming at the technical problem that the self-adaptive cleaning capability of the walking type dust collector in the prior art is poor, the real-time rotation speed of the driving motor of the walking type dust collector is determined by the absolute value of the difference between the overall brightness of the carpet pattern extracted in real time and the overall brightness of the carpet reference pattern, and the larger the brightness weighing value is, the lower the real-time rotation speed is, so that the carpet area with more dust can be carefully cleaned at a low speed; meanwhile, in the specific carpet pattern recognition, based on the deviation degree of the R brightness value in the RGB color space, image fragments with effective data are selected for reference and use; thereby solving the technical problem.
It is to be understood that while the present invention has been described in conjunction with the preferred embodiments thereof, it is not intended to limit the invention to those embodiments. It will be apparent to those skilled in the art from this disclosure that many changes and modifications can be made, or equivalents modified, in the embodiments of the invention without departing from the scope of the invention. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the scope of the protection of the technical solution of the present invention, unless the contents of the technical solution of the present invention are departed.
Claims (10)
1. An autonomous walking vacuum cleaner, comprising:
the dust storage box is arranged at the rear end of the dust collector and is used for storing dust and sundries absorbed by the dust collector;
the dust full indicator is embedded in the shell of the dust collector, is connected with the dust storage box and is used for sending a dust full indicating signal under the condition that the capacity of the dust storage box is full.
2. The autonomous walking vacuum cleaner of claim 1, further comprising:
and the driving motor is arranged at the bottom end of the dust collector and used for driving a driving wheel of the dust collector based on a preset electronic route so as to control the walking position of the dust collector in a room.
3. The autonomous walk-behind cleaner of claim 2, further comprising:
and the CF storage card is arranged in the shell of the dust collector, is connected with the driving motor, and is used for storing the preset electronic route and providing the preset electronic route for the driving motor.
4. The autonomous walking vacuum cleaner of claim 3, further comprising:
the embedded camera is arranged at the bottom end of the dust collector and is used for shooting the bottom of the dust collector in real time to obtain an image of the bottom of the dust collector;
the real-time filtering equipment is connected with the embedded camera and used for performing filtering processing on the bottom image of the dust collector based on the noise distribution condition of the bottom image of the dust collector to obtain a real-time filtering image;
the noise analysis equipment is connected with the real-time filtering equipment and is used for counting the noise types with the amplitude values exceeding a limited amount in the bottom image of the dust collector to obtain the corresponding total noise number;
the debris extraction device is connected with the noise analysis device and used for determining the corresponding image debris size based on the total noise so as to divide the bottom image of the dust collector into a plurality of image debris with determined sizes; in the patch extraction device, the size of the corresponding image patch determined based on the total number of the noises is a square;
a color measuring device connected to the patch extracting device for performing the following operations for each image patch: acquiring one or more object components in each image fragment, wherein each object component is used for forming a certain object in the bottom image of the dust collector, and performing mean value calculation on red brightness values of all pixel points of one or more object components to obtain a fragment color mean value;
the color comparison equipment is used for carrying out mean value calculation on the red brightness values of all pixel points of the bottom image of the dust collector to obtain a background color mean value, taking image fragments of which the fragment color mean value deviates from the background color mean value by a preset difference value as reference fragments, and outputting one or more reference fragments;
an adaptive smoothing device connected to the color comparison device, configured to receive the one or more reference patches, and perform the following processing for each reference patch: analyzing the mutation grade of the reference fragment to obtain a corresponding self-adaptive smooth fragment by adopting a smoothing process of a smoothing intensity which is in direct proportion to the mutation grade of the reference fragment;
the adaptive smoothing device is further configured to output one or more adaptive smoothing patches corresponding to the one or more reference patches, respectively;
the color level processing device is connected with the self-adaptive smoothing device and is used for receiving the one or more self-adaptive smoothing fragments and respectively executing color level adjustment on the one or more self-adaptive smoothing fragments so as to obtain one or more corresponding color level processing fragments;
the pattern recognition device is connected with the tone scale processing device and used for extracting a plurality of sub-images matched with the shape of the carpet reference pattern from the one or more tone scale processing fragments based on the shape of the carpet reference pattern, determining the overall brightness of each sub-pattern and the overall brightness of the carpet reference pattern, taking the overall brightness which is the largest in difference with the overall brightness of the carpet reference pattern in a plurality of overall brightnesses respectively corresponding to the sub-patterns as target overall brightness, and acquiring the absolute value of the difference between the target overall brightness and the overall brightness of the carpet reference pattern to serve as a brightness weighing value;
and the rate control device is respectively connected with the pattern recognition device and the driving motor and is used for determining the real-time rotation rate of the driving motor based on the brightness weighing value, and the larger the brightness weighing value is, the lower the real-time rotation rate is.
5. The autonomous walking vacuum cleaner as claimed in claim 4, wherein:
the color measurement equipment is also used for acquiring a red brightness value, a blue brightness value and a yellow brightness value of each pixel point in the bottom image of the dust collector;
the self-adaptive smoothing device is realized by a DSP processing chip, and a register and a memory are arranged in the DSP processing chip.
6. The autonomous walking vacuum cleaner as claimed in claim 5, wherein:
the real-time filtering equipment comprises a quality analyzing component and a quality processing component, and the quality analyzing component is connected with the quality processing component.
7. The autonomous walking vacuum cleaner as claimed in claim 6, wherein:
the quality analysis component is used for receiving the bottom image of the dust collector, analyzing the noise in the bottom image of the dust collector to obtain the amplitude of various noises, and determining the quality grade of the bottom image of the dust collector based on the amplitude of various noises.
8. The autonomous walking vacuum cleaner as claimed in claim 7, wherein:
the quality processing assembly is used for equally dividing the bottom image of the dust collector into blocks with corresponding block sizes based on the distance between the quality grade and a preset lower limit quality grade when the quality grade is lower than or equal to the preset lower limit quality grade, selecting corresponding median filtering processing with different times based on the pixel value variance of each block for each block to obtain filtering blocks, and combining the obtained filtering blocks to obtain a real-time filtering image; the quality processing component is also used for performing single median filtering processing on the whole bottom image of the dust collector to obtain a real-time filtering image when the quality grade is higher than a preset lower limit quality grade; the selecting corresponding median filtering processes of different times based on the variance of the pixel values of the block to obtain a filtered block comprises: for each block, the greater the variance of the pixel values of the block, the fewer the number of median filtering processes are selected.
9. The autonomous walking vacuum cleaner as claimed in claim 8, wherein:
the quality processing component consists of a grade receiving sub-device, a block processing sub-device, a median filtering sub-device and an image output sub-device;
in the quality processing component, the block processing sub-device is connected to the level receiving sub-device and the median filtering sub-device, and the image output sub-device is connected to the median filtering sub-device.
10. The autonomous walking vacuum cleaner as claimed in claim 9, wherein:
in the quality processing component, the block processing sub-device is configured to equally divide the vacuum cleaner bottom image into respective blocks of respective block sizes based on the distance of the quality grade from the preset lower limit quality grade;
wherein, in the quality processing component, the operating parameters of the median filtering sub-device are configurable.
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| CN201811408369.0A CN111214166B (en) | 2018-11-23 | 2018-11-23 | Automatic walking type dust collector |
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| CN201811408369.0A CN111214166B (en) | 2018-11-23 | 2018-11-23 | Automatic walking type dust collector |
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| CN101137793A (en) * | 2004-12-06 | 2008-03-05 | 应用清扫设备有限公司 | Dust control system |
| EP2023788B1 (en) * | 2006-05-19 | 2011-09-07 | iRobot Corporation | Removing debris from cleaning robots |
| CN204950818U (en) * | 2015-04-15 | 2016-01-13 | 小米科技有限责任公司 | Dedusting device |
| CN206228293U (en) * | 2016-06-17 | 2017-06-09 | 九阳股份有限公司 | The dust-full detecting system of sweeping robot |
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