CN102379657A - Cleaning method of intelligent vacuum cleaner - Google Patents
Cleaning method of intelligent vacuum cleaner Download PDFInfo
- Publication number
- CN102379657A CN102379657A CN2010102688234A CN201010268823A CN102379657A CN 102379657 A CN102379657 A CN 102379657A CN 2010102688234 A CN2010102688234 A CN 2010102688234A CN 201010268823 A CN201010268823 A CN 201010268823A CN 102379657 A CN102379657 A CN 102379657A
- Authority
- CN
- China
- Prior art keywords
- cleaning
- dust collector
- intellective
- cleaning method
- intellective dust
- 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.)
- Pending
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 52
- 238000000034 method Methods 0.000 title claims abstract description 24
- 239000000428 dust Substances 0.000 claims abstract description 68
- 238000006073 displacement reaction Methods 0.000 claims abstract description 13
- 230000004888 barrier function Effects 0.000 claims description 10
- 238000007789 sealing Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 238000010926 purge Methods 0.000 description 4
- 238000010408 sweeping Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The invention discloses a cleaning method of an intelligent vacuum cleaner, which carries out comb type cleaning along the X/Y axis in a closed roughly flat area, and when a sensor on the intelligent vacuum cleaner detects that an obstacle exists within a set distance in front of the travelling direction, the displacement M1 along the X/Y axis is determined according to the detected dust concentration. The cleaning method can avoid the phenomenon that partial area is not cleaned, so the dust collection efficiency of the vacuum cleaner is greatly improved, and batteries are more effectively utilized.
Description
Technical field
The present invention relates to a kind of cleaning method of intellective dust collector.
Background technology
In the prior art, intellective dust collector for example PCT application international publication number is that the patent application of WO0038025 is at first along the outward flange walking on ground, avoids during walking along the barrier on its path, round and round from outer inwardly cleaning.This method can't be handled for the plural independent barrier (or claiming isolated island) of room central authorities, therefore can cause the omission of purging zone or repeat cleaning.And U.S. Pat 5440216 is to have dust catcher to walk along the edge, outside a week earlier for the recognition methods of the cleanable area in the room; Obtain outer peripheral profile; Immediate with it a kind of cleaning layout pattern is selected by computer in the exemplary configurations of storing in this profile and the computer back of comparing; Control dust catcher work, but detecting head then can do to evade processing when detecting the isolated island of room central authorities, still can cause the subregion drain sweep.
In addition in the Chinese patent 02137830.4; When using XY memory purging zone, intellective dust collector is rebuffed to revolve behind one section air line distance Y1 of Y axle walking and is turn 90 degrees, and revolves and turn 90 degrees along the X axle a certain amount of continued of advancing again; Again along the Y axle one section air line distance Y2 that continues to advance; So, the purging zone on the straight line Y1 must be after by the time once cleaning finishes within doors, and is to select could continue to be swept into straight line Y1 zone on the basis of circulation cleaning modes; If have only straight line Y1 zone amount of dust more in the cleanable area, certainly will will cause the effective rate of utilization of battery and the decline of complete machine sweeping efficiency.
Summary of the invention
The present invention seeks to: provide a kind of sweeping efficiency high and effectively utilize the cleaning method of the intellective dust collector of battery.
A technical scheme of the present invention is: a kind of cleaning method of intellective dust collector; It is in the zone of the general plane of a sealing; Carry out the pectination cleaning of X-direction or Y direction; It is characterized in that: when in the sensor on the intellective dust collector detects the setpoint distance in the place ahead of walking, barrier being arranged, and, decide the displacement M1 that moves along the X/Y direction of principal axis according to detecting dust concentration content.
Work as dust concentration content among the present invention and surpass setting value, displacement M1 is 0, and cleaning is again returned on the former road of intellective dust collector.When dust concentration content is lower than setting value, displacement M1 is a constant, and intellective dust collector then changes direction of travel, after the walking displacement M1, changes direction again and cleans.
Sensor described in the present invention on the intellective dust collector comprises infrared detection sensor and dust concentration sensor.
The M1 of displacement described in the present invention is smaller or equal to the width of round brush.
Another technical scheme of the present invention is: a kind of cleaning method of intellective dust collector, and it carries out the axial pectination cleaning of X/Y in the zone of the general plane of a sealing; When wherein in the sensor on the intellective dust collector detects the setpoint distance in the place ahead of walking, barrier being arranged, when detecting amount of dust and exceed standard, note first point coordinates; Robot continues cleaning forward; When finding that amount of dust returns to standard volume when following, note second point coordinates, concrete steps are following:
S1: at second Rotate 180 degree, cleaning arrives first point forward;
S2: at first Rotate 180 degree, cleaning turns back to second point forward;
S3:, then repeat S1 and S2 if amount of dust still surpasses setting value in cleaning process; Otherwise get into step S4;
S4: return to original program since second and clean.
Advantage of the present invention is:
Intellective dust collector cleaning method provided by the present invention can be avoided the subregion drain sweep, has improved the efficiency of dust collection of dust catcher greatly, improves sweeping efficiency, and cleaning effect is better.
Description of drawings
Below in conjunction with accompanying drawing and embodiment the present invention is further described:
Fig. 1 is the sketch map of the first embodiment of the present invention;
Fig. 2 is the sketch map of the second embodiment of the present invention.
The specific embodiment
Embodiment:
Referring to Fig. 1; The present invention provides a kind of first embodiment of cleaning method of intellective dust collector; This intellective dust collector carries out the cleaning under the pectination pattern of X-direction or Y direction in the zone of the general plane of a sealing, wherein the zone outside the inward flange of closed area is a barrier region; Within the zone be purging zone, wherein intellective dust collector comprises a round brush, infrared detection sensor and the amount of dust detecting sensor that is provided with at dirt cup air inlet place at least.
Intellective dust collector is earlier along Y direction walking cleaning, and when barrier such as wall was arranged in the infrared detection sensor on the dust catcher detects the setpoint distance in the place ahead of walking, dust catcher moved a displacement M1 along X-direction, more oppositely along Y direction walking cleaning.Robot is in cleaning process, and when detecting amount of dust above setting value, record coordinate at that time is like the point of a among Fig. 1; After touching next barrier or metope, the Rotate 180 degree returns by the straight line of last time cleaning circuit and to clean one time again, and then cleans by former conventional program; The signal that is fed back according to the dust concentration sensor is thus confirmed displacement M1 value, if dust concentration is high; Intellective dust collector returns along former road so, and this moment, the M1 value was zero, promptly sweeps a point zone again one time; After dust concentration was lower than setting value, intellective dust collector cleaned along former conventional program after revolving the certain value M1 that just can advance after turning 90 degrees again.Wherein the M1 value is a constant, smaller or equal to the width of round brush.
As shown in Figure 2, the present invention provides a kind of second embodiment of cleaning method of intellective dust collector, when intellective dust collector detects amount of dust and exceeds standard; Note first point coordinates; Like the point of the b among Fig. 2, robot continues cleaning forward, and the amount of dust that detects is when setting value is following when finding; Note second point coordinates, like the point of the c among Fig. 2.Concrete steps are following:
S1: at c point Rotate 180 degree, cleaning forward arrives the b point;
S2: at b point Rotate 180 degree, cleaning turns back to the c point forward;
S3:, then repeat S1 and S2 if amount of dust still surpasses setting value in cleaning process; Otherwise get into step S4;
S4: begin to return to former conventional program from the c point and clean.
Therefore intellective dust collector only needs cleaning back and forth between b, c at 2, is lower than setting value up to amount of dust, cleans along former conventional program again, reduces the cleaning that repeats of intellective dust collector, improves cleaning effect simultaneously.
The present invention can avoid the subregion drain sweep in sum, and the very effective battery that utilizes improves sweeping efficiency, and cleaning effect is better.
Certainly the foregoing description only is explanation technical conceive of the present invention and characteristics, and its purpose is to let the people who is familiar with this technology can understand content of the present invention and enforcement according to this, can not limit protection scope of the present invention with this.The all spirit of main technical schemes is done according to the present invention equivalent transformation or modification all should be encompassed within protection scope of the present invention.
Claims (7)
1. the cleaning method of an intellective dust collector; It is in the zone of the general plane of a sealing; Carry out the axial pectination cleaning of X/Y; It is characterized in that: when in the sensor on the intellective dust collector detects the setpoint distance in the place ahead of walking, barrier being arranged, and, decide the displacement M1 that moves along the X/Y direction of principal axis according to detecting dust concentration content.
2. the cleaning method of intellective dust collector according to claim 1 is characterized in that: when dust concentration content surpasses setting value, displacement M1 is 0, and cleaning is again returned on the former road of intellective dust collector.
3. the cleaning method of intellective dust collector according to claim 1; It is characterized in that: when dust concentration content is lower than setting value, displacement M1 is a constant, and intellective dust collector then changes direction of travel; After barrier walking displacement M1, change direction of travel again and clean.
4. the cleaning method of intellective dust collector according to claim 1, it is characterized in that: the sensor on the said intellective dust collector comprises infrared detection sensor and dust concentration sensor.
5. the cleaning method of intellective dust collector according to claim 4, it is characterized in that: described dust concentration sensor is positioned at the air inlet place.
6. the cleaning method of intellective dust collector according to claim 3, it is characterized in that: said displacement M1 is smaller or equal to the width of round brush.
7. the cleaning method of an intellective dust collector, it carries out the axial pectination cleaning of X/Y in the zone of the general plane of a sealing; It is characterized in that: when in the sensor on the intellective dust collector detects the setpoint distance in the place ahead of walking, barrier being arranged, when detecting amount of dust and exceed standard, note first point coordinates; Robot continues cleaning forward; When finding that amount of dust returns to standard volume when following, note second point coordinates, concrete steps are following:
S1: at second Rotate 180 degree, cleaning arrives first point forward;
S2: at first Rotate 180 degree, cleaning turns back to second point forward;
S3:, then repeat S1 and S2 if amount of dust still surpasses setting value in cleaning process; Otherwise get into step S4;
S4: return to original program since second and clean.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102688234A CN102379657A (en) | 2010-09-01 | 2010-09-01 | Cleaning method of intelligent vacuum cleaner |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102688234A CN102379657A (en) | 2010-09-01 | 2010-09-01 | Cleaning method of intelligent vacuum cleaner |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102379657A true CN102379657A (en) | 2012-03-21 |
Family
ID=45819795
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010102688234A Pending CN102379657A (en) | 2010-09-01 | 2010-09-01 | Cleaning method of intelligent vacuum cleaner |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102379657A (en) |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102721647A (en) * | 2012-06-29 | 2012-10-10 | 深圳市银星智能科技股份有限公司 | Garbage concentration detection device and garbage concentration identification method for dust absorption product |
| CN104765362A (en) * | 2014-11-07 | 2015-07-08 | 深圳市银星智能科技股份有限公司 | Local cleaning mode of cleaning robot |
| CN104977926A (en) * | 2014-04-14 | 2015-10-14 | 科沃斯机器人科技(苏州)有限公司 | Self-moving robot local barrier avoiding walking method |
| CN105182974A (en) * | 2015-09-16 | 2015-12-23 | 江苏拓新天机器人科技有限公司 | Intelligent path-finding method of sweeping robot |
| CN105283109A (en) * | 2014-05-02 | 2016-01-27 | 艾微波特公司 | Robotic vacuum cleaner and control method therefor |
| CN106248083A (en) * | 2016-09-21 | 2016-12-21 | 苏州瑞得恩自动化设备科技有限公司 | The method for path navigation that a kind of robot travels in rectangular slope |
| CN108078503A (en) * | 2017-12-30 | 2018-05-29 | 珠海市微半导体有限公司 | The cleaning method and system of self-movement robot |
| CN108113583A (en) * | 2017-12-30 | 2018-06-05 | 珠海市微半导体有限公司 | The clean method and system of clean robot |
| CN108415421A (en) * | 2018-01-26 | 2018-08-17 | 广东宝乐机器人股份有限公司 | Method for improving corner coverage rate of mobile robot |
| CN108498013A (en) * | 2018-03-14 | 2018-09-07 | 深圳市沃特沃德股份有限公司 | Sweeping robot and its method and apparatus of sweeping the floor |
| CN109124499A (en) * | 2018-10-23 | 2019-01-04 | 珠海市微半导体有限公司 | A kind of cleaning control method and chip based on clean robot |
| CN109316130A (en) * | 2018-10-23 | 2019-02-12 | 珠海市微半导体有限公司 | A kind of the cleaning control method and chip of the clean robot based on intermittent ambulation |
| CN109744946A (en) * | 2017-11-08 | 2019-05-14 | 日立空调·家用电器株式会社 | Autonomous formula electric vacuum cleaner |
| CN110383192A (en) * | 2018-03-16 | 2019-10-25 | 深圳市大疆创新科技有限公司 | Moveable platform and its control method |
| CN110946507A (en) * | 2018-09-26 | 2020-04-03 | 珠海格力电器股份有限公司 | Floor sweeping robot and using method thereof |
| CN111973078A (en) * | 2020-08-21 | 2020-11-24 | 苏州三六零机器人科技有限公司 | Sweeping control method and device of sweeper, sweeper and storage medium |
| CN112205937A (en) * | 2019-07-12 | 2021-01-12 | 北京石头世纪科技股份有限公司 | Automatic cleaning equipment control method, device, equipment and medium |
| CN113633223A (en) * | 2021-08-03 | 2021-11-12 | 杭州华橙软件技术有限公司 | Cleaning method, cleaning device, storage medium, and electronic device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050166355A1 (en) * | 2004-01-30 | 2005-08-04 | Funai Electric Co., Ltd. | Autonomous mobile robot cleaner |
| CN1287722C (en) * | 2002-06-21 | 2006-12-06 | 泰怡凯电器(苏州)有限公司 | Method for identifying automatic dust collector cleanable area and obstacle area |
| JP2007319457A (en) * | 2006-06-01 | 2007-12-13 | Matsushita Electric Ind Co Ltd | Self-propelled vacuum cleaner and its program |
| DE102007010979B3 (en) * | 2007-03-05 | 2008-05-08 | Miele & Cie. Kg | Floor space cleaning method, involves controlling processing intensity of individual area of floor space in flowing processing cycle based on degree of pollution of individual area of floor space |
| CN101387876A (en) * | 2008-09-28 | 2009-03-18 | 泰怡凯电器(苏州)有限公司 | Ground treating device |
| CN101714000A (en) * | 2009-09-30 | 2010-05-26 | 刘瑜 | Route planning method of automatic dust collector |
-
2010
- 2010-09-01 CN CN2010102688234A patent/CN102379657A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1287722C (en) * | 2002-06-21 | 2006-12-06 | 泰怡凯电器(苏州)有限公司 | Method for identifying automatic dust collector cleanable area and obstacle area |
| US20050166355A1 (en) * | 2004-01-30 | 2005-08-04 | Funai Electric Co., Ltd. | Autonomous mobile robot cleaner |
| JP2007319457A (en) * | 2006-06-01 | 2007-12-13 | Matsushita Electric Ind Co Ltd | Self-propelled vacuum cleaner and its program |
| DE102007010979B3 (en) * | 2007-03-05 | 2008-05-08 | Miele & Cie. Kg | Floor space cleaning method, involves controlling processing intensity of individual area of floor space in flowing processing cycle based on degree of pollution of individual area of floor space |
| CN101387876A (en) * | 2008-09-28 | 2009-03-18 | 泰怡凯电器(苏州)有限公司 | Ground treating device |
| CN101714000A (en) * | 2009-09-30 | 2010-05-26 | 刘瑜 | Route planning method of automatic dust collector |
Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102721647A (en) * | 2012-06-29 | 2012-10-10 | 深圳市银星智能科技股份有限公司 | Garbage concentration detection device and garbage concentration identification method for dust absorption product |
| US10423160B2 (en) | 2014-04-14 | 2019-09-24 | Ecovacs Robotics Co., Ltd. | Local obstacle avoidance walking method of self-moving robot |
| CN104977926A (en) * | 2014-04-14 | 2015-10-14 | 科沃斯机器人科技(苏州)有限公司 | Self-moving robot local barrier avoiding walking method |
| CN105283109A (en) * | 2014-05-02 | 2016-01-27 | 艾微波特公司 | Robotic vacuum cleaner and control method therefor |
| CN105283109B (en) * | 2014-05-02 | 2018-06-26 | 艾薇波特公司 | Robot scavenging machine and its control method |
| CN104765362B (en) * | 2014-11-07 | 2017-09-29 | 深圳市银星智能科技股份有限公司 | A kind of local cleaning modes of clean robot |
| CN104765362A (en) * | 2014-11-07 | 2015-07-08 | 深圳市银星智能科技股份有限公司 | Local cleaning mode of cleaning robot |
| CN105182974A (en) * | 2015-09-16 | 2015-12-23 | 江苏拓新天机器人科技有限公司 | Intelligent path-finding method of sweeping robot |
| CN105182974B (en) * | 2015-09-16 | 2018-07-31 | 江苏拓新天机器人科技有限公司 | A kind of intelligent method for searching of sweeping robot |
| CN106248083A (en) * | 2016-09-21 | 2016-12-21 | 苏州瑞得恩自动化设备科技有限公司 | The method for path navigation that a kind of robot travels in rectangular slope |
| CN109744946B (en) * | 2017-11-08 | 2021-06-11 | 日立环球生活方案株式会社 | Self-walking electric vacuum cleaner |
| CN109744946A (en) * | 2017-11-08 | 2019-05-14 | 日立空调·家用电器株式会社 | Autonomous formula electric vacuum cleaner |
| CN108078503A (en) * | 2017-12-30 | 2018-05-29 | 珠海市微半导体有限公司 | The cleaning method and system of self-movement robot |
| CN108113583A (en) * | 2017-12-30 | 2018-06-05 | 珠海市微半导体有限公司 | The clean method and system of clean robot |
| CN108078503B (en) * | 2017-12-30 | 2020-12-15 | 珠海市一微半导体有限公司 | Cleaning method and system for self-moving robot |
| CN108415421A (en) * | 2018-01-26 | 2018-08-17 | 广东宝乐机器人股份有限公司 | Method for improving corner coverage rate of mobile robot |
| CN108498013A (en) * | 2018-03-14 | 2018-09-07 | 深圳市沃特沃德股份有限公司 | Sweeping robot and its method and apparatus of sweeping the floor |
| WO2019174080A1 (en) * | 2018-03-14 | 2019-09-19 | 深圳市沃特沃德股份有限公司 | Floor sweeping robot and floor sweeping method and device thereof |
| CN110383192A (en) * | 2018-03-16 | 2019-10-25 | 深圳市大疆创新科技有限公司 | Moveable platform and its control method |
| CN110946507A (en) * | 2018-09-26 | 2020-04-03 | 珠海格力电器股份有限公司 | Floor sweeping robot and using method thereof |
| CN109316130A (en) * | 2018-10-23 | 2019-02-12 | 珠海市微半导体有限公司 | A kind of the cleaning control method and chip of the clean robot based on intermittent ambulation |
| CN109124499A (en) * | 2018-10-23 | 2019-01-04 | 珠海市微半导体有限公司 | A kind of cleaning control method and chip based on clean robot |
| CN109124499B (en) * | 2018-10-23 | 2023-10-24 | 珠海一微半导体股份有限公司 | Cleaning control method and chip based on cleaning robot |
| CN112205937A (en) * | 2019-07-12 | 2021-01-12 | 北京石头世纪科技股份有限公司 | Automatic cleaning equipment control method, device, equipment and medium |
| CN112205937B (en) * | 2019-07-12 | 2022-04-05 | 北京石头世纪科技股份有限公司 | Automatic cleaning equipment control method, device, equipment and medium |
| CN111973078A (en) * | 2020-08-21 | 2020-11-24 | 苏州三六零机器人科技有限公司 | Sweeping control method and device of sweeper, sweeper and storage medium |
| CN113633223A (en) * | 2021-08-03 | 2021-11-12 | 杭州华橙软件技术有限公司 | Cleaning method, cleaning device, storage medium, and electronic device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102379657A (en) | Cleaning method of intelligent vacuum cleaner | |
| CN103054519B (en) | Robot cleaner and the method being used for controlling this robot cleaner | |
| CN107544517B (en) | Control method of intelligent cleaning robot | |
| CN102113853B (en) | Method for cleaning intelligent dust collector | |
| CN104757909B (en) | A kind of cleaning mode of clean robot | |
| CN104765362B (en) | A kind of local cleaning modes of clean robot | |
| CN105824310B (en) | The ambulation control method and robot of robot | |
| CN105425801B (en) | Intelligent cleaning robot and its clean method based on advanced Path Planning Technique | |
| CN106970623A (en) | Intelligent cleaning device and its trellis paths operational method | |
| US9149167B2 (en) | Robot cleaner and control method thereof | |
| CN103349531B (en) | The side of robot cleaner returns charging method | |
| CN103431812B (en) | A kind of clean robot based on ultrasonic radar detection and ambulation control method thereof | |
| KR100788791B1 (en) | The control method of cleaning action for cleaning robot | |
| KR100633444B1 (en) | Robot cleaner and method of control thereof | |
| WO2020087699A1 (en) | Path sweeping method and system for cleaning robot, and chip | |
| CN110464262B (en) | Method for getting rid of difficulties of sweeping robot | |
| CN103356131B (en) | For the processing method of getting rid of poverty of robot cleaner | |
| CN110393477A (en) | Self-movement robot and its ambulation control method, cleaning method, readable medium | |
| US20060195224A1 (en) | Robot cleaner and method of control thereof | |
| TW201832710A (en) | Partition-cleaning method of self-propelled cleaning device and self-propelled cleaning device using the method capable of increasing the cleaning efficiency of the self-propelled cleaning device | |
| CN103356136A (en) | Method for optimizing butt-joint position of robot type dust collector in charging and returning process | |
| CN108567380A (en) | Self-propelled cleaning device and method for establishing indoor map | |
| CN108319266A (en) | Row method and its control system are swept based on shape recognition sweeping machine | |
| CN110393476A (en) | Clean robot and its welt traveling method, readable medium | |
| CN108065866A (en) | A kind of automatic pointing sweeping machine and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C12 | Rejection of a patent application after its publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20120321 |