CN107397512A - Assembly robot and combinations thereof control method - Google Patents
Assembly robot and combinations thereof control method Download PDFInfo
- Publication number
- CN107397512A CN107397512A CN201610333119.XA CN201610333119A CN107397512A CN 107397512 A CN107397512 A CN 107397512A CN 201610333119 A CN201610333119 A CN 201610333119A CN 107397512 A CN107397512 A CN 107397512A
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- Prior art keywords
- robot
- functional module
- self
- control centre
- movement
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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
- A47L11/28—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
- A47L11/24—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
- A47L11/40—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
Abstract
A kind of assembly robot, including self-movement robot (100) and functional module (200), the functional module is removably combined to self-movement robot by connector (300), control centre is provided with the self-movement robot, rag component (110) is removably installed in the self-movement robot bottom, and the control centre works according to functional module and the assembled state of rag component come control combination robot.The present invention is worked according to functional module and the assembled state of rag component by control centre come control combination robot, ensure that being smoothed out for assembly robot's work.
Description
Technical field
The present invention relates to a kind of assembly robot and combinations thereof control method, belongs to the intelligent family of manufacture
Electro-technical field.
Background technology
Existing sweeping robot is provided with rag generally on rear side of organism bottom, facilitates robot to exist
Ground can be wiped when sweeping floor.With the increase of the demand of user, multi-purpose machine
People is developed, as Patent No. CN201248671Y patent in disclose it is a kind of multi-functional
Robot, the robot have monitoring, purification of air, the various functions such as keep a public place clean.
However, with the increase of functional module, its weight is bigger, and it is more inconvenient that walking is got up.
Mopped floor rag component if multi-function robot is provided with, due to rag component and ground friction coefficient compared with
Greatly, robot will be caused not walk.
The content of the invention
The technical problems to be solved by the invention are in view of the shortcomings of the prior art, there is provided a kind of
Assembly robot and combinations thereof control method, according to functional module and the assembled state of rag component
Worked by control centre come control combination robot, ensure that the smooth of assembly robot's work
Carry out.
The technical problems to be solved by the invention are achieved by the following technical solution：
The present invention provides a kind of assembly robot, including self-movement robot and functional module, institute
State functional module and self-movement robot is removably combined to by connector, it is described from moving machine
Control centre is provided with device people, rag component is removably installed in the self-movement robot bottom,
The control centre is according to functional module and the assembled state of rag component come control combination robot
Work.
Specifically, the self-movement robot combines simultaneously with functional module and rag component, institute
State control centre and judge that assembly robot is in abnormal operation；The self-movement robot with
One of functional module or rag component are combined, and the control centre is judged at assembly robot
In normal operating conditions.
It is described or the functional module includes the first functional module and/or the second functional module
First functional module weight and/or height are more than second functional module；Certainly the mobile machine
People combines simultaneously with the first functional module and rag component, and the control centre judges ensemble machine
People is in abnormal operation；The self-movement robot and the first functional module or rag component
One of them combination, the control centre judge that assembly robot is in normal operating conditions.
For the classification of identification function module, the self-movement robot is provided with the multiple first electricity
Sub- contact, the functional module are connected by the first electronic contact with control centre, the control
Center functional module and controls its work according to the signal identification that first electronic contact transmits
Make.
Preferably, the self-movement robot is additionally provided with alarm module, and the control centre judges
Assembly robot is in abnormal operation, control centre's control alarm module alarm.
In order to detect the assembled state of rag component, the assembly robot is provided with sensor group
Part, it is connected with control centre, whether detection rag component is installed on self-movement robot bottom
Detection signal is concurrently sent to the control centre.
Preferably, the sensor cluster is microswitch, Hall element or optic coupling element.
Or the assembly robot is provided with the second electronic contact being connected with control centre,
The rag component is provided with corresponding induction end, and whether the second electronic contact detection rag component
It is installed on self-movement robot bottom and concurrently send detection signal to the control centre.
It is described to smear or the assembly robot is provided with the scanning end being connected with control centre
Cloth component is provided with corresponding Quick Response Code, and whether the scanning end detection rag component is installed on certainly
Detection signal is concurrently sent to the control centre in mobile robot bottom.
The present invention also provides a kind of combination control method of assembly robot, the assembly robot
Including self-movement robot and functional module, the functional module passes through dismountable group of connector
Self-movement robot is closed, control centre is provided with the self-movement robot, it is described from mobile
Rag component is removably installed in robot bottom, control centre's identification function module and smears
Cloth component is combined on self-movement robot, and control combination robot is out of service or/and reports
It is alert.
The present invention also provides the combination control method of another assembly robot, the ensemble machine
People includes self-movement robot and functional module, and the functional module is dismountable by connector
Self-movement robot is combined to, control centre is provided with the self-movement robot, it is described from shifting
Rag component is removably installed in mobile robot bottom, and the functional module includes the first function mould
Block and/or the second functional module, the first functional module weight and/or height are more than described the
Two functional modules, the control centre identify that the first functional module and rag component are combined to certainly
In mobile robot, control combination robot is out of service or/and alarms.
In summary, the present invention provides a kind of assembly robot and combinations thereof control method, according to
Functional module and the assembled state of rag component are artificial come control combination machine by control centre
Make, ensure that being smoothed out for assembly robot's work.
Below in conjunction with the accompanying drawings and specific embodiment, technical scheme is carried out in detail
It is bright.
Brief description of the drawings
Fig. 1 is the decomposing schematic representation of assembly robot of the present invention；
Fig. 2 is the structural representation of self-movement robot of the present invention；
Fig. 3 is the upward view of assembly robot of the present invention.
Embodiment
Fig. 1 is the decomposing schematic representation of assembly robot of the present invention.As shown in figure 1, the present invention carries
For a kind of assembly robot, including self-movement robot 100 and functional module 200, functional module
200 are removably combined to self-movement robot 100 by connector 300.Wherein from moving machine
Control centre's (not shown) is provided with device people 100, for controlling self-movement robot 100
Walking and cleaning function, self-movement robot 100 can work independently, self-movement robot is
Through being the highly developed technology of the art, such as sweeping robot, will not be repeated here.
Functional module 200 can be existing various functions module, for example, can be security module,
One of in the module such as humidification module and cleaning module or its combination.Security module for example wraps
Camera and communication module are included, camera passes through communication module (such as WLAN WAPs, road
By device etc.) it is connected with remote terminal, the user of such remote terminal can be by watching screen pair
The surrounding environment of assembly robot is monitored.Humidification module sprays after can making water fogging, from
And humidify its surrounding enviroment.Cleaning module is for example catalyzed including anion generation module, photocatalyst
Module or/and dust filtering device, so as to efficiently kill except bacterium, dispelling abnormal flavor and adsorb in air
Free particulate matter, have the function that to purify air.Above-mentioned functional module has also been this area
Ripe technology, will not be repeated here.
Connector 300 is used to connect self-movement robot 100 and functional module 200.For example,
Multiple boss, the upper surface of self-movement robot 100 and function can be set on connector 300
The lower surface of module 200 sets corresponding groove respectively so that multiple convex on connector 300
Platform can be embedded in corresponding groove, so as to which functional module 200 is combined in self-movement robot
100 top.Self-movement robot is provided with multiple first electronic contacts 101, from mobile machine
Electric energy on people 100 is supplied to functional module 200 to use by the first electronic contact 101.Profit
Functional module is connected by first electronic contact 101 and control centre described in connector 300
Connect, control centre work(according to the signal identification that first electronic contact 101 transmits
Energy module simultaneously controls its work.
Fig. 2 is the structural representation of self-movement robot of the present invention.As shown in Fig. 2 in order to increase
The cleaning function of strong self-movement robot 100, the bottom of self-movement robot 100 are dismountable
Rag component 110 is installed, rag component 110 can be combined by way of engaging from moving machine
The bottom of device people 100.With the increase of functional module quantity or weight, the weight of assembly robot
Increase therewith, because rag component 110 and the coefficient of friction on ground are larger, functional module is more
Or the heavier assembly robot of functional module will be unable to walk；Or if functional module
Height is higher, and the height of assembly robot greatly increases therewith so that robot is in all multizones
Can not work, for example, under desk bottom or tea table bottom or sofa space (namely rag component without
Method carries out wiping work to all multizones).In order to avoid above mentioned problem, control centre being capable of root
Carry out the work of control combination robot according to the assembled state of functional module and rag component, for example, can
To set the sensor cluster 111 being connected with control centre, sensing on self-movement robot 100
It is concurrent whether the detection rag of device assembly 111 component 110 is installed on the bottom of self-movement robot 100
Detection signal is sent to the control centre.
When one of functional module 200 or rag component 110 are combined to self-movement robot 100
When upper, control centre judges that assembly robot is in normal operating conditions, and assembly robot is carried out
Normal task；When simultaneously functional module 200 and rag component 110 are combined to from mobile
When in robot 100, the control centre judges that assembly robot is in abnormal operation.
When assembly robot is in abnormal operation, control combination robot of control centre stops fortune
Row or/and alarm.The mode of alarm can have a variety of, such as can be set in self-movement robot
Alarm module, the alarm module include luminescence unit or/and phonation unit, control centre's control
The alarm module alarm of assembly robot in abnormal operation, sends prompt tone, or
Warning light flicker etc..User can be carried out after receiving alarm according to being actually needed to assembly robot
Assembling, such as takes away functional module or rag component.
You need to add is that because the classification of functional module 200 is more, some of function moulds
The weight of block is smaller, highly relatively low, and the functional module that these weight are smaller, highly relatively low is with smearing
Cloth component 110 is combined when on self-movement robot 100 simultaneously, has no effect on assembly robot
Normal work.Therefore, in order that obtaining the smaller and/or highly relatively low functional module of weight with smearing
Cloth component be combined to simultaneously on self-movement robot also can normal work, further, the present invention
Another embodiment in functional module 200 is divided, i.e., functional module 200 include first
Functional module and/or the second functional module, wherein the first functional module weight and/or height are more than
Second functional module, the first functional module are, for example, the modules such as humidification module and cleaning module
In one of or its combination, the second functional module is, for example, security module.For example,
The height of first functional module is not less than 2 times of the self-movement robot height, or first
1/2 of the weight of functional module not less than the weight of self-movement robot.When the first functional module or
When one of rag component 110 is combined on self-movement robot 100, control centre judges
Assembly robot is in normal operating conditions, and assembly robot carries out normal task；When
First functional module and rag component 110 are combined on self-movement robot 100 simultaneously when, institute
State control centre and judge that assembly robot is in abnormal operation.In addition, in actual conditions, can
All functional modules of energy are the first functional module or the second functional module, if being the first work(
Can module, then assembly robot's combination function module and during rag component simultaneously, assembly robot
Out of service and/or alarm；If being the second functional module, assembly robot combines work(simultaneously
When energy module and rag component, assembly robot's still normal work.The control centre is according to institute
State the classification of the signal identification functional module of the first electronic contact 101 transmission and control its work.
Specifically, after functional module combines with assembly robot, passed by the first electronic contact 101
The signal sent includes the classification coding of functional module, for example, humidification module is encoded to 01,
Cleaning module is encoded to 02, and security module is encoded to 03, and control centre is received with coding
After the signal of information, the classification of functional module is can recognize that, so as to judge the work(after combination
Energy module belongs to the first functional module or the second functional module, when the first functional module or rag
When one of component 110 is combined on self-movement robot 100, control centre judges combination
Robot is in normal operating conditions, and assembly robot carries out normal task；When first
Functional module and rag component 110 are combined on self-movement robot 100 simultaneously when, the control
Center processed judges that assembly robot is in abnormal operation.Contain functional mould above by sending
It is only a kind of specific implementation that block coding information, which carrys out identification function module, and not limitation can only make
Use which.Specifically, the label that can be sticked in functional module, self-movement robot pass through
The different types of functional module of tag recognition；Or self-movement robot senses provided with weight
Device, different types of functional module is identified by the different weight of identification function module.
Fig. 3 is the upward view of assembly robot of the present invention.Specifically, sensor cluster 111 can
Think microswitch or Hall element or optic coupling element etc..It is below micro- with sensor cluster 111
It is described in detail exemplified by dynamic switch.The bottom of self-movement robot 100 is provided with microswitch, when
After the composite rag component 110 of self-movement robot 100, microswitch is triggered, control centre connects
Signal is received, identification rag component has been installed, corresponding control combination robot work, in other words
Say, control centre works according to the assembled state control combination robot of assembly robot.
You need to add is that the present invention is not intended to limit the installation site and class of sensor cluster 111
Type, sensor cluster 111 can also be installed on rag component, it is also an option that optic coupling element is worked as
Sensor cluster is done, as long as sensor cluster can detect whether self-movement robot 100 combines
Rag component 110.Furthermore it is also possible to rag group is detected by the second electronic contact
The assembled state of part 110, for example, self-movement robot is provided with the be connected with control centre
Two electronic contacts, rag component 110 are provided with corresponding induction end, the detection of the second electronic contact
Whether rag component 110 is installed on self-movement robot bottom and concurrently send detection signal to the control
Center processed.Or the scanning end being connected with control centre, institute are set on self-movement robot
State rag component 110 and be provided with corresponding Quick Response Code, whether the scanning end detection rag component
It is installed on self-movement robot bottom and concurrently send detection signal to the control centre.Certainly, certainly
Whether mobile robot can also be installed by above-mentioned a variety of methods come identification function module.
Information transmission between functional module 200 and self-movement robot 100 can pass through the first electricity
Signal is transmitted in sub- contact 101, i.e., the first electronic contact 101 being connected with control centre is used for
Whether detection function module 200 is combined on self-movement robot 100, it is of course also possible to select
Select sensor cluster and come whether detection function module 200 is combined on self-movement robot 100.
It is emphasized that above-described embodiment is only used for describing how self-movement robot identifies work(
Can module or rag component whether install/be combined in robot, but and be defined in aforesaid way,
User can be combined and identification function mould according to actual conditions using various connected modes
Block, for example, functional module and self-movement robot can carry out information transmission by wireless signal,
Such as wifi or bluetooth, self-movement robot identification function module has combined.
The present invention also provides a kind of combination control method of assembly robot, on ensemble machine is artificial
The assembly robot of text, wherein control centre's identification function module and rag component are combined to certainly
When in mobile robot, control combination robot of control centre is out of service and/or alarms.
Specifically, if control centre identifies functional module and rag component while is combined to certainly
In mobile robot, for example, due to assembly robot weight increase, rag component 110 with
The coefficient of friction on ground is larger, and assembly robot will be unable to walking or inconvenient walking (is unsuitable for tiltedly
The walkway surfaces such as slope), control centre judges that assembly robot is in abnormal operation, combination machine
Device people is out of service or/and alarm, can be according to being actually needed pair after user receives abnormal information
Assembly robot is assembled, and such as takes away functional module or rag component.
If control centre identifies that one of functional module or rag component are combined to from moving machine
On device people, control centre judges that assembly robot is in normal operating conditions, and assembly robot enters
The normal task of row.
When above-mentioned functional module includes the first functional module and/or the second functional module, wherein first
When functional module weight and/or height are more than second functional module, if control centre identifies
One of first functional module or rag component are combined on self-movement robot, control centre
Judge that assembly robot is in normal operating conditions, assembly robot carries out normal task；
If control centre identifies the first functional module and rag component while is combined to self-movement robot
On, control centre judges that assembly robot is in abnormal operation, control centre's control combination
Robot is out of service and/or alarms.
The present invention provides a kind of assembly robot and combinations thereof control method, according to functional module and
The assembled state of rag component is worked by control centre come control combination robot, ensure that group
Being smoothed out for robot work is closed, it is many effectively to prevent that assembly robot from can not walk or avoiding
Situations such as region can not work.
Claims (11)
1. a kind of assembly robot, including self-movement robot (100) and functional module (200),
The functional module is removably combined to self-movement robot by connector (300), described
Control centre is provided with self-movement robot, it is characterised in that the self-movement robot bottom
Dismountable installation rag component (110), the control centre is according to functional module and rag group
The assembled state of part carrys out the work of control combination robot.
2. assembly robot as claimed in claim 1, it is characterised in that described from moving machine
Device people (100) combines simultaneously with functional module (200) and rag component (110), the control
Center processed judges that assembly robot is in abnormal operation；The self-movement robot and function
One of module or rag component combine, and the control centre judges that assembly robot is in just
Normal working condition.
3. assembly robot as claimed in claim 1, it is characterised in that the functional module
(200) the first functional module and/or the second functional module, the first functional module weight are included
Amount and/or height are more than second functional module, the self-movement robot (100) and the
One functional module and rag component (110) combine simultaneously, and the control centre judges ensemble machine
People is in abnormal operation, the self-movement robot and the first functional module or rag component
One of them combination, the control centre judge that assembly robot is in normal operating conditions.
4. assembly robot as claimed in claim 1, it is characterised in that described from moving machine
Device people (100) is provided with multiple first electronic contacts (101), the functional module (200)
It is connected by the first electronic contact with control centre, the control centre is according to first electronics
Functional module described in the signal identification of contact transmission simultaneously controls its work.
5. assembly robot as claimed in claim 2 or claim 3, it is characterised in that described from shifting
Mobile robot is additionally provided with alarm module, and the control centre judges that assembly robot is in abnormal work
Make state, control centre's control alarm module alarm.
6. assembly robot as claimed in claim 1, it is characterised in that the ensemble machine
People is provided with sensor cluster (111), is connected with control centre, detection rag component (110)
Whether it is installed on self-movement robot bottom and concurrently send detection signal to the control centre.
7. assembly robot as claimed in claim 6, it is characterised in that the sensor group
Part (111) is microswitch, Hall element or optic coupling element.
8. assembly robot as claimed in claim 1, it is characterised in that described from moving machine
Device people is provided with the second electronic contact for being connected with control centre, on the rag component (110)
Provided with corresponding induction end, whether the second electronic contact detection rag component is installed on from shifting
Detection signal is concurrently sent to the control centre in mobile robot bottom.
9. assembly robot as claimed in claim 1, it is characterised in that described from moving machine
Device people is provided with the scanning end being connected with control centre, and the rag component (110) is provided with phase
Whether the Quick Response Code answered, the scanning end detection rag component are installed on self-movement robot bottom
Detection signal is concurrently sent to the control centre.
A kind of 10. combination control method of assembly robot, it is characterised in that the combination machine
Device people includes self-movement robot and functional module, and the functional module is detachable by connector
Be combined to self-movement robot, be provided with control centre in the self-movement robot, it is described from
Mobile robot bottom is removably installed by rag component, control centre's identification function module
Be combined to rag component on self-movement robot, control combination robot it is out of service or/and
Alarm.
A kind of 11. combination control method of assembly robot, it is characterised in that the combination machine
Device people includes self-movement robot and functional module, and the functional module is detachable by connector
Be combined to self-movement robot, be provided with control centre in the self-movement robot, it is described from
Rag component is removably installed in mobile robot bottom, and the functional module includes the first function
Module and/or the second functional module, the first functional module weight and/or height are more than described
Second functional module, the control centre identify that the first functional module and rag component are combined to
On self-movement robot, control combination robot is out of service or/and alarms.
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 |
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| CN107397512A true CN107397512A (en) | 2017-11-28 |
| CN107397512B CN107397512B (en) | 2023-09-15 |
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| 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) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108272396A (en) * | 2017-12-28 | 2018-07-13 | 宁波洒哇地咔电器有限公司 | Intelligent mopping working condition identifies 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 |
| CN108814431A (en) * | 2018-05-31 | 2018-11-16 | 深圳市沃特沃德股份有限公司 | The method of sweeping robot system and detection water tank, dustbin access |
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| 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 |
| CN110464258A (en) * | 2019-09-17 | 2019-11-19 | 禧涤智能(北京)科技有限公司 | Intelligent cleaning robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108272396A (en) * | 2017-12-28 | 2018-07-13 | 宁波洒哇地咔电器有限公司 | Intelligent mopping working condition identifies 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 |
| CN108814431A (en) * | 2018-05-31 | 2018-11-16 | 深圳市沃特沃德股份有限公司 | The method of sweeping robot system and detection water tank, dustbin access |
Also Published As
| Publication number | Publication date |
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| WO2017198213A1 (en) | 2017-11-23 |
| CN107397512B (en) | 2023-09-15 |
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